Rev 1749 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
| 1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 39 | // + with our written permission |
| 1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
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| 1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 55 | |||
| 1756 | - | 56 | //Interessanten Maximumwerte |
| 57 | //Capacity.ActualCurrent/10, Capacity.ActualCurrent%10 |
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| 58 | //GPSInfo.Speed,GPSInfo.NumOfSats |
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| 59 | //VarioMeter |
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| 60 | //HoverGas/4 |
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| 61 | |||
| 62 | |||
| 63 | |||
| 1 | ingob | 64 | #include "main.h" |
| 1320 | hbuss | 65 | #include "mymath.h" |
| 1330 | killagreg | 66 | #include "isqrt.h" |
| 1 | ingob | 67 | |
| 1749 | - | 68 | #ifdef NODISPLAY // main.h |
| 69 | |||
| 70 | |||
| 71 | |||
| 72 | #endif |
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| 1756 | - | 73 | unsigned char loop1, loop2, loop3; |
| 74 | unsigned char settingdest = 5; |
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| 1749 | - | 75 | int keynumber=-7; |
| 76 | |||
| 1756 | - | 77 | unsigned short CurrentOffset = 0;/// |
| 1749 | - | 78 | |
| 79 | unsigned char pos1, pos2, pos3, pos4=0; |
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| 80 | unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
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| 1756 | - | 81 | unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max; |
| 82 | unsigned short MotorsTmax; |
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| 1749 | - | 83 | unsigned char updatemotors=5; |
| 1352 | hbuss | 84 | unsigned char h,m,s; |
| 85 | unsigned int BaroExpandActive = 0; |
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| 1153 | hbuss | 86 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 87 | int TrimNick, TrimRoll; |
| 927 | hbuss | 88 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 1703 | holgerb | 89 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
| 1643 | holgerb | 90 | unsigned int NeutralAccX=0, NeutralAccY=0; |
| 805 | hbuss | 91 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1639 | holgerb | 92 | int NeutralAccZ = 0; |
| 1683 | killagreg | 93 | unsigned char ControlHeading = 0;// in 2° |
| 693 | hbuss | 94 | long IntegralNick = 0,IntegralNick2 = 0; |
| 95 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 96 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 97 | long Integral_Gier = 0; |
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| 98 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 99 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 100 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 101 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1685 | holgerb | 102 | long SummeNick=0,SummeRoll=0; |
| 1 | ingob | 103 | volatile long Mess_Integral_Hoch = 0; |
| 1153 | hbuss | 104 | int KompassValue = 0; |
| 105 | int KompassStartwert = 0; |
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| 106 | int KompassRichtung = 0; |
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| 693 | hbuss | 107 | unsigned int KompassSignalSchlecht = 500; |
| 855 | hbuss | 108 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 109 | unsigned char HoehenReglerAktiv = 0; |
| 880 | hbuss | 110 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 111 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 112 | long ErsatzKompass; |
| 113 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 114 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 115 | char GyroFaktor,GyroFaktorGier; |
| 116 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 117 | int DiffNick,DiffRoll; |
| 1377 | hbuss | 118 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 1391 | killagreg | 119 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 1 | ingob | 120 | volatile unsigned char SenderOkay = 0; |
| 595 | hbuss | 121 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1698 | holgerb | 122 | char MotorenEin = 0,StartTrigger = 0; |
| 1246 | killagreg | 123 | long HoehenWert = 0; |
| 124 | long SollHoehe = 0; |
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| 1692 | holgerb | 125 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| 1153 | hbuss | 126 | //float Ki = FAKTOR_I; |
| 1676 | holgerb | 127 | int Ki = 10300 / 33; |
| 395 | hbuss | 128 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 129 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 130 | |
| 131 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 132 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 133 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 134 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 135 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 136 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 137 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 138 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 139 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 1322 | hbuss | 140 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| 141 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 1 | ingob | 142 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 143 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 144 | unsigned char Parameter_UserParam1 = 0; |
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| 145 | unsigned char Parameter_UserParam2 = 0; |
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| 146 | unsigned char Parameter_UserParam3 = 0; |
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| 147 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 148 | unsigned char Parameter_UserParam5 = 0; |
| 149 | unsigned char Parameter_UserParam6 = 0; |
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| 150 | unsigned char Parameter_UserParam7 = 0; |
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| 151 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 152 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 153 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 154 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 155 | unsigned char Parameter_AchsKopplung1 = 90; |
| 156 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 157 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 158 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 159 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 160 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 161 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 162 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 163 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 164 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 165 | unsigned char Parameter_NaviGpsGain; |
| 166 | unsigned char Parameter_NaviGpsP; |
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| 167 | unsigned char Parameter_NaviGpsI; |
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| 168 | unsigned char Parameter_NaviGpsD; |
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| 169 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 170 | unsigned char Parameter_NaviOperatingRadius; |
| 171 | unsigned char Parameter_NaviWindCorrection; |
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| 172 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 173 | unsigned char Parameter_ExternalControl; |
| 1403 | hbuss | 174 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1668 | holgerb | 175 | unsigned char CareFree = 0; |
| 1622 | killagreg | 176 | |
| 492 | hbuss | 177 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 178 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 179 | unsigned int modell_fliegt = 0; |
| 1420 | killagreg | 180 | volatile unsigned char FCFlags = 0; |
| 1121 | hbuss | 181 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 182 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 183 | signed int tmp_motorwert[MAX_MOTORS]; |
| 1591 | holgerb | 184 | char VarioCharacter = ' '; |
| 185 | |||
| 1391 | killagreg | 186 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 187 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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| 188 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 189 | |
| 1622 | killagreg | 190 | |
| 1639 | holgerb | 191 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 192 | // Debugwerte zuordnen |
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| 193 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 194 | void CopyDebugValues(void) |
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| 195 | { |
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| 196 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 197 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 198 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 199 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 1660 | holgerb | 200 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| 1639 | holgerb | 201 | DebugOut.Analog[5] = HoehenWert/5; |
| 1703 | holgerb | 202 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| 1639 | holgerb | 203 | DebugOut.Analog[8] = KompassValue; |
| 204 | DebugOut.Analog[9] = UBat; |
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| 205 | DebugOut.Analog[10] = SenderOkay; |
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| 206 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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| 1702 | holgerb | 207 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 208 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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| 209 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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| 210 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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| 1739 | - | 211 | |
| 212 | DebugOut.Analog[16] = Motor[4].SetPoint; |
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| 213 | DebugOut.Analog[17] = Motor[5].SetPoint; |
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| 214 | |||
| 215 | DebugOut.Analog[24] = Motor[6].SetPoint; |
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| 216 | DebugOut.Analog[25] = Motor[7].SetPoint; |
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| 217 | DebugOut.Analog[26] = Motor[8].SetPoint; |
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| 218 | DebugOut.Analog[27] = Motor[9].SetPoint; |
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| 219 | |||
| 1639 | holgerb | 220 | DebugOut.Analog[20] = ServoNickValue; |
| 221 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 222 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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| 223 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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| 1682 | holgerb | 224 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 225 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
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| 1639 | holgerb | 226 | DebugOut.Analog[30] = GPS_Nick; |
| 227 | DebugOut.Analog[31] = GPS_Roll; |
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| 1702 | holgerb | 228 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| 1639 | holgerb | 229 | } |
| 230 | |||
| 1232 | hbuss | 231 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 232 | { |
| 1232 | hbuss | 233 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 234 | while(Anzahl--) |
| 235 | { |
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| 1232 | hbuss | 236 | beeptime = dauer; |
| 237 | while(beeptime); |
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| 238 | Delay_ms(dauer * 2); |
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| 1 | ingob | 239 | } |
| 240 | } |
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| 241 | |||
| 242 | //############################################################################ |
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| 1622 | killagreg | 243 | // Messwerte beim Ermitteln der Nullage |
| 244 | void CalibrierMittelwert(void) |
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| 245 | //############################################################################ |
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| 246 | { |
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| 247 | unsigned char i; |
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| 248 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 249 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 250 | ANALOG_OFF; |
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| 251 | MesswertNick = AdWertNick; |
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| 252 | MesswertRoll = AdWertRoll; |
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| 253 | MesswertGier = AdWertGier; |
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| 1703 | holgerb | 254 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 255 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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| 1622 | killagreg | 256 | // ADC einschalten |
| 257 | ANALOG_ON; |
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| 258 | for(i=0;i<8;i++) |
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| 259 | { |
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| 260 | int tmp; |
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| 261 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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| 262 | LIMIT_MIN_MAX(tmp, 0, 255); |
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| 263 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 264 | } |
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| 265 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 266 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 267 | } |
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| 268 | |||
| 269 | //############################################################################ |
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| 1 | ingob | 270 | // Nullwerte ermitteln |
| 1622 | killagreg | 271 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 272 | //############################################################################ |
| 273 | { |
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| 1622 | killagreg | 274 | unsigned char i; |
| 275 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1702 | holgerb | 276 | VersionInfo.HardwareError[0] = 0; |
| 1320 | hbuss | 277 | HEF4017R_ON; |
| 1051 | killagreg | 278 | NeutralAccX = 0; |
| 1 | ingob | 279 | NeutralAccY = 0; |
| 280 | NeutralAccZ = 0; |
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| 1622 | killagreg | 281 | |
| 1051 | killagreg | 282 | AdNeutralNick = 0; |
| 283 | AdNeutralRoll = 0; |
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| 1 | ingob | 284 | AdNeutralGier = 0; |
| 1622 | killagreg | 285 | |
| 395 | hbuss | 286 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 287 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 288 | |
| 1036 | hbuss | 289 | ExpandBaro = 0; |
| 1622 | killagreg | 290 | |
| 1051 | killagreg | 291 | CalibrierMittelwert(); |
| 395 | hbuss | 292 | Delay_ms_Mess(100); |
| 1622 | killagreg | 293 | |
| 1 | ingob | 294 | CalibrierMittelwert(); |
| 1622 | killagreg | 295 | |
| 1 | ingob | 296 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 297 | { |
| 1 | ingob | 298 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 299 | } |
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| 1166 | hbuss | 300 | #define NEUTRAL_FILTER 32 |
| 301 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 302 | { |
| 303 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 304 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 305 | nick_neutral += AdWertNick; |
| 306 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 307 | } |
| 1173 | hbuss | 308 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 309 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 310 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 311 | |
| 401 | hbuss | 312 | StartNeutralRoll = AdNeutralRoll; |
| 313 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 314 | |
| 315 | if(AccAdjustment) |
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| 316 | { |
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| 317 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 318 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 319 | NeutralAccZ = Aktuell_az; |
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| 320 | |||
| 321 | // Save ACC neutral settings to eeprom |
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| 1639 | holgerb | 322 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 323 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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| 1622 | killagreg | 324 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 325 | } |
| 1051 | killagreg | 326 | else |
| 513 | hbuss | 327 | { |
| 1622 | killagreg | 328 | // restore from eeprom |
| 329 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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| 330 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 331 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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| 332 | // strange settings? |
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| 1638 | holgerb | 333 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 334 | { |
| 335 | printf("\n\rACC not calibrated!\r\n"); |
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| 336 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
| 337 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
| 338 | NeutralAccZ = Aktuell_az; |
||
| 339 | } |
||
| 513 | hbuss | 340 | } |
| 1051 | killagreg | 341 | |
| 1 | ingob | 342 | MesswertNick = 0; |
| 343 | MesswertRoll = 0; |
||
| 344 | MesswertGier = 0; |
||
| 1111 | hbuss | 345 | Delay_ms_Mess(100); |
| 1703 | holgerb | 346 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 347 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
| 1173 | hbuss | 348 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 349 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 350 | Mess_IntegralNick2 = IntegralNick; |
||
| 351 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 352 | Mess_Integral_Gier = 0; |
||
| 1 | ingob | 353 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 354 | VarioMeter = 0; |
| 1 | ingob | 355 | Mess_Integral_Hoch = 0; |
| 356 | KompassStartwert = KompassValue; |
||
| 357 | GPS_Neutral(); |
||
| 1051 | killagreg | 358 | beeptime = 50; |
| 882 | hbuss | 359 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 360 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 361 | ExternHoehenValue = 0; |
| 693 | hbuss | 362 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 363 | GierGyroFehler = 0; |
||
| 723 | hbuss | 364 | SendVersionToNavi = 1; |
| 921 | hbuss | 365 | LED_Init(); |
| 1420 | killagreg | 366 | FCFlags |= FCFLAG_CALIBRATE; |
| 992 | hbuss | 367 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 368 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 369 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 370 | |
| 371 | for(i=0;i<8;i++) |
||
| 1377 | hbuss | 372 | { |
| 373 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 374 | } |
||
| 1171 | hbuss | 375 | SenderOkay = 100; |
| 1320 | hbuss | 376 | if(ServoActive) |
| 377 | { |
||
| 378 | HEF4017R_ON; |
||
| 379 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 380 | } |
||
| 1702 | holgerb | 381 | |
| 382 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
||
| 383 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
||
| 384 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
||
| 385 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
||
| 386 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
||
| 387 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
||
| 1 | ingob | 388 | } |
| 389 | |||
| 1702 | holgerb | 390 | |
| 1 | ingob | 391 | //############################################################################ |
| 395 | hbuss | 392 | // Bearbeitet die Messwerte |
| 1 | ingob | 393 | void Mittelwert(void) |
| 394 | //############################################################################ |
||
| 1051 | killagreg | 395 | { |
| 1111 | hbuss | 396 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 397 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 398 | signed long winkel_nick, winkel_roll; |
| 1377 | hbuss | 399 | unsigned char i; |
| 1111 | hbuss | 400 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 401 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 402 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
| 1153 | hbuss | 403 | RohMesswertNick = MesswertNick; |
| 404 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 405 | |
| 395 | hbuss | 406 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1703 | holgerb | 407 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| 408 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
| 395 | hbuss | 409 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 410 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 411 | NaviAccNick += AdWertAccNick; |
| 412 | NaviAccRoll += AdWertAccRoll; |
||
| 413 | NaviCntAcc++; |
||
| 1153 | hbuss | 414 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 415 | |||
| 1155 | hbuss | 416 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 417 | // ADC einschalten |
||
| 1171 | hbuss | 418 | ANALOG_ON; |
| 1155 | hbuss | 419 | AdReady = 0; |
| 420 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 421 | |||
| 1216 | killagreg | 422 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 423 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 424 | else winkel_roll = Mess_IntegralRoll; |
| 425 | |||
| 1216 | killagreg | 426 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 427 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 428 | else winkel_nick = Mess_IntegralNick; |
| 429 | |||
| 1120 | hbuss | 430 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 431 | Mess_Integral_Gier += MesswertGier; |
| 432 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 433 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 434 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 435 | { |
||
| 1153 | hbuss | 436 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 437 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 438 | tmpl3 /= 4096L; |
| 1153 | hbuss | 439 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 440 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 441 | tmpl4 /= 4096L; |
| 1153 | hbuss | 442 | KopplungsteilNickRoll = tmpl3; |
| 443 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 444 | tmpl4 -= tmpl3; |
| 445 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 446 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 447 | |
| 1153 | hbuss | 448 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 449 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 450 | tmpl /= 4096L; |
| 1153 | hbuss | 451 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 452 | tmpl2 *= Parameter_AchsKopplung1; |
| 1662 | killagreg | 453 | tmpl2 /= 4096L; |
| 1225 | hbuss | 454 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 455 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 456 | } |
| 1166 | hbuss | 457 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1658 | holgerb | 458 | TrimRoll = tmpl - tmpl2 / 100L; |
| 459 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 1111 | hbuss | 460 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 461 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 462 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 463 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 464 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 465 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 466 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 467 | { |
| 882 | hbuss | 468 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 469 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 470 | } |
| 395 | hbuss | 471 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 472 | { |
||
| 882 | hbuss | 473 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 474 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 475 | } |
| 395 | hbuss | 476 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 477 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 478 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 479 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 480 | { |
| 481 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 482 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 483 | } |
| 484 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 485 | { |
| 882 | hbuss | 486 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 487 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 488 | } |
| 1111 | hbuss | 489 | |
| 1 | ingob | 490 | Integral_Gier = Mess_Integral_Gier; |
| 491 | IntegralNick = Mess_IntegralNick; |
||
| 492 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 493 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 494 | IntegralRoll2 = Mess_IntegralRoll2; |
| 495 | |||
| 1166 | hbuss | 496 | #define D_LIMIT 128 |
| 497 | |||
| 1171 | hbuss | 498 | MesswertNick = HiResNick / 8; |
| 499 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 500 | |
| 1167 | hbuss | 501 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 502 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 503 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 504 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 505 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 506 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 507 | |||
| 1216 | killagreg | 508 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 509 | { |
| 1166 | hbuss | 510 | d2Nick = HiResNick - oldNick; |
| 511 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 512 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 513 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 514 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 515 | d2Roll = HiResRoll - oldRoll; |
||
| 516 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 517 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 518 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 519 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 520 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 521 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 522 | } |
| 1111 | hbuss | 523 | |
| 1166 | hbuss | 524 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 525 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 526 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 527 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 528 | |
| 529 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 530 | { |
||
| 531 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 532 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 533 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 534 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 535 | } |
||
| 1377 | hbuss | 536 | for(i=0;i<8;i++) |
| 537 | { |
||
| 538 | int tmp; |
||
| 539 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 540 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
| 1406 | hbuss | 541 | if(tmp != Poti[i]) |
| 542 | { |
||
| 543 | Poti[i] += (tmp - Poti[i]) / 8; |
||
| 1413 | killagreg | 544 | if(Poti[i] > tmp) Poti[i]--; |
| 1406 | hbuss | 545 | else Poti[i]++; |
| 1413 | killagreg | 546 | } |
| 1377 | hbuss | 547 | } |
| 1 | ingob | 548 | } |
| 549 | |||
| 550 | //############################################################################ |
||
| 551 | // Senden der Motorwerte per I2C-Bus |
||
| 552 | void SendMotorData(void) |
||
| 553 | //############################################################################ |
||
| 1051 | killagreg | 554 | { |
| 1209 | hbuss | 555 | unsigned char i; |
| 921 | hbuss | 556 | if(!MotorenEin) |
| 1 | ingob | 557 | { |
| 1420 | killagreg | 558 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
| 1216 | killagreg | 559 | for(i=0;i<MAX_MOTORS;i++) |
| 560 | { |
||
| 561 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 562 | Motor[i].SetPoint = MotorTest[i]; |
| 563 | Motor[i].SetPointLowerBits = 0; |
||
| 564 | /* |
||
| 565 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
| 566 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 567 | */ |
||
| 1216 | killagreg | 568 | } |
| 1212 | hbuss | 569 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 570 | } |
| 1420 | killagreg | 571 | else FCFlags |= FCFLAG_MOTOR_RUN; |
| 1 | ingob | 572 | //Start I2C Interrupt Mode |
| 1662 | killagreg | 573 | motor_write = 0; |
| 574 | I2C_Start(TWI_STATE_MOTOR_TX); |
||
| 1 | ingob | 575 | } |
| 576 | |||
| 577 | |||
| 578 | |||
| 579 | //############################################################################ |
||
| 580 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 581 | void ParameterZuordnung(void) |
| 1 | ingob | 582 | //############################################################################ |
| 583 | { |
||
| 1668 | holgerb | 584 | unsigned char tmp; |
| 1391 | killagreg | 585 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| 586 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
| 587 | |||
| 921 | hbuss | 588 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 589 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 590 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 591 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 592 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 1403 | hbuss | 593 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 594 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 595 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1377 | hbuss | 596 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1403 | hbuss | 597 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1377 | hbuss | 598 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| 599 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
| 600 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
| 601 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
| 602 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
| 603 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
| 604 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
| 605 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
| 606 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
| 607 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
| 608 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
| 609 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
| 610 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
| 611 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
| 612 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
| 613 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
| 614 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
| 615 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
| 616 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
| 1668 | holgerb | 617 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| 618 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
| 1377 | hbuss | 619 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| 620 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 621 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 622 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1676 | holgerb | 623 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 624 | MAX_GAS = EE_Parameter.Gas_Max; |
| 1662 | killagreg | 625 | MIN_GAS = EE_Parameter.Gas_Min; |
| 1668 | holgerb | 626 | |
| 627 | tmp = EE_Parameter.OrientationModeControl; |
||
| 1690 | holgerb | 628 | if(tmp > 50) |
| 1668 | holgerb | 629 | { |
| 1682 | holgerb | 630 | #ifdef SWITCH_LEARNS_CAREFREE |
| 631 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
||
| 632 | #endif |
||
| 633 | CareFree = 1; |
||
| 1668 | holgerb | 634 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 1702 | holgerb | 635 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
| 1669 | killagreg | 636 | } |
| 1668 | holgerb | 637 | else CareFree = 0; |
| 638 | |||
| 1691 | holgerb | 639 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| 1690 | holgerb | 640 | { |
| 641 | beeptime = 15000; |
||
| 642 | BeepMuster = 0xA400; |
||
| 643 | CareFree = 0; |
||
| 1702 | holgerb | 644 | } |
| 645 | |||
| 1668 | holgerb | 646 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| 1 | ingob | 647 | } |
| 648 | |||
| 649 | //############################################################################ |
||
| 650 | // |
||
| 651 | void MotorRegler(void) |
||
| 652 | //############################################################################ |
||
| 653 | { |
||
| 1330 | killagreg | 654 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 655 | int GierMischanteil,GasMischanteil; |
| 656 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 657 | static long IntegralFehlerNick = 0; |
| 658 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 659 | static unsigned int RcLostTimer; |
| 660 | static unsigned char delay_neutral = 0; |
||
| 661 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 662 | static unsigned char calibration_done = 0; |
| 1 | ingob | 663 | static char NeueKompassRichtungMerken = 0; |
| 395 | hbuss | 664 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 665 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 666 | unsigned char i; |
| 1051 | killagreg | 667 | Mittelwert(); |
| 1 | ingob | 668 | GRN_ON; |
| 1051 | killagreg | 669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 670 | // Gaswert ermitteln |
| 1051 | killagreg | 671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 672 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 673 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 674 | |
| 1051 | killagreg | 675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 676 | // Empfang schlecht |
| 1051 | killagreg | 677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 678 | if(SenderOkay < 100) |
| 679 | { |
||
| 1051 | killagreg | 680 | if(RcLostTimer) RcLostTimer--; |
| 681 | else |
||
| 1 | ingob | 682 | { |
| 683 | MotorenEin = 0; |
||
| 1420 | killagreg | 684 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1051 | killagreg | 685 | } |
| 1 | ingob | 686 | ROT_ON; |
| 693 | hbuss | 687 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 688 | { |
| 689 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1420 | killagreg | 690 | FCFlags |= FCFLAG_NOTLANDUNG; |
| 744 | hbuss | 691 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 692 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 693 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 694 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 695 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 696 | } |
| 1 | ingob | 697 | else MotorenEin = 0; |
| 698 | } |
||
| 1051 | killagreg | 699 | else |
| 700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 701 | // Emfang gut |
| 1051 | killagreg | 702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 703 | if(SenderOkay > 140) |
| 704 | { |
||
| 1420 | killagreg | 705 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1 | ingob | 706 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 707 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 708 | { |
| 709 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 710 | } |
||
| 871 | hbuss | 711 | if((modell_fliegt < 256)) |
| 1 | ingob | 712 | { |
| 713 | SummeNick = 0; |
||
| 714 | SummeRoll = 0; |
||
| 1682 | holgerb | 715 | sollGier = 0; |
| 716 | Mess_Integral_Gier = 0; |
||
| 1051 | killagreg | 717 | if(modell_fliegt == 250) |
| 918 | hbuss | 718 | { |
| 1051 | killagreg | 719 | NeueKompassRichtungMerken = 1; |
| 720 | } |
||
| 1420 | killagreg | 721 | } else FCFlags |= FCFLAG_FLY; |
| 1051 | killagreg | 722 | |
| 595 | hbuss | 723 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 724 | { |
| 1051 | killagreg | 725 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 726 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 727 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 728 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 729 | { |
||
| 730 | if(++delay_neutral > 200) // nicht sofort |
||
| 731 | { |
||
| 732 | GRN_OFF; |
||
| 733 | MotorenEin = 0; |
||
| 734 | delay_neutral = 0; |
||
| 735 | modell_fliegt = 0; |
||
| 736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 737 | { |
||
| 304 | ingob | 738 | unsigned char setting=1; |
| 1 | ingob | 739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 741 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 742 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 743 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 744 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 745 | } |
| 1051 | killagreg | 746 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 747 | { |
||
| 819 | hbuss | 748 | WinkelOut.CalcState = 1; |
| 749 | beeptime = 1000; |
||
| 750 | } |
||
| 751 | else |
||
| 1 | ingob | 752 | { |
| 1622 | killagreg | 753 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 754 | LipoDetection(0); |
| 1626 | killagreg | 755 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 819 | hbuss | 756 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 757 | { |
||
| 1 | ingob | 758 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 759 | } |
| 1330 | killagreg | 760 | ServoActive = 0; |
| 1622 | killagreg | 761 | SetNeutral(0); |
| 1702 | holgerb | 762 | calibration_done = 1; |
| 1232 | hbuss | 763 | ServoActive = 1; |
| 764 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 765 | Piep(GetActiveParamSet(),120); |
| 819 | hbuss | 766 | } |
| 1051 | killagreg | 767 | } |
| 1 | ingob | 768 | } |
| 1051 | killagreg | 769 | else |
| 513 | hbuss | 770 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 771 | { |
||
| 772 | if(++delay_neutral > 200) // nicht sofort |
||
| 773 | { |
||
| 774 | GRN_OFF; |
||
| 775 | MotorenEin = 0; |
||
| 776 | delay_neutral = 0; |
||
| 777 | modell_fliegt = 0; |
||
| 1622 | killagreg | 778 | SetNeutral(1); |
| 779 | calibration_done = 1; |
||
| 780 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 781 | } |
| 513 | hbuss | 782 | } |
| 1 | ingob | 783 | else delay_neutral = 0; |
| 784 | } |
||
| 1051 | killagreg | 785 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 786 | // Gas ist unten |
| 1051 | killagreg | 787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 788 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 789 | { |
| 1521 | killagreg | 790 | // Motoren Starten |
| 791 | if(!MotorenEin) |
||
| 792 | { |
||
| 793 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 794 | { |
||
| 1051 | killagreg | 795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 796 | // Einschalten |
| 1051 | killagreg | 797 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 798 | if(++delay_einschalten > 200) |
| 799 | { |
||
| 800 | delay_einschalten = 0; |
||
| 1702 | holgerb | 801 | if(!VersionInfo.HardwareError[0] && calibration_done) |
| 1622 | killagreg | 802 | { |
| 803 | modell_fliegt = 1; |
||
| 804 | MotorenEin = 1; |
||
| 805 | sollGier = 0; |
||
| 806 | Mess_Integral_Gier = 0; |
||
| 807 | Mess_Integral_Gier2 = 0; |
||
| 808 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 809 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 810 | Mess_IntegralNick2 = IntegralNick; |
||
| 811 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 812 | SummeNick = 0; |
||
| 813 | SummeRoll = 0; |
||
| 814 | FCFlags |= FCFLAG_START; |
||
| 1669 | killagreg | 815 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 1622 | killagreg | 816 | } |
| 817 | else |
||
| 818 | { |
||
| 819 | beeptime = 1500; // indicate missing calibration |
||
| 820 | } |
||
| 1521 | killagreg | 821 | } |
| 822 | } |
||
| 823 | else delay_einschalten = 0; |
||
| 824 | } |
||
| 1051 | killagreg | 825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 826 | // Auschalten |
| 1051 | killagreg | 827 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 828 | else // only if motors are running |
| 829 | { |
||
| 830 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 831 | { |
||
| 832 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 833 | { |
||
| 834 | MotorenEin = 0; |
||
| 835 | delay_ausschalten = 0; |
||
| 836 | modell_fliegt = 0; |
||
| 837 | } |
||
| 838 | } |
||
| 839 | else delay_ausschalten = 0; |
||
| 840 | } |
||
| 1 | ingob | 841 | } |
| 842 | } |
||
| 1051 | killagreg | 843 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 844 | // neue Werte von der Funke |
| 1051 | killagreg | 845 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 846 | |
| 1420 | killagreg | 847 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
| 1 | ingob | 848 | { |
| 604 | hbuss | 849 | static int stick_nick,stick_roll; |
| 1 | ingob | 850 | ParameterZuordnung(); |
| 1051 | killagreg | 851 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 852 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 853 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
| 854 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 855 | |||
| 1707 | holgerb | 856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 857 | // CareFree und freie Wahl der vorderen Richtung |
||
| 858 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1668 | holgerb | 859 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
| 860 | |||
| 861 | if(CareFree) |
||
| 1658 | holgerb | 862 | { |
| 1664 | holgerb | 863 | signed int nick, roll; |
| 864 | nick = stick_nick / 4; |
||
| 865 | roll = stick_roll / 4; |
||
| 866 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
| 867 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
| 1658 | holgerb | 868 | } |
| 1662 | killagreg | 869 | else |
| 1658 | holgerb | 870 | { |
| 1668 | holgerb | 871 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| 872 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
| 873 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
| 874 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
| 1658 | holgerb | 875 | } |
| 1662 | killagreg | 876 | |
| 1669 | killagreg | 877 | |
| 1 | ingob | 878 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 879 | if(StickGier > 2) StickGier -= 2; else |
| 880 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 881 | |||
| 1658 | holgerb | 882 | StickNick -= (GPS_Nick + GPS_Nick2); |
| 883 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
| 1350 | hbuss | 884 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1330 | killagreg | 885 | |
| 1153 | hbuss | 886 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 887 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 888 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 889 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 890 | |
| 595 | hbuss | 891 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 892 | //+ Analoge Steuerung per Seriell |
||
| 893 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 894 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 895 | { |
| 896 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 897 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 898 | StickGier += ExternControl.Gier; |
||
| 899 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 900 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 901 | } |
||
| 855 | hbuss | 902 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 903 | |
| 1 | ingob | 904 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 723 | hbuss | 905 | |
| 1051 | killagreg | 906 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 907 | { |
| 1051 | killagreg | 908 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 909 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 910 | } |
| 928 | hbuss | 911 | else MaxStickNick--; |
| 1051 | killagreg | 912 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 913 | { |
| 1051 | killagreg | 914 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 915 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 916 | } |
| 928 | hbuss | 917 | else MaxStickRoll--; |
| 1420 | killagreg | 918 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 919 | |
| 1051 | killagreg | 920 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 921 | // Looping? |
| 1051 | killagreg | 922 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 923 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 924 | else |
| 925 | { |
||
| 395 | hbuss | 926 | { |
| 1051 | killagreg | 927 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 928 | } |
||
| 929 | } |
||
| 993 | hbuss | 930 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 931 | else |
| 395 | hbuss | 932 | { |
| 933 | if(Looping_Rechts) // Hysterese |
||
| 934 | { |
||
| 935 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 936 | } |
||
| 1051 | killagreg | 937 | } |
| 173 | holgerb | 938 | |
| 993 | hbuss | 939 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 940 | else |
| 941 | { |
||
| 395 | hbuss | 942 | if(Looping_Oben) // Hysterese |
| 943 | { |
||
| 1051 | killagreg | 944 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 945 | } |
||
| 946 | } |
||
| 993 | hbuss | 947 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 948 | else |
| 395 | hbuss | 949 | { |
| 950 | if(Looping_Unten) // Hysterese |
||
| 951 | { |
||
| 952 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 953 | } |
||
| 1051 | killagreg | 954 | } |
| 395 | hbuss | 955 | |
| 956 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 957 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 958 | } // Ende neue Funken-Werte |
| 959 | |||
| 960 | if(Looping_Roll || Looping_Nick) |
||
| 961 | { |
||
| 173 | holgerb | 962 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 963 | TrichterFlug = 1; |
| 173 | holgerb | 964 | } |
| 965 | |||
| 1051 | killagreg | 966 | |
| 967 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 968 | // Bei Empfangsausfall im Flug |
||
| 969 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1420 | killagreg | 970 | if(FCFlags & FCFLAG_NOTLANDUNG) |
| 1 | ingob | 971 | { |
| 972 | StickGier = 0; |
||
| 973 | StickNick = 0; |
||
| 974 | StickRoll = 0; |
||
| 1211 | hbuss | 975 | GyroFaktor = 90; |
| 976 | IntegralFaktor = 120; |
||
| 977 | GyroFaktorGier = 90; |
||
| 978 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 979 | Looping_Roll = 0; |
| 980 | Looping_Nick = 0; |
||
| 1051 | killagreg | 981 | } |
| 395 | hbuss | 982 | |
| 983 | |||
| 1051 | killagreg | 984 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 985 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 986 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 987 | #define ABGLEICH_ANZAHL 256L |
| 988 | |||
| 989 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 990 | MittelIntegralRoll += IntegralRoll; |
||
| 991 | MittelIntegralNick2 += IntegralNick2; |
||
| 992 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 993 | |||
| 994 | if(Looping_Nick || Looping_Roll) |
||
| 995 | { |
||
| 996 | IntegralAccNick = 0; |
||
| 997 | IntegralAccRoll = 0; |
||
| 998 | MittelIntegralNick = 0; |
||
| 999 | MittelIntegralRoll = 0; |
||
| 1000 | MittelIntegralNick2 = 0; |
||
| 1001 | MittelIntegralRoll2 = 0; |
||
| 1002 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1003 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 1004 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 1005 | LageKorrekturNick = 0; |
| 1006 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 1007 | } |
| 1008 | |||
| 1051 | killagreg | 1009 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 1010 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 1011 | { |
| 1012 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 1013 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 1014 | { |
| 1015 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1016 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 1017 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 1018 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 1019 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 1020 | { |
||
| 1021 | tmp_long /= 2; |
||
| 1022 | tmp_long2 /= 2; |
||
| 1023 | } |
||
| 1024 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 1025 | { |
||
| 1026 | tmp_long /= 3; |
||
| 1027 | tmp_long2 /= 3; |
||
| 1028 | } |
||
| 1029 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1030 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1031 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1032 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1033 | } |
||
| 1051 | killagreg | 1034 | else |
| 992 | hbuss | 1035 | { |
| 1036 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1037 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 1038 | tmp_long /= 16; |
| 1039 | tmp_long2 /= 16; |
||
| 1040 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1041 | { |
||
| 1042 | tmp_long /= 3; |
||
| 1043 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 1044 | } |
| 1045 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 1046 | { |
| 1047 | tmp_long /= 3; |
||
| 1048 | tmp_long2 /= 3; |
||
| 1049 | } |
||
| 1155 | hbuss | 1050 | |
| 1051 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 1052 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1053 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1054 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1055 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 1056 | } |
||
| 1166 | hbuss | 1057 | |
| 1111 | hbuss | 1058 | Mess_IntegralNick -= tmp_long; |
| 1059 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1060 | } |
| 1051 | killagreg | 1061 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1062 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1063 | { |
||
| 1064 | static int cnt = 0; |
||
| 1065 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1066 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 1067 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 1068 | { |
| 395 | hbuss | 1069 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1070 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1071 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1072 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1073 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 1707 | holgerb | 1074 | #define MAX_I 0 |
| 395 | hbuss | 1075 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1076 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1077 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1078 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1079 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1080 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1081 | |
| 1082 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1083 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1084 | |
| 992 | hbuss | 1085 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1086 | { |
| 1087 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1088 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1089 | } |
| 498 | hbuss | 1090 | |
| 1051 | killagreg | 1091 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1092 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1093 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1094 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1095 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1096 | tmp_long = IntegralNick2 - IntegralNick; |
| 1097 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1098 | |
| 1099 | IntegralFehlerNick = tmp_long; |
||
| 1100 | IntegralFehlerRoll = tmp_long2; |
||
| 1101 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1102 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1103 | |||
| 1111 | hbuss | 1104 | if(EE_Parameter.Driftkomp) |
| 1105 | { |
||
| 1622 | killagreg | 1106 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1107 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1108 | } |
| 693 | hbuss | 1109 | GierGyroFehler = 0; |
| 720 | ingob | 1110 | |
| 1243 | killagreg | 1111 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1112 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1113 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1114 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1115 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1116 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1117 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1118 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1119 | { |
| 1051 | killagreg | 1120 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1121 | { |
| 1051 | killagreg | 1122 | if(last_n_p) |
| 395 | hbuss | 1123 | { |
| 1173 | hbuss | 1124 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1125 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1126 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1127 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1128 | } |
| 395 | hbuss | 1129 | else last_n_p = 1; |
| 1130 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1131 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1132 | { |
| 1133 | if(last_n_n) |
||
| 1051 | killagreg | 1134 | { |
| 1173 | hbuss | 1135 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1136 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1137 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1138 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1139 | } |
| 395 | hbuss | 1140 | else last_n_n = 1; |
| 1141 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1142 | } |
| 1143 | else |
||
| 847 | hbuss | 1144 | { |
| 1145 | cnt = 0; |
||
| 921 | hbuss | 1146 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1147 | } |
| 499 | hbuss | 1148 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1149 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1150 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1151 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1152 | |
| 395 | hbuss | 1153 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1695 | holgerb | 1154 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| 1225 | hbuss | 1155 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1156 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1157 | { |
| 1051 | killagreg | 1158 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1159 | { |
| 1051 | killagreg | 1160 | if(last_r_p) |
| 395 | hbuss | 1161 | { |
| 1173 | hbuss | 1162 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1163 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1164 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1165 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1166 | } |
| 395 | hbuss | 1167 | else last_r_p = 1; |
| 1168 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1169 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1170 | { |
| 1051 | killagreg | 1171 | if(last_r_n) |
| 395 | hbuss | 1172 | { |
| 1173 | hbuss | 1173 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1174 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1175 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1176 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1177 | } |
| 1178 | else last_r_n = 1; |
||
| 1179 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1180 | } else |
| 492 | hbuss | 1181 | { |
| 1182 | cnt = 0; |
||
| 921 | hbuss | 1183 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1184 | } |
| 499 | hbuss | 1185 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1186 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1187 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1188 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1189 | } |
| 1051 | killagreg | 1190 | else |
| 498 | hbuss | 1191 | { |
| 1192 | LageKorrekturRoll = 0; |
||
| 1193 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1194 | TrichterFlug = 0; |
| 498 | hbuss | 1195 | } |
| 1051 | killagreg | 1196 | |
| 498 | hbuss | 1197 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1199 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1200 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1201 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1202 | IntegralAccNick = 0; |
| 1203 | IntegralAccRoll = 0; |
||
| 1204 | IntegralAccZ = 0; |
||
| 1205 | MittelIntegralNick = 0; |
||
| 1206 | MittelIntegralRoll = 0; |
||
| 1207 | MittelIntegralNick2 = 0; |
||
| 1208 | MittelIntegralRoll2 = 0; |
||
| 1209 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1210 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1211 | |
| 1051 | killagreg | 1212 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1213 | // Gieren |
| 1051 | killagreg | 1214 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1215 | if(abs(StickGier) > 15) // war 35 |
||
| 1 | ingob | 1216 | { |
| 921 | hbuss | 1217 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1218 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1219 | { |
||
| 1220 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1221 | }; |
| 1 | ingob | 1222 | } |
| 395 | hbuss | 1223 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1224 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1225 | sollGier = tmp_int; |
| 1051 | killagreg | 1226 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1227 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1228 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1229 | |
| 1230 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1231 | // Kompass |
| 1051 | killagreg | 1232 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1233 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
| 1 | ingob | 1234 | { |
| 819 | hbuss | 1235 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1236 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1237 | v = abs(IntegralRoll /512); |
||
| 1238 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1658 | holgerb | 1239 | korrektur = w / 8 + 2; |
| 921 | hbuss | 1240 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1664 | holgerb | 1241 | //fehler += MesswertGier / 12; |
| 1662 | killagreg | 1242 | |
| 921 | hbuss | 1243 | if(!KompassSignalSchlecht && w < 25) |
| 1244 | { |
||
| 1245 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1246 | if(NeueKompassRichtungMerken) |
| 1247 | { |
||
| 1171 | hbuss | 1248 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1249 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1250 | NeueKompassRichtungMerken = 0; |
||
| 1251 | } |
||
| 1 | ingob | 1252 | } |
| 1658 | holgerb | 1253 | ErsatzKompass += (fehler * 16) / korrektur; |
| 921 | hbuss | 1254 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1255 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1256 | if(w >= 0) |
| 1 | ingob | 1257 | { |
| 1051 | killagreg | 1258 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1259 | { |
| 1051 | killagreg | 1260 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1261 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 819 | hbuss | 1262 | v = (r * w) / v; // nach Kompass ausrichten |
| 1263 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1264 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1265 | else |
| 693 | hbuss | 1266 | if(v < -w) v = -w; |
| 1267 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1268 | } |
| 693 | hbuss | 1269 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1270 | } |
| 921 | hbuss | 1271 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1272 | } |
| 1 | ingob | 1273 | |
| 1051 | killagreg | 1274 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1275 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1277 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1278 | |
| 1171 | hbuss | 1279 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1280 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1281 | |
| 1167 | hbuss | 1282 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1283 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1284 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1285 | |
| 1166 | hbuss | 1286 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1287 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1288 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1289 | |
| 1 | ingob | 1290 | // Maximalwerte abfangen |
| 1153 | hbuss | 1291 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1685 | holgerb | 1292 | #define MAX_SENSOR (4096) |
| 1216 | killagreg | 1293 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1294 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1295 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1296 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1297 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1298 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1299 | |||
| 1051 | killagreg | 1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1301 | // Höhenregelung |
| 1302 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1303 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1304 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1305 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1306 | // if height control is activated |
| 1322 | hbuss | 1307 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1308 | { |
| 1698 | holgerb | 1309 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| 1332 | hbuss | 1310 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1311 | |
| 1312 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1313 | #define OPA_OFFSET_STEP 15 |
||
| 1642 | killagreg | 1314 | #else |
| 1638 | holgerb | 1315 | #define OPA_OFFSET_STEP 10 |
| 1316 | #endif |
||
| 1697 | holgerb | 1317 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
| 1309 | hbuss | 1318 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1319 | static int FilterHCGas = 0; |
||
| 1692 | holgerb | 1320 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| 1587 | killagreg | 1321 | static unsigned long HoverGasFilter = 0; |
| 1322 | hbuss | 1322 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1320 | hbuss | 1323 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1324 | |
| 1309 | hbuss | 1325 | // get the current hooverpoint |
| 1756 | - | 1326 | if((FCFlags & FCFLAG_FLY)) /// |
| 1327 | { |
||
| 1328 | DebugOut.Analog[21] = HoverGas; |
||
| 1329 | } |
||
| 1322 | hbuss | 1330 | // Expand the measurement |
| 1331 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1332 | if(!BaroExpandActive) |
||
| 1333 | { |
||
| 1334 | if(MessLuftdruck > 920) |
||
| 1335 | { // increase offset |
||
| 1330 | killagreg | 1336 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1337 | { |
| 1338 | ExpandBaro -= 1; |
||
| 1339 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1340 | beeptime = 300; |
||
| 1352 | hbuss | 1341 | BaroExpandActive = 350; |
| 1330 | killagreg | 1342 | } |
| 1343 | else |
||
| 1322 | hbuss | 1344 | { |
| 1345 | BaroAtLowerLimit = 1; |
||
| 1346 | } |
||
| 1347 | } |
||
| 1348 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1349 | else |
| 1322 | hbuss | 1350 | if(MessLuftdruck < 100) |
| 1351 | { // decrease offset |
||
| 1330 | killagreg | 1352 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1353 | { |
| 1354 | ExpandBaro += 1; |
||
| 1355 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1356 | beeptime = 300; |
||
| 1352 | hbuss | 1357 | BaroExpandActive = 350; |
| 1330 | killagreg | 1358 | } |
| 1359 | else |
||
| 1322 | hbuss | 1360 | { |
| 1361 | BaroAtUpperLimit = 1; |
||
| 1362 | } |
||
| 1363 | } |
||
| 1330 | killagreg | 1364 | else |
| 1322 | hbuss | 1365 | { |
| 1366 | BaroAtUpperLimit = 0; |
||
| 1367 | BaroAtLowerLimit = 0; |
||
| 1368 | } |
||
| 1369 | } |
||
| 1370 | else // delay, because of expanding the Baro-Range |
||
| 1371 | { |
||
| 1372 | // now clear the D-values |
||
| 1373 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1374 | VarioMeter = 0; |
||
| 1375 | BaroExpandActive--; |
||
| 1376 | } |
||
| 1328 | hbuss | 1377 | |
| 1378 | // if height control is activated by an rc channel |
||
| 1379 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1380 | { // check if parameter is less than activation threshold |
||
| 1381 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1382 | { //height control not active |
||
| 1383 | if(!delay--) |
||
| 1384 | { |
||
| 1385 | HoehenReglerAktiv = 0; // disable height control |
||
| 1386 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1387 | delay = 1; |
||
| 1388 | } |
||
| 1389 | } |
||
| 1390 | else |
||
| 1391 | { //height control is activated |
||
| 1392 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1393 | delay = 200; |
| 1328 | hbuss | 1394 | } |
| 1051 | killagreg | 1395 | } |
| 1309 | hbuss | 1396 | else // no switchable height control |
| 1397 | { |
||
| 1398 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1399 | HoehenReglerAktiv = 1; |
||
| 1051 | killagreg | 1400 | } |
| 1322 | hbuss | 1401 | |
| 1320 | hbuss | 1402 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1403 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1404 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1405 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1406 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1407 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1408 | VarioCharacter = ' '; |
| 1420 | killagreg | 1409 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1410 | { |
| 1411 | #define HEIGHT_TRIM_UP 0x01 |
||
| 1412 | #define HEIGHT_TRIM_DOWN 0x02 |
||
| 1413 | static unsigned char HeightTrimmingFlag = 0x00; |
||
| 1414 | |||
| 1330 | killagreg | 1415 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1416 | // Holger original version |
| 1417 | // start of height control algorithm |
||
| 1418 | // the height control is only an attenuation of the actual gas stick. |
||
| 1419 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1420 | // and the hover height will be allways larger than height setpoint. |
||
| 1314 | killagreg | 1421 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1422 | { // old version |
||
| 1309 | hbuss | 1423 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1424 | HeightTrimming = 0; |
||
| 1425 | } |
||
| 1314 | killagreg | 1426 | else |
| 1309 | hbuss | 1427 | { |
| 1428 | // alternative height control |
||
| 1429 | // PD-Control with respect to hoover point |
||
| 1430 | // the thrust loss out of horizontal attitude is compensated |
||
| 1431 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1420 | killagreg | 1432 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1433 | { // gas stick is above hoover point |
| 1587 | killagreg | 1434 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1435 | { |
| 1436 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
| 1437 | { |
||
| 1438 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
| 1439 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1440 | } |
||
| 1441 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
| 1587 | killagreg | 1442 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1443 | VarioCharacter = '+'; |
| 1309 | hbuss | 1444 | } // gas stick is below hoover point |
| 1587 | killagreg | 1445 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1446 | { |
| 1447 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
| 1448 | { |
||
| 1449 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
| 1450 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1451 | } |
||
| 1452 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
| 1587 | killagreg | 1453 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1454 | VarioCharacter = '-'; |
| 1309 | hbuss | 1455 | } |
| 1587 | killagreg | 1456 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1457 | { |
| 1352 | hbuss | 1458 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| 1309 | hbuss | 1459 | { |
| 1352 | hbuss | 1460 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| 1309 | hbuss | 1461 | HeightTrimming = 0; |
| 1462 | SollHoehe = HoehenWert; // update setpoint to current height |
||
| 1463 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1698 | holgerb | 1464 | if(!StartTrigger && HoehenWert > 50) |
| 1465 | { |
||
| 1466 | StartTrigger = 1; |
||
| 1467 | } |
||
| 1309 | hbuss | 1468 | } |
| 1591 | holgerb | 1469 | VarioCharacter = '='; |
| 1309 | hbuss | 1470 | } |
| 1471 | // Trim height set point |
||
| 1334 | killagreg | 1472 | if(abs(HeightTrimming) > 512) |
| 1309 | hbuss | 1473 | { |
| 1332 | hbuss | 1474 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1309 | hbuss | 1475 | HeightTrimming = 0; |
| 1587 | killagreg | 1476 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1720 | holgerb | 1477 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| 1320 | hbuss | 1478 | //update hoover gas stick value when setpoint is shifted |
| 1332 | hbuss | 1479 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1480 | { |
||
| 1587 | killagreg | 1481 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1482 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1483 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1484 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1485 | } |
| 1309 | hbuss | 1486 | } |
| 1352 | hbuss | 1487 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1488 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1489 | else |
| 1490 | { |
||
| 1322 | hbuss | 1491 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1492 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1493 | else StickGasHover = 120; |
||
| 1698 | holgerb | 1494 | HoverGas = GasMischanteil; |
| 1320 | hbuss | 1495 | } |
| 1590 | killagreg | 1496 | HCGas = HoverGas; // take hover gas (neutral point) |
| 1497 | } |
||
| 1314 | killagreg | 1498 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1283 | hbuss | 1499 | { |
| 1590 | killagreg | 1500 | // from this point the Heigth Control Algorithm is identical for both versions |
| 1501 | if(BaroExpandActive) // baro range expanding active |
||
| 1502 | { |
||
| 1503 | HCGas = HoverGas; // hover while expanding baro adc range |
||
| 1504 | HeightDeviation = 0; |
||
| 1505 | } // EOF // baro range expanding active |
||
| 1506 | else // valid data from air pressure sensor |
||
| 1507 | { |
||
| 1508 | // ------------------------- P-Part ---------------------------- |
||
| 1509 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
| 1510 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
| 1511 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
| 1695 | holgerb | 1512 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| 1698 | holgerb | 1513 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| 1514 | GasReduction = tmp_long; |
||
| 1590 | killagreg | 1515 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| 1516 | tmp_int = VarioMeter / 8; |
||
| 1695 | holgerb | 1517 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
| 1705 | holgerb | 1518 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| 1519 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1520 | if(HeightTrimmingFlag) tmp_int /= 4; // reduce d-part while trimming setpoint |
||
| 1720 | holgerb | 1521 | else |
| 1722 | holgerb | 1522 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| 1698 | holgerb | 1523 | GasReduction += tmp_int; |
| 1590 | killagreg | 1524 | } // EOF no baro range expanding |
| 1309 | hbuss | 1525 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1698 | holgerb | 1526 | if(Parameter_Hoehe_ACC_Wirkung) |
| 1527 | { |
||
| 1528 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
| 1529 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1530 | GasReduction += tmp_long; |
||
| 1531 | } |
||
| 1587 | killagreg | 1532 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| 1588 | killagreg | 1533 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 1534 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1698 | holgerb | 1535 | GasReduction += tmp_int; |
| 1701 | holgerb | 1536 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| 1537 | // ------------------------ ---------------------------------- |
||
| 1538 | HCGas -= GasReduction; |
||
| 1309 | hbuss | 1539 | // limit deviation from hoover point within the target region |
| 1692 | holgerb | 1540 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1541 | { |
| 1705 | holgerb | 1542 | unsigned int tmp; |
| 1543 | tmp = abs(HeightDeviation); |
||
| 1544 | if(tmp <= 60) |
||
| 1545 | { |
||
| 1546 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
| 1547 | } |
||
| 1548 | else |
||
| 1549 | { |
||
| 1550 | tmp = (tmp - 60) / 32; |
||
| 1692 | holgerb | 1551 | if(tmp > 15) tmp = 15; |
| 1705 | holgerb | 1552 | if(HeightDeviation > 0) |
| 1693 | holgerb | 1553 | { |
| 1705 | holgerb | 1554 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
| 1555 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
| 1693 | holgerb | 1556 | } |
| 1705 | holgerb | 1557 | else |
| 1558 | { |
||
| 1559 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
| 1560 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
| 1561 | } |
||
| 1562 | } |
||
| 1309 | hbuss | 1563 | } |
| 1322 | hbuss | 1564 | // strech control output by inverse attitude projection 1/cos |
| 1565 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1566 | tmp_long2 = (int32_t)HCGas; |
| 1567 | tmp_long2 *= 8192L; |
||
| 1568 | tmp_long2 /= CosAttitude; |
||
| 1569 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1570 | // update height control gas averaging |
| 1571 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1572 | // limit height control gas pd-control output |
||
| 1573 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1574 | // set GasMischanteil to HeightControlGasFilter |
||
| 1314 | killagreg | 1575 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1576 | { // old version |
| 1577 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1719 | holgerb | 1578 | GasMischanteil = FilterHCGas; |
| 1579 | } |
||
| 1580 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
||
| 1314 | killagreg | 1581 | } |
| 1309 | hbuss | 1582 | }// EOF height control active |
| 1320 | hbuss | 1583 | else // HC not active |
| 1584 | { |
||
| 1585 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1586 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1587 | { |
||
| 1588 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1589 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1590 | } |
| 1587 | killagreg | 1591 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1592 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1593 | FilterHCGas = GasMischanteil; |
| 1330 | killagreg | 1594 | } |
| 1283 | hbuss | 1595 | |
| 1587 | killagreg | 1596 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1597 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1698 | holgerb | 1598 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1599 | { |
| 1698 | holgerb | 1600 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1601 | if(StartTrigger == 1) StartTrigger = 2; |
||
| 1330 | killagreg | 1602 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1603 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1604 | tmp_long2 /= 8192; |
||
| 1309 | hbuss | 1605 | // average vertical projected thrust |
| 1698 | holgerb | 1606 | if(modell_fliegt < 4000) // the first 8 seconds |
| 1607 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1608 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
| 1609 | HoverGasFilter += 16L * tmp_long2; |
||
| 1309 | hbuss | 1610 | } |
| 1698 | holgerb | 1611 | if(modell_fliegt < 8000) // the first 16 seconds |
| 1612 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1613 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1614 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1615 | } |
| 1698 | holgerb | 1616 | else //later |
| 1756 | - | 1617 | |
| 1618 | |||
| 1698 | holgerb | 1619 | if(abs(VarioMeter) < 100) // only on small vertical speed |
| 1309 | hbuss | 1620 | { |
| 1590 | killagreg | 1621 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1622 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1623 | } |
| 1756 | - | 1624 | |
| 1625 | |||
| 1590 | killagreg | 1626 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1627 | if(EE_Parameter.Hoehe_HoverBand) |
| 1628 | { |
||
| 1629 | int16_t band; |
||
| 1587 | killagreg | 1630 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1631 | HoverGasMin = HoverGas - band; |
||
| 1632 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1633 | } |
| 1634 | else |
||
| 1635 | { // no limit |
||
| 1587 | killagreg | 1636 | HoverGasMin = 0; |
| 1637 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1638 | } |
| 1698 | holgerb | 1639 | } |
| 1640 | else |
||
| 1641 | { |
||
| 1642 | StartTrigger = 0; |
||
| 1643 | HoverGasFilter = 0; |
||
| 1644 | HoverGas = 0; |
||
| 1645 | } |
||
| 1309 | hbuss | 1646 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| 1647 | // limit gas to parameter setting |
||
| 1320 | hbuss | 1648 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1649 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1650 | |
| 1051 | killagreg | 1651 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1652 | // all BL-Ctrl connected? |
| 1653 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1675 | holgerb | 1654 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| 1320 | hbuss | 1655 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1656 | { |
||
| 1657 | modell_fliegt = 1; |
||
| 1675 | holgerb | 1658 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| 1320 | hbuss | 1659 | } |
| 1660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1661 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1663 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1665 | // Gier-Anteil |
| 1051 | killagreg | 1666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1667 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1668 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1669 | if(GasMischanteil > MIN_GIERGAS) |
| 1670 | { |
||
| 1051 | killagreg | 1671 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1672 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1673 | } |
| 1051 | killagreg | 1674 | else |
| 693 | hbuss | 1675 | { |
| 1051 | killagreg | 1676 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1677 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1678 | } |
| 855 | hbuss | 1679 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1680 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1681 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1682 | |
| 1051 | killagreg | 1683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1684 | // Nick-Achse |
| 1051 | killagreg | 1685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1686 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1687 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1688 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1689 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1690 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1685 | holgerb | 1691 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1692 | // Motor Vorn |
| 1676 | holgerb | 1693 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1694 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1695 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1696 | |
| 1153 | hbuss | 1697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1698 | // Roll-Achse |
||
| 1699 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1700 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1701 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1702 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1703 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1704 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1685 | holgerb | 1705 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
| 1676 | holgerb | 1706 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1707 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| 1708 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1709 | |||
| 1710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1711 | // Universal Mixer |
| 1155 | hbuss | 1712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | killagreg | 1713 | for(i=0; i<MAX_MOTORS; i++) |
| 1714 | { |
||
| 1715 | signed int tmp_int; |
||
| 1716 | if(Mixer.Motor[i][0] > 0) |
||
| 1717 | { |
||
| 1652 | holgerb | 1718 | // Gas |
| 1676 | holgerb | 1719 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| 1652 | holgerb | 1720 | // Nick |
| 1721 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
| 1722 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
| 1723 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1724 | // Roll |
||
| 1725 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
| 1726 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
| 1727 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1728 | // Gier |
||
| 1676 | holgerb | 1729 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| 1730 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
| 1731 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1675 | holgerb | 1732 | |
| 1693 | holgerb | 1733 | |
| 1749 | - | 1734 | |
| 1735 | |||
| 1736 | |||
| 1737 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
||
| 1738 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
| 1739 | // Arthur P: the original code allowed the motor value to drop to 0 or negative values |
||
| 1740 | // straight off, i.e. could amplify an intended decrease excessively while upregulation |
||
| 1741 | // is dampened. The modification would still allow immediate drop below intended value |
||
| 1742 | // but would dampen this. This would still allow for airbraking of the prop to have effect |
||
| 1743 | // but it might lead to less sudden excessive drops in rpm with only gradual recovery. |
||
| 1744 | // 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and |
||
| 1745 | // possible timing issues with the shutter interval load, removed the shutter interval functions |
||
| 1746 | // and switched to use of userparam6 for the motor smoothing. |
||
| 1747 | // 091114 Inserted modification into 0.76g source code. |
||
| 1748 | // 20100804 Modified v.0.80d code where motorsmoothing is no longer a separate function. |
||
| 1749 | // Downsmoothing either uses default v.0.7x+ 150% downstep (user para 7 == 0), |
||
| 1750 | // 50% downstep (user para 7 == 1 or 2), or downsteps of x% (userpara7 ==): |
||
| 1751 | // 66.6% (3), 75% (4), 80% (5), 90% (10), 95% (20), 97.5% (40), 98% (50), 99% (100). |
||
| 1752 | else |
||
| 1753 | { |
||
| 1754 | if(Parameter_UserParam7 < 2) |
||
| 1755 | { // Original function |
||
| 1756 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; |
||
| 1757 | } |
||
| 1758 | else |
||
| 1759 | { |
||
| 1760 | // If userpara7 >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
| 1761 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/Parameter_UserParam7); |
||
| 1762 | } |
||
| 1763 | } |
||
| 1764 | |||
| 1765 | |||
| 1766 | |||
| 1677 | killagreg | 1767 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
| 1676 | holgerb | 1768 | Motor[i].SetPoint = tmp_int / 4; |
| 1677 | killagreg | 1769 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| 1652 | holgerb | 1770 | tmp_motorwert[i] = tmp_int; |
| 1642 | killagreg | 1771 | } |
| 1772 | else |
||
| 1773 | { |
||
| 1774 | Motor[i].SetPoint = 0; |
||
| 1775 | Motor[i].SetPointLowerBits = 0; |
||
| 1776 | } |
||
| 1777 | } |
||
| 1111 | hbuss | 1778 | } |