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Rev | Author | Line No. | Line |
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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 | |||
56 | #include "main.h" |
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1320 | hbuss | 57 | #include "mymath.h" |
1330 | killagreg | 58 | #include "isqrt.h" |
1 | ingob | 59 | |
1352 | hbuss | 60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
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1153 | hbuss | 62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 63 | int TrimNick, TrimRoll; |
927 | hbuss | 64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
1703 | holgerb | 65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
805 | hbuss | 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1639 | holgerb | 68 | int NeutralAccZ = 0; |
1683 | killagreg | 69 | unsigned char ControlHeading = 0;// in 2° |
693 | hbuss | 70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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73 | long Integral_Gier = 0; |
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74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1685 | holgerb | 78 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 79 | volatile long Mess_Integral_Hoch = 0; |
1840 | holgerb | 80 | int KompassValue = -1; |
1837 | holgerb | 81 | int KompassSollWert = 0; |
1941 | holgerb | 82 | //int KompassRichtung = 0; |
1839 | holgerb | 83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
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85 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 86 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 87 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 88 | unsigned char TrichterFlug = 0; |
395 | hbuss | 89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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92 | int GierGyroFehler = 0; |
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1211 | hbuss | 93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 95 | int DiffNick,DiffRoll; |
1916 | holgerb | 96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1377 | hbuss | 97 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 98 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 99 | volatile unsigned char SenderOkay = 0; |
595 | hbuss | 100 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1698 | holgerb | 101 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 102 | long HoehenWert = 0; |
103 | long SollHoehe = 0; |
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1942 | holgerb | 104 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 105 | long FromNC_AltitudeSetpoint = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 107 | unsigned char carefree_old = 50; // to make the Beep when switching |
1942 | holgerb | 108 | signed char WaypointTrimming = 0; |
1840 | holgerb | 109 | int CompassGierSetpoint = 0; |
1692 | holgerb | 110 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 111 | //float Ki = FAKTOR_I; |
1676 | holgerb | 112 | int Ki = 10300 / 33; |
395 | hbuss | 113 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
114 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 115 | |
116 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 117 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 118 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
119 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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120 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 121 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 122 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 123 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 124 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 125 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
126 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 127 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
128 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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129 | unsigned char Parameter_UserParam1 = 0; |
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130 | unsigned char Parameter_UserParam2 = 0; |
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131 | unsigned char Parameter_UserParam3 = 0; |
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132 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 133 | unsigned char Parameter_UserParam5 = 0; |
134 | unsigned char Parameter_UserParam6 = 0; |
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135 | unsigned char Parameter_UserParam7 = 0; |
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136 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 137 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 138 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 139 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 140 | unsigned char Parameter_AchsKopplung1 = 90; |
141 | unsigned char Parameter_AchsKopplung2 = 65; |
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142 | unsigned char Parameter_CouplingYawCorrection = 64; |
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143 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 144 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 145 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
146 | unsigned char Parameter_J16Timing; // for the J16 Output |
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147 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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148 | unsigned char Parameter_J17Timing; // for the J17 Output |
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149 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 150 | unsigned char Parameter_NaviGpsGain; |
151 | unsigned char Parameter_NaviGpsP; |
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152 | unsigned char Parameter_NaviGpsI; |
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153 | unsigned char Parameter_NaviGpsD; |
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154 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 155 | unsigned char Parameter_NaviOperatingRadius; |
156 | unsigned char Parameter_NaviWindCorrection; |
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157 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 158 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 159 | unsigned char Parameter_GlobalConfig; |
160 | unsigned char Parameter_ExtraConfig; |
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1936 | holgerb | 161 | unsigned char Parameter_MaximumAltitude = 40; |
1403 | hbuss | 162 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 163 | unsigned char CareFree = 0; |
1876 | holgerb | 164 | const 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}; // 15° steps |
1622 | killagreg | 165 | |
492 | hbuss | 166 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 167 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 168 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 169 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 170 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 171 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 172 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 173 | char VarioCharacter = ' '; |
174 | |||
1391 | killagreg | 175 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
176 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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177 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 178 | |
1622 | killagreg | 179 | |
1639 | holgerb | 180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
181 | // Debugwerte zuordnen |
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182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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183 | void CopyDebugValues(void) |
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184 | { |
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185 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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186 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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187 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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188 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 189 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 190 | DebugOut.Analog[5] = HoehenWert/5; |
1703 | holgerb | 191 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
1639 | holgerb | 192 | DebugOut.Analog[8] = KompassValue; |
193 | DebugOut.Analog[9] = UBat; |
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194 | DebugOut.Analog[10] = SenderOkay; |
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1941 | holgerb | 195 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 196 | DebugOut.Analog[12] = Motor[0].SetPoint; |
197 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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198 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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199 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 200 | DebugOut.Analog[20] = ServoNickValue; |
201 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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202 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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1879 | holgerb | 203 | DebugOut.Analog[24] = SollHoehe/5; |
1639 | holgerb | 204 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1682 | holgerb | 205 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1839 | holgerb | 206 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 207 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 208 | DebugOut.Analog[30] = GPS_Nick; |
209 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 210 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1942 | holgerb | 211 | |
212 | DebugOut.Analog[16] = AltitudeSetpointTrimming; |
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213 | DebugOut.Analog[17] = ElectricAirPacket.m_sec; |
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1639 | holgerb | 214 | } |
215 | |||
1760 | holgerb | 216 | |
217 | |||
1232 | hbuss | 218 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 219 | { |
1232 | hbuss | 220 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 221 | while(Anzahl--) |
222 | { |
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1232 | hbuss | 223 | beeptime = dauer; |
224 | while(beeptime); |
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225 | Delay_ms(dauer * 2); |
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1 | ingob | 226 | } |
227 | } |
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228 | |||
229 | //############################################################################ |
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1622 | killagreg | 230 | // Messwerte beim Ermitteln der Nullage |
231 | void CalibrierMittelwert(void) |
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232 | //############################################################################ |
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233 | { |
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234 | unsigned char i; |
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235 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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236 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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237 | ANALOG_OFF; |
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238 | MesswertNick = AdWertNick; |
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239 | MesswertRoll = AdWertRoll; |
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240 | MesswertGier = AdWertGier; |
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1703 | holgerb | 241 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
242 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 243 | // ADC einschalten |
244 | ANALOG_ON; |
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245 | for(i=0;i<8;i++) |
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246 | { |
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247 | int tmp; |
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1876 | holgerb | 248 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 249 | LIMIT_MIN_MAX(tmp, 0, 255); |
250 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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251 | } |
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252 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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253 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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254 | } |
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255 | |||
256 | //############################################################################ |
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1 | ingob | 257 | // Nullwerte ermitteln |
1622 | killagreg | 258 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 259 | //############################################################################ |
260 | { |
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1622 | killagreg | 261 | unsigned char i; |
262 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 263 | VersionInfo.HardwareError[0] = 0; |
1320 | hbuss | 264 | HEF4017R_ON; |
1051 | killagreg | 265 | NeutralAccX = 0; |
1 | ingob | 266 | NeutralAccY = 0; |
267 | NeutralAccZ = 0; |
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1622 | killagreg | 268 | |
1051 | killagreg | 269 | AdNeutralNick = 0; |
270 | AdNeutralRoll = 0; |
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1 | ingob | 271 | AdNeutralGier = 0; |
1622 | killagreg | 272 | |
395 | hbuss | 273 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 274 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 275 | |
1036 | hbuss | 276 | ExpandBaro = 0; |
1622 | killagreg | 277 | |
1051 | killagreg | 278 | CalibrierMittelwert(); |
395 | hbuss | 279 | Delay_ms_Mess(100); |
1622 | killagreg | 280 | |
1 | ingob | 281 | CalibrierMittelwert(); |
1622 | killagreg | 282 | |
1 | ingob | 283 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 284 | { |
1 | ingob | 285 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
286 | } |
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1166 | hbuss | 287 | #define NEUTRAL_FILTER 32 |
288 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 289 | { |
290 | Delay_ms_Mess(10); |
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1216 | killagreg | 291 | gier_neutral += AdWertGier; |
1166 | hbuss | 292 | nick_neutral += AdWertNick; |
293 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 294 | } |
1173 | hbuss | 295 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
296 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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297 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 298 | |
401 | hbuss | 299 | StartNeutralRoll = AdNeutralRoll; |
300 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 301 | |
302 | if(AccAdjustment) |
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303 | { |
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304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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306 | NeutralAccZ = Aktuell_az; |
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307 | |||
308 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 309 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
310 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 311 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 312 | } |
1051 | killagreg | 313 | else |
513 | hbuss | 314 | { |
1622 | killagreg | 315 | // restore from eeprom |
316 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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317 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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318 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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319 | // strange settings? |
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1638 | holgerb | 320 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 321 | { |
322 | printf("\n\rACC not calibrated!\r\n"); |
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323 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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324 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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325 | NeutralAccZ = Aktuell_az; |
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326 | } |
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513 | hbuss | 327 | } |
1051 | killagreg | 328 | |
1 | ingob | 329 | MesswertNick = 0; |
330 | MesswertRoll = 0; |
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331 | MesswertGier = 0; |
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1111 | hbuss | 332 | Delay_ms_Mess(100); |
1703 | holgerb | 333 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
334 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1173 | hbuss | 335 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
336 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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337 | Mess_IntegralNick2 = IntegralNick; |
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338 | Mess_IntegralRoll2 = IntegralRoll; |
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339 | Mess_Integral_Gier = 0; |
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1 | ingob | 340 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 341 | VarioMeter = 0; |
1 | ingob | 342 | Mess_Integral_Hoch = 0; |
1837 | holgerb | 343 | KompassSollWert = KompassValue; |
1839 | holgerb | 344 | KompassSignalSchlecht = 100; |
1051 | killagreg | 345 | beeptime = 50; |
882 | hbuss | 346 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
347 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 348 | ExternHoehenValue = 0; |
693 | hbuss | 349 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
350 | GierGyroFehler = 0; |
||
723 | hbuss | 351 | SendVersionToNavi = 1; |
921 | hbuss | 352 | LED_Init(); |
1765 | killagreg | 353 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 354 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 355 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 356 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 357 | for(i=0;i<8;i++) |
1377 | hbuss | 358 | { |
1876 | holgerb | 359 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 360 | } |
1171 | hbuss | 361 | SenderOkay = 100; |
1320 | hbuss | 362 | if(ServoActive) |
363 | { |
||
364 | HEF4017R_ON; |
||
365 | DDRD |=0x80; // enable J7 -> Servo signal |
||
366 | } |
||
1702 | holgerb | 367 | |
1765 | killagreg | 368 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
369 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
370 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
371 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
372 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
373 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
1862 | holgerb | 374 | carefree_old = 70; |
1925 | holgerb | 375 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 376 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 377 | #endif |
1 | ingob | 378 | } |
379 | |||
1702 | holgerb | 380 | |
1 | ingob | 381 | //############################################################################ |
395 | hbuss | 382 | // Bearbeitet die Messwerte |
1 | ingob | 383 | void Mittelwert(void) |
384 | //############################################################################ |
||
1051 | killagreg | 385 | { |
1111 | hbuss | 386 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
387 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 388 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 389 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 390 | MesswertNick = (signed int) AdWertNickFilter / 8; |
391 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 392 | RohMesswertNick = MesswertNick; |
393 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 394 | |
395 | hbuss | 395 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 396 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
397 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 398 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
399 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 400 | NaviAccNick += AdWertAccNick; |
401 | NaviAccRoll += AdWertAccRoll; |
||
402 | NaviCntAcc++; |
||
1153 | hbuss | 403 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
404 | |||
1155 | hbuss | 405 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
406 | // ADC einschalten |
||
1171 | hbuss | 407 | ANALOG_ON; |
1155 | hbuss | 408 | AdReady = 0; |
409 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
410 | |||
1216 | killagreg | 411 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
412 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 413 | else winkel_roll = Mess_IntegralRoll; |
414 | |||
1216 | killagreg | 415 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
416 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 417 | else winkel_nick = Mess_IntegralNick; |
418 | |||
1120 | hbuss | 419 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 420 | Mess_Integral_Gier += MesswertGier; |
421 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 422 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 423 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 424 | { |
1153 | hbuss | 425 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 426 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 427 | tmpl3 /= 4096L; |
1153 | hbuss | 428 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 429 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 430 | tmpl4 /= 4096L; |
1153 | hbuss | 431 | KopplungsteilNickRoll = tmpl3; |
432 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 433 | tmpl4 -= tmpl3; |
434 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 435 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 436 | |
1153 | hbuss | 437 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 438 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 439 | tmpl /= 4096L; |
1153 | hbuss | 440 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 441 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 442 | tmpl2 /= 4096L; |
1225 | hbuss | 443 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 444 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 445 | } |
1166 | hbuss | 446 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 447 | TrimRoll = tmpl - tmpl2 / 100L; |
448 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 449 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
450 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
451 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 452 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 453 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
454 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 455 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 456 | { |
882 | hbuss | 457 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 458 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 459 | } |
395 | hbuss | 460 | if(Mess_IntegralRoll <-Umschlag180Roll) |
461 | { |
||
882 | hbuss | 462 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 463 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 464 | } |
395 | hbuss | 465 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 466 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
467 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 468 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 469 | { |
470 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
471 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 472 | } |
473 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 474 | { |
882 | hbuss | 475 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 476 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 477 | } |
1111 | hbuss | 478 | |
1 | ingob | 479 | Integral_Gier = Mess_Integral_Gier; |
480 | IntegralNick = Mess_IntegralNick; |
||
481 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 482 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 483 | IntegralRoll2 = Mess_IntegralRoll2; |
484 | |||
1166 | hbuss | 485 | #define D_LIMIT 128 |
486 | |||
1171 | hbuss | 487 | MesswertNick = HiResNick / 8; |
488 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 489 | |
1167 | hbuss | 490 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
491 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
492 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
493 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
494 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
495 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
496 | |||
1216 | killagreg | 497 | if(Parameter_Gyro_D) |
1111 | hbuss | 498 | { |
1166 | hbuss | 499 | d2Nick = HiResNick - oldNick; |
500 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 501 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
502 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 503 | |
1166 | hbuss | 504 | d2Roll = HiResRoll - oldRoll; |
505 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 506 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
507 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 508 | |
509 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 510 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
511 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
512 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 513 | } |
1111 | hbuss | 514 | |
1166 | hbuss | 515 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
516 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
517 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
518 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 519 | |
1916 | holgerb | 520 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 521 | { |
522 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
523 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
524 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
525 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
526 | } |
||
1 | ingob | 527 | } |
528 | |||
529 | //############################################################################ |
||
530 | // Senden der Motorwerte per I2C-Bus |
||
531 | void SendMotorData(void) |
||
532 | //############################################################################ |
||
1051 | killagreg | 533 | { |
1209 | hbuss | 534 | unsigned char i; |
921 | hbuss | 535 | if(!MotorenEin) |
1 | ingob | 536 | { |
1765 | killagreg | 537 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
1216 | killagreg | 538 | for(i=0;i<MAX_MOTORS;i++) |
539 | { |
||
540 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 541 | Motor[i].SetPoint = MotorTest[i]; |
542 | Motor[i].SetPointLowerBits = 0; |
||
543 | /* |
||
1760 | holgerb | 544 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
545 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 546 | */ |
1216 | killagreg | 547 | } |
1212 | hbuss | 548 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 549 | } |
1765 | killagreg | 550 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 551 | |
1765 | killagreg | 552 | if(I2C_TransferActive) |
1744 | holgerb | 553 | { |
1760 | holgerb | 554 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 555 | } |
556 | else |
||
1744 | holgerb | 557 | { |
558 | motor_write = 0; |
||
1760 | holgerb | 559 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 560 | } |
1 | ingob | 561 | } |
562 | |||
563 | |||
564 | |||
565 | //############################################################################ |
||
566 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 567 | void ParameterZuordnung(void) |
1 | ingob | 568 | //############################################################################ |
569 | { |
||
1787 | holgerb | 570 | unsigned char tmp,i; |
571 | for(i=0;i<8;i++) |
||
572 | { |
||
573 | int tmp2; |
||
1933 | holgerb | 574 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
575 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 576 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 577 | |
578 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
579 | else |
||
1787 | holgerb | 580 | if(tmp2 != Poti[i]) |
581 | { |
||
582 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
583 | if(Poti[i] > tmp2) Poti[i]--; |
||
584 | else Poti[i]++; |
||
585 | } |
||
586 | } |
||
921 | hbuss | 587 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
588 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
589 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 590 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
591 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
1403 | hbuss | 592 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
593 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
594 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1916 | holgerb | 595 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 596 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
597 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
598 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
599 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
600 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
601 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
602 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
603 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
604 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
605 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
606 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
607 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
608 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
609 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
610 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
611 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
612 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
613 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
614 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 615 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
616 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 617 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 618 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
1916 | holgerb | 619 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
620 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 621 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
622 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
623 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 624 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 625 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 626 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 627 | |
1921 | holgerb | 628 | tmp = EE_Parameter.CareFreeModeControl; |
1690 | holgerb | 629 | if(tmp > 50) |
1668 | holgerb | 630 | { |
1682 | holgerb | 631 | CareFree = 1; |
1839 | holgerb | 632 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 633 | if(carefree_old != CareFree) |
634 | { |
||
635 | if(carefree_old < 3) |
||
636 | { |
||
637 | if(CareFree) beeptime = 1500; |
||
638 | else beeptime = 200; |
||
639 | carefree_old = CareFree; |
||
640 | } else carefree_old--; |
||
641 | } |
||
1937 | holgerb | 642 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 643 | } |
1839 | holgerb | 644 | else |
645 | { |
||
646 | CareFree = 0; |
||
1862 | holgerb | 647 | carefree_old = 10; |
1839 | holgerb | 648 | } |
1668 | holgerb | 649 | |
1691 | holgerb | 650 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 651 | { |
652 | beeptime = 15000; |
||
653 | BeepMuster = 0xA400; |
||
654 | CareFree = 0; |
||
1765 | killagreg | 655 | } |
1861 | holgerb | 656 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1936 | holgerb | 657 | // Limit the maximum Altitude |
658 | if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
1 | ingob | 659 | } |
660 | |||
661 | //############################################################################ |
||
662 | // |
||
663 | void MotorRegler(void) |
||
664 | //############################################################################ |
||
665 | { |
||
1330 | killagreg | 666 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 667 | int GierMischanteil,GasMischanteil; |
668 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 669 | static long IntegralFehlerNick = 0; |
670 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 671 | static unsigned int RcLostTimer; |
672 | static unsigned char delay_neutral = 0; |
||
673 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 674 | static unsigned char calibration_done = 0; |
1 | ingob | 675 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 676 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 677 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 678 | unsigned char i; |
1051 | killagreg | 679 | Mittelwert(); |
680 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 681 | // Gaswert ermitteln |
1051 | killagreg | 682 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | GasMischanteil = StickGas; |
||
831 | hbuss | 684 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 685 | |
1051 | killagreg | 686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 687 | // Empfang schlecht |
1051 | killagreg | 688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 689 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 690 | { |
1051 | killagreg | 691 | if(RcLostTimer) RcLostTimer--; |
692 | else |
||
1 | ingob | 693 | { |
694 | MotorenEin = 0; |
||
1765 | killagreg | 695 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1051 | killagreg | 696 | } |
1 | ingob | 697 | ROT_ON; |
693 | hbuss | 698 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 699 | { |
700 | GasMischanteil = EE_Parameter.NotGas; |
||
1765 | killagreg | 701 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 702 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 703 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 704 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
705 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
706 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 707 | } |
1 | ingob | 708 | else MotorenEin = 0; |
709 | } |
||
1051 | killagreg | 710 | else |
711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 712 | // Emfang gut |
1051 | killagreg | 713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 714 | if(SenderOkay > 140) |
715 | { |
||
1765 | killagreg | 716 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 717 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 718 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 719 | { |
720 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
721 | } |
||
871 | hbuss | 722 | if((modell_fliegt < 256)) |
1 | ingob | 723 | { |
724 | SummeNick = 0; |
||
725 | SummeRoll = 0; |
||
1682 | holgerb | 726 | sollGier = 0; |
727 | Mess_Integral_Gier = 0; |
||
1765 | killagreg | 728 | } else FC_StatusFlags |= FC_STATUS_FLY; |
1051 | killagreg | 729 | |
595 | hbuss | 730 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 731 | { |
1051 | killagreg | 732 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 733 | // auf Nullwerte kalibrieren |
1051 | killagreg | 734 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 735 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
736 | { |
||
737 | if(++delay_neutral > 200) // nicht sofort |
||
738 | { |
||
739 | GRN_OFF; |
||
740 | MotorenEin = 0; |
||
741 | delay_neutral = 0; |
||
742 | modell_fliegt = 0; |
||
743 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
744 | { |
||
304 | ingob | 745 | unsigned char setting=1; |
1 | ingob | 746 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
747 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
748 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
749 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
750 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 751 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 752 | } |
1051 | killagreg | 753 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
754 | { |
||
819 | hbuss | 755 | WinkelOut.CalcState = 1; |
756 | beeptime = 1000; |
||
757 | } |
||
758 | else |
||
1 | ingob | 759 | { |
1622 | killagreg | 760 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 761 | LipoDetection(0); |
1626 | killagreg | 762 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 763 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 764 | { |
1 | ingob | 765 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 766 | } |
1330 | killagreg | 767 | ServoActive = 0; |
1622 | killagreg | 768 | SetNeutral(0); |
1765 | killagreg | 769 | calibration_done = 1; |
1232 | hbuss | 770 | ServoActive = 1; |
771 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 772 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 773 | } |
1051 | killagreg | 774 | } |
1 | ingob | 775 | } |
1051 | killagreg | 776 | else |
513 | hbuss | 777 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
778 | { |
||
779 | if(++delay_neutral > 200) // nicht sofort |
||
780 | { |
||
781 | GRN_OFF; |
||
782 | MotorenEin = 0; |
||
783 | delay_neutral = 0; |
||
784 | modell_fliegt = 0; |
||
1622 | killagreg | 785 | SetNeutral(1); |
786 | calibration_done = 1; |
||
787 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 788 | } |
513 | hbuss | 789 | } |
1 | ingob | 790 | else delay_neutral = 0; |
791 | } |
||
1051 | killagreg | 792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 793 | // Gas ist unten |
1051 | killagreg | 794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | holgerb | 795 | |
595 | hbuss | 796 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 797 | { |
1521 | killagreg | 798 | // Motoren Starten |
799 | if(!MotorenEin) |
||
800 | { |
||
1760 | holgerb | 801 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 802 | { |
1051 | killagreg | 803 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 804 | // Einschalten |
1051 | killagreg | 805 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 806 | if(++delay_einschalten > 200) |
807 | { |
||
808 | delay_einschalten = 0; |
||
1834 | holgerb | 809 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
1622 | killagreg | 810 | { |
811 | modell_fliegt = 1; |
||
812 | MotorenEin = 1; |
||
813 | sollGier = 0; |
||
814 | Mess_Integral_Gier = 0; |
||
815 | Mess_Integral_Gier2 = 0; |
||
816 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
817 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
818 | Mess_IntegralNick2 = IntegralNick; |
||
819 | Mess_IntegralRoll2 = IntegralRoll; |
||
820 | SummeNick = 0; |
||
821 | SummeRoll = 0; |
||
1765 | killagreg | 822 | FC_StatusFlags |= FC_STATUS_START; |
1913 | holgerb | 823 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 824 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1622 | killagreg | 825 | } |
826 | else |
||
827 | { |
||
828 | beeptime = 1500; // indicate missing calibration |
||
829 | } |
||
1521 | killagreg | 830 | } |
831 | } |
||
832 | else delay_einschalten = 0; |
||
833 | } |
||
1051 | killagreg | 834 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 835 | // Auschalten |
1051 | killagreg | 836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 837 | else // only if motors are running |
838 | { |
||
1760 | holgerb | 839 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 840 | { |
841 | if(++delay_ausschalten > 200) // nicht sofort |
||
842 | { |
||
843 | MotorenEin = 0; |
||
844 | delay_ausschalten = 0; |
||
845 | modell_fliegt = 0; |
||
846 | } |
||
847 | } |
||
848 | else delay_ausschalten = 0; |
||
849 | } |
||
1 | ingob | 850 | } |
851 | } |
||
1051 | killagreg | 852 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 853 | // neue Werte von der Funke |
1051 | killagreg | 854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 855 | |
1765 | killagreg | 856 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 857 | { |
604 | hbuss | 858 | static int stick_nick,stick_roll; |
1912 | holgerb | 859 | unsigned char stick_p; |
1 | ingob | 860 | ParameterZuordnung(); |
1912 | holgerb | 861 | stick_p = EE_Parameter.Stick_P; |
862 | |||
863 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 864 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 865 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 866 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
867 | |||
1707 | holgerb | 868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
869 | // CareFree und freie Wahl der vorderen Richtung |
||
870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 871 | if(CareFree) |
872 | { |
||
873 | signed int nick, roll; |
||
874 | nick = stick_nick / 4; |
||
875 | roll = stick_roll / 4; |
||
876 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
877 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
878 | } |
||
879 | else |
||
880 | { |
||
881 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
882 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
883 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
884 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
885 | } |
||
1662 | killagreg | 886 | |
1 | ingob | 887 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 888 | if(StickGier > 4) StickGier -= 4; else |
889 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 890 | |
1912 | holgerb | 891 | if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
892 | |||
893 | StickNick -= GPS_Nick; |
||
894 | StickRoll -= GPS_Roll; |
||
1933 | holgerb | 895 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1330 | killagreg | 896 | |
1153 | hbuss | 897 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
898 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 899 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
900 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 901 | |
595 | hbuss | 902 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
903 | //+ Analoge Steuerung per Seriell |
||
904 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 905 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 906 | { |
907 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
908 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
909 | StickGier += ExternControl.Gier; |
||
910 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
911 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
912 | } |
||
855 | hbuss | 913 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 914 | |
1916 | holgerb | 915 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 916 | |
1051 | killagreg | 917 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 918 | { |
1051 | killagreg | 919 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 920 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 921 | } |
928 | hbuss | 922 | else MaxStickNick--; |
1051 | killagreg | 923 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 924 | { |
1051 | killagreg | 925 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 926 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 927 | } |
928 | hbuss | 928 | else MaxStickRoll--; |
1765 | killagreg | 929 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 930 | |
1051 | killagreg | 931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 932 | // Looping? |
1051 | killagreg | 933 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 935 | else |
936 | { |
||
395 | hbuss | 937 | { |
1051 | killagreg | 938 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
939 | } |
||
940 | } |
||
993 | hbuss | 941 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 942 | else |
395 | hbuss | 943 | { |
944 | if(Looping_Rechts) // Hysterese |
||
945 | { |
||
946 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
947 | } |
||
1051 | killagreg | 948 | } |
173 | holgerb | 949 | |
993 | hbuss | 950 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 951 | else |
952 | { |
||
395 | hbuss | 953 | if(Looping_Oben) // Hysterese |
954 | { |
||
1051 | killagreg | 955 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
956 | } |
||
957 | } |
||
993 | hbuss | 958 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 959 | else |
395 | hbuss | 960 | { |
961 | if(Looping_Unten) // Hysterese |
||
962 | { |
||
963 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
964 | } |
||
1051 | killagreg | 965 | } |
395 | hbuss | 966 | |
967 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 968 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 969 | } // Ende neue Funken-Werte |
970 | |||
971 | if(Looping_Roll || Looping_Nick) |
||
972 | { |
||
173 | holgerb | 973 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 974 | TrichterFlug = 1; |
173 | holgerb | 975 | } |
976 | |||
1051 | killagreg | 977 | |
978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
979 | // Bei Empfangsausfall im Flug |
||
980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 981 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
982 | { |
||
983 | StickNick = -GPS_Nick; |
||
984 | StickRoll = -GPS_Roll; |
||
985 | StickGas = StickGasHover; |
||
986 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
||
987 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
988 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
989 | Parameter_HoehenSchalter = 200; // switch on |
||
990 | } |
||
991 | else |
||
1765 | killagreg | 992 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 993 | { |
994 | StickGier = 0; |
||
995 | StickNick = 0; |
||
996 | StickRoll = 0; |
||
1211 | hbuss | 997 | GyroFaktor = 90; |
998 | IntegralFaktor = 120; |
||
999 | GyroFaktorGier = 90; |
||
1000 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1001 | Looping_Roll = 0; |
1002 | Looping_Nick = 0; |
||
1051 | killagreg | 1003 | } |
395 | hbuss | 1004 | |
1005 | |||
1051 | killagreg | 1006 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1007 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1008 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1009 | #define ABGLEICH_ANZAHL 256L |
1010 | |||
1011 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1012 | MittelIntegralRoll += IntegralRoll; |
||
1013 | MittelIntegralNick2 += IntegralNick2; |
||
1014 | MittelIntegralRoll2 += IntegralRoll2; |
||
1015 | |||
1016 | if(Looping_Nick || Looping_Roll) |
||
1017 | { |
||
1018 | IntegralAccNick = 0; |
||
1019 | IntegralAccRoll = 0; |
||
1020 | MittelIntegralNick = 0; |
||
1021 | MittelIntegralRoll = 0; |
||
1022 | MittelIntegralNick2 = 0; |
||
1023 | MittelIntegralRoll2 = 0; |
||
1024 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1025 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1026 | ZaehlMessungen = 0; |
||
498 | hbuss | 1027 | LageKorrekturNick = 0; |
1028 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1029 | } |
1030 | |||
1051 | killagreg | 1031 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1032 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1033 | { |
1034 | long tmp_long, tmp_long2; |
||
1936 | holgerb | 1035 | |
1036 | //if(Poti3 < 120) FromNaviCtrl_Value.Kalman_K = Poti3/2; |
||
1037 | //DebugOut.Analog[25] = FromNaviCtrl_Value.Kalman_K; |
||
1038 | //DebugOut.Analog[26] = FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1039 | //DebugOut.Analog[16] = (Mittelwert_AccNick-FromNaviCtrl.AccErrorN) / 4; |
||
1040 | //DebugOut.Analog[18] = (Mittelwert_AccRoll-FromNaviCtrl.AccErrorR) / 4; |
||
1041 | //DebugOut.Analog[19] = -FromNaviCtrl.AccErrorR / 4; |
||
1042 | |||
1839 | holgerb | 1043 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1044 | { |
1936 | holgerb | 1045 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1046 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1051 | killagreg | 1047 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1048 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1839 | holgerb | 1049 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
992 | hbuss | 1050 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1051 | { |
||
1052 | tmp_long /= 2; |
||
1053 | tmp_long2 /= 2; |
||
1054 | } |
||
1055 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1056 | { |
||
1057 | tmp_long /= 3; |
||
1058 | tmp_long2 /= 3; |
||
1059 | } |
||
1060 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1061 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1062 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1063 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1064 | } |
||
1051 | killagreg | 1065 | else |
992 | hbuss | 1066 | { |
1067 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1068 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 1069 | tmp_long /= 16; |
1070 | tmp_long2 /= 16; |
||
1071 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1072 | { |
||
1073 | tmp_long /= 3; |
||
1074 | tmp_long2 /= 3; |
||
1216 | killagreg | 1075 | } |
1076 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1077 | { |
1078 | tmp_long /= 3; |
||
1079 | tmp_long2 /= 3; |
||
1080 | } |
||
1839 | holgerb | 1081 | KompassFusion = 25; |
1155 | hbuss | 1082 | #define AUSGLEICH 32 |
992 | hbuss | 1083 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1084 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1085 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1086 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1087 | } |
||
1166 | hbuss | 1088 | |
1111 | hbuss | 1089 | Mess_IntegralNick -= tmp_long; |
1090 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1091 | } |
1051 | killagreg | 1092 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1093 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1094 | { |
||
1095 | static int cnt = 0; |
||
1096 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1097 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1098 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1099 | { |
395 | hbuss | 1100 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1101 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1102 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1103 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1104 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1105 | #define MAX_I 0 |
395 | hbuss | 1106 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1107 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1108 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1109 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1110 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1111 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1112 | |
1113 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1114 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1115 | |
992 | hbuss | 1116 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1117 | { |
1118 | LageKorrekturNick /= 2; |
||
720 | ingob | 1119 | LageKorrekturRoll /= 2; |
614 | hbuss | 1120 | } |
498 | hbuss | 1121 | |
1051 | killagreg | 1122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1123 | // Gyro-Drift ermitteln |
1051 | killagreg | 1124 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1125 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1126 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1127 | tmp_long = IntegralNick2 - IntegralNick; |
1128 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1129 | |
1130 | IntegralFehlerNick = tmp_long; |
||
1131 | IntegralFehlerRoll = tmp_long2; |
||
1132 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1133 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1134 | |||
1111 | hbuss | 1135 | if(EE_Parameter.Driftkomp) |
1136 | { |
||
1622 | killagreg | 1137 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1138 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1139 | } |
693 | hbuss | 1140 | GierGyroFehler = 0; |
720 | ingob | 1141 | |
1243 | killagreg | 1142 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1143 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1144 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1145 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1146 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1147 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1148 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1149 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1150 | { |
1051 | killagreg | 1151 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1152 | { |
1051 | killagreg | 1153 | if(last_n_p) |
395 | hbuss | 1154 | { |
1173 | hbuss | 1155 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1156 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1157 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1158 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1159 | } |
395 | hbuss | 1160 | else last_n_p = 1; |
1161 | } else last_n_p = 0; |
||
1051 | killagreg | 1162 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1163 | { |
1164 | if(last_n_n) |
||
1051 | killagreg | 1165 | { |
1173 | hbuss | 1166 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1167 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1168 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1169 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1170 | } |
395 | hbuss | 1171 | else last_n_n = 1; |
1172 | } else last_n_n = 0; |
||
1051 | killagreg | 1173 | } |
1174 | else |
||
847 | hbuss | 1175 | { |
1176 | cnt = 0; |
||
1839 | holgerb | 1177 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1178 | } |
499 | hbuss | 1179 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1180 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1181 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1182 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1183 | |
395 | hbuss | 1184 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1185 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1186 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1187 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1188 | { |
1051 | killagreg | 1189 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1190 | { |
1051 | killagreg | 1191 | if(last_r_p) |
395 | hbuss | 1192 | { |
1173 | hbuss | 1193 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1194 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1195 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1196 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1197 | } |
395 | hbuss | 1198 | else last_r_p = 1; |
1199 | } else last_r_p = 0; |
||
1051 | killagreg | 1200 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1201 | { |
1051 | killagreg | 1202 | if(last_r_n) |
395 | hbuss | 1203 | { |
1173 | hbuss | 1204 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1205 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1206 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1207 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1208 | } |
1209 | else last_r_n = 1; |
||
1210 | } else last_r_n = 0; |
||
1051 | killagreg | 1211 | } else |
492 | hbuss | 1212 | { |
1213 | cnt = 0; |
||
1839 | holgerb | 1214 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1215 | } |
499 | hbuss | 1216 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1217 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1218 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1219 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1220 | } |
1051 | killagreg | 1221 | else |
498 | hbuss | 1222 | { |
1223 | LageKorrekturRoll = 0; |
||
1224 | LageKorrekturNick = 0; |
||
880 | hbuss | 1225 | TrichterFlug = 0; |
498 | hbuss | 1226 | } |
1051 | killagreg | 1227 | |
498 | hbuss | 1228 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1229 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1230 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1231 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1232 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1233 | IntegralAccNick = 0; |
1234 | IntegralAccRoll = 0; |
||
1235 | IntegralAccZ = 0; |
||
1236 | MittelIntegralNick = 0; |
||
1237 | MittelIntegralRoll = 0; |
||
1238 | MittelIntegralNick2 = 0; |
||
1239 | MittelIntegralRoll2 = 0; |
||
1240 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1241 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1242 | |
1051 | killagreg | 1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1244 | // Gieren |
1051 | killagreg | 1245 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1246 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1247 | { |
1839 | holgerb | 1248 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1249 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1250 | { |
1840 | holgerb | 1251 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1252 | }; |
1 | ingob | 1253 | } |
395 | hbuss | 1254 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1255 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1840 | holgerb | 1256 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1257 | sollGier = tmp_int; |
1051 | killagreg | 1258 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1259 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1260 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1261 | |
1262 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1263 | // Kompass |
1051 | killagreg | 1264 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1265 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1266 | { |
1839 | holgerb | 1267 | if(CalculateCompassTimer-- == 1) |
1268 | { |
||
1269 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1270 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1271 | // max. Korrekturwert schätzen |
1 | ingob | 1272 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1273 | v = abs(IntegralRoll /512); |
||
1274 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1839 | holgerb | 1275 | korrektur = w / 4 + 1; |
1941 | holgerb | 1276 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1277 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1278 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1279 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1865 | holgerb | 1280 | |
1840 | holgerb | 1281 | // Kompasswert einloggen |
1282 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1283 | else |
||
1284 | if(w < 25) |
||
921 | hbuss | 1285 | { |
1286 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1287 | if(NeueKompassRichtungMerken) |
1288 | { |
||
1839 | holgerb | 1289 | if(--NeueKompassRichtungMerken == 0) |
1290 | { |
||
1936 | holgerb | 1291 | //--> ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1941 | holgerb | 1292 | KompassSollWert = ErsatzKompassInGrad; |
1839 | holgerb | 1293 | } |
921 | hbuss | 1294 | } |
1 | ingob | 1295 | } |
1840 | holgerb | 1296 | // Kompass fusionieren |
1839 | holgerb | 1297 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1298 | |||
1941 | holgerb | 1299 | // MK Gieren |
1300 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1301 | { |
1941 | holgerb | 1302 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1303 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1304 | CompassGierSetpoint = v / 16; |
1305 | } |
||
1865 | holgerb | 1306 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1307 | } // CalculateCompassTimer |
1051 | killagreg | 1308 | } |
1840 | holgerb | 1309 | else CompassGierSetpoint = 0; |
1051 | killagreg | 1310 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1311 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1312 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1313 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1314 | |
1171 | hbuss | 1315 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1316 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1317 | |
1167 | hbuss | 1318 | #define TRIM_MAX 200 |
1166 | hbuss | 1319 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1320 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1321 | |
1166 | hbuss | 1322 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1323 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1324 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1325 | |
1 | ingob | 1326 | // Maximalwerte abfangen |
1153 | hbuss | 1327 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1685 | holgerb | 1328 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1329 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1330 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1331 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1332 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1333 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1334 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1335 | |||
1051 | killagreg | 1336 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1337 | // Höhenregelung |
1338 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1339 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1340 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1341 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1342 | // if height control is activated |
1916 | holgerb | 1343 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1344 | { |
1698 | holgerb | 1345 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1346 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1347 | |
1348 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1349 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1350 | #else |
1638 | holgerb | 1351 | #define OPA_OFFSET_STEP 10 |
1352 | #endif |
||
1697 | holgerb | 1353 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1354 | static int HeightTrimming = 0; // rate for change of height setpoint |
1355 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1356 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1357 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1358 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1359 | |
1309 | hbuss | 1360 | // get the current hooverpoint |
1587 | killagreg | 1361 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1362 | |
1322 | hbuss | 1363 | // Expand the measurement |
1364 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1365 | if(!BaroExpandActive) |
||
1366 | { |
||
1367 | if(MessLuftdruck > 920) |
||
1368 | { // increase offset |
||
1330 | killagreg | 1369 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1370 | { |
1371 | ExpandBaro -= 1; |
||
1372 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1373 | beeptime = 300; |
||
1352 | hbuss | 1374 | BaroExpandActive = 350; |
1330 | killagreg | 1375 | } |
1376 | else |
||
1322 | hbuss | 1377 | { |
1378 | BaroAtLowerLimit = 1; |
||
1379 | } |
||
1380 | } |
||
1381 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1382 | else |
1322 | hbuss | 1383 | if(MessLuftdruck < 100) |
1384 | { // decrease offset |
||
1330 | killagreg | 1385 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1386 | { |
1387 | ExpandBaro += 1; |
||
1388 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1389 | beeptime = 300; |
||
1352 | hbuss | 1390 | BaroExpandActive = 350; |
1330 | killagreg | 1391 | } |
1392 | else |
||
1322 | hbuss | 1393 | { |
1394 | BaroAtUpperLimit = 1; |
||
1395 | } |
||
1396 | } |
||
1330 | killagreg | 1397 | else |
1322 | hbuss | 1398 | { |
1399 | BaroAtUpperLimit = 0; |
||
1400 | BaroAtLowerLimit = 0; |
||
1401 | } |
||
1402 | } |
||
1403 | else // delay, because of expanding the Baro-Range |
||
1404 | { |
||
1405 | // now clear the D-values |
||
1406 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1407 | VarioMeter = 0; |
||
1408 | BaroExpandActive--; |
||
1409 | } |
||
1328 | hbuss | 1410 | |
1411 | // if height control is activated by an rc channel |
||
1916 | holgerb | 1412 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1413 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1414 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1415 | { //height control not active |
1416 | if(!delay--) |
||
1417 | { |
||
1418 | HoehenReglerAktiv = 0; // disable height control |
||
1419 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1420 | delay = 1; |
||
1421 | } |
||
1422 | } |
||
1423 | else |
||
1424 | { //height control is activated |
||
1425 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1426 | delay = 200; |
1328 | hbuss | 1427 | } |
1051 | killagreg | 1428 | } |
1309 | hbuss | 1429 | else // no switchable height control |
1430 | { |
||
1916 | holgerb | 1431 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1432 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1433 | } |
1322 | hbuss | 1434 | |
1320 | hbuss | 1435 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1436 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1437 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1438 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1439 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1440 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1441 | VarioCharacter = ' '; |
1942 | holgerb | 1442 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1443 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1444 | { |
1330 | killagreg | 1445 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1446 | // Holger original version |
1447 | // start of height control algorithm |
||
1448 | // the height control is only an attenuation of the actual gas stick. |
||
1449 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1450 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1451 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1452 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1453 | { // old version |
1309 | hbuss | 1454 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1455 | HeightTrimming = 0; |
||
1942 | holgerb | 1456 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1457 | // set both flags to indicate no vario mode |
1458 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1459 | } |
1314 | killagreg | 1460 | else |
1309 | hbuss | 1461 | { |
1462 | // alternative height control |
||
1463 | // PD-Control with respect to hoover point |
||
1464 | // the thrust loss out of horizontal attitude is compensated |
||
1465 | // the setpoint will be fine adjusted with the gas stick position |
||
1942 | holgerb | 1466 | if(1 || FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1467 | { // gas stick is above hoover point |
1587 | killagreg | 1468 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1469 | { |
1767 | killagreg | 1470 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1471 | { |
1767 | killagreg | 1472 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1309 | hbuss | 1473 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1474 | } |
||
1767 | killagreg | 1475 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1942 | holgerb | 1476 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1477 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1591 | holgerb | 1478 | VarioCharacter = '+'; |
1865 | holgerb | 1479 | WaypointTrimming = 0; |
1309 | hbuss | 1480 | } // gas stick is below hoover point |
1587 | killagreg | 1481 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1482 | { |
1767 | killagreg | 1483 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1484 | { |
1767 | killagreg | 1485 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1309 | hbuss | 1486 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1487 | } |
||
1767 | killagreg | 1488 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1489 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1490 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1591 | holgerb | 1491 | VarioCharacter = '-'; |
1865 | holgerb | 1492 | WaypointTrimming = 0; |
1309 | hbuss | 1493 | } |
1587 | killagreg | 1494 | else // Gas Stick in Hover Range |
1309 | hbuss | 1495 | { |
1855 | holgerb | 1496 | VarioCharacter = '='; |
1857 | holgerb | 1497 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1498 | { |
1499 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1500 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1501 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1502 | WaypointTrimming = 10; |
1503 | VarioCharacter = '^'; |
||
1865 | holgerb | 1504 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1505 | { |
||
1506 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1507 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1508 | } |
||
1855 | holgerb | 1509 | } |
1510 | else |
||
1857 | holgerb | 1511 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1512 | { |
1513 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1514 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1515 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1516 | WaypointTrimming = -10; |
1517 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1518 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1519 | { |
||
1520 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1521 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1522 | } |
||
1855 | holgerb | 1523 | } |
1524 | else |
||
1767 | killagreg | 1525 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1526 | { |
1933 | holgerb | 1527 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1528 | else WaypointTrimming = 0; |
||
1767 | killagreg | 1529 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1530 | HeightTrimming = 0; |
1916 | holgerb | 1531 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1532 | if(!StartTrigger && HoehenWert > 50) |
1533 | { |
||
1534 | StartTrigger = 1; |
||
1765 | killagreg | 1535 | } |
1309 | hbuss | 1536 | } |
1537 | } |
||
1538 | // Trim height set point |
||
1942 | holgerb | 1539 | HeightTrimming += AltitudeSetpointTrimming; |
1540 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1541 | { |
1857 | holgerb | 1542 | if(WaypointTrimming) |
1543 | { |
||
1544 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1545 | else SollHoehe += WaypointTrimming; |
||
1546 | } |
||
1547 | else |
||
1942 | holgerb | 1548 | |
1549 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1550 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1309 | hbuss | 1551 | HeightTrimming = 0; |
1932 | holgerb | 1552 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1916 | holgerb | 1553 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1554 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1555 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1556 | { |
1587 | killagreg | 1557 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1558 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1559 | if(StickGasHover < 70) StickGasHover = 70; |
||
1560 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1561 | } |
1309 | hbuss | 1562 | } |
1352 | hbuss | 1563 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1564 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1565 | else |
1566 | { |
||
1322 | hbuss | 1567 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1568 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1569 | else StickGasHover = 120; |
||
1698 | holgerb | 1570 | HoverGas = GasMischanteil; |
1320 | hbuss | 1571 | } |
1590 | killagreg | 1572 | HCGas = HoverGas; // take hover gas (neutral point) |
1573 | } |
||
1916 | holgerb | 1574 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1575 | { |
1590 | killagreg | 1576 | // from this point the Heigth Control Algorithm is identical for both versions |
1577 | if(BaroExpandActive) // baro range expanding active |
||
1578 | { |
||
1579 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1580 | HeightDeviation = 0; |
||
1581 | } // EOF // baro range expanding active |
||
1582 | else // valid data from air pressure sensor |
||
1583 | { |
||
1584 | // ------------------------- P-Part ---------------------------- |
||
1585 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1586 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1587 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1588 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1589 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1590 | GasReduction = tmp_long; |
||
1590 | killagreg | 1591 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1592 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1593 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1594 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1595 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1596 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1597 | else |
1916 | holgerb | 1598 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1599 | GasReduction += tmp_int; |
1590 | killagreg | 1600 | } // EOF no baro range expanding |
1309 | hbuss | 1601 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1602 | if(Parameter_Hoehe_ACC_Wirkung) |
1603 | { |
||
1604 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1605 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1606 | GasReduction += tmp_long; |
||
1765 | killagreg | 1607 | } |
1587 | killagreg | 1608 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1609 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1610 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1611 | GasReduction += tmp_int; |
1701 | holgerb | 1612 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1613 | // ------------------------ ---------------------------------- |
||
1614 | HCGas -= GasReduction; |
||
1309 | hbuss | 1615 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1616 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1617 | { |
1765 | killagreg | 1618 | unsigned int tmp; |
1705 | holgerb | 1619 | tmp = abs(HeightDeviation); |
1620 | if(tmp <= 60) |
||
1621 | { |
||
1622 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1623 | } |
||
1624 | else |
||
1765 | killagreg | 1625 | { |
1705 | holgerb | 1626 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1627 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1628 | if(HeightDeviation > 0) |
1693 | holgerb | 1629 | { |
1705 | holgerb | 1630 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1631 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1632 | } |
1705 | holgerb | 1633 | else |
1634 | { |
||
1635 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1636 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1637 | } |
||
1638 | } |
||
1309 | hbuss | 1639 | } |
1322 | hbuss | 1640 | // strech control output by inverse attitude projection 1/cos |
1641 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1642 | tmp_long2 = (int32_t)HCGas; |
1643 | tmp_long2 *= 8192L; |
||
1644 | tmp_long2 /= CosAttitude; |
||
1645 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1646 | // update height control gas averaging |
1647 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1648 | // limit height control gas pd-control output |
||
1649 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1650 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1651 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1652 | { // old version |
1653 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1654 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1655 | } |
1719 | holgerb | 1656 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1314 | killagreg | 1657 | } |
1309 | hbuss | 1658 | }// EOF height control active |
1320 | hbuss | 1659 | else // HC not active |
1660 | { |
||
1661 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1662 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1663 | { |
||
1664 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1665 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1666 | } |
1587 | killagreg | 1667 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1668 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1669 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1670 | // set both flags to indicate no vario mode |
1671 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1672 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1673 | } |
1587 | killagreg | 1674 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1675 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1676 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1677 | { |
1698 | holgerb | 1678 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1679 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1680 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1681 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1682 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1683 | // average vertical projected thrust |
1698 | holgerb | 1684 | if(modell_fliegt < 4000) // the first 8 seconds |
1685 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1686 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1687 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1688 | } |
1698 | holgerb | 1689 | if(modell_fliegt < 8000) // the first 16 seconds |
1690 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1691 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1692 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1693 | } |
1698 | holgerb | 1694 | else //later |
1865 | holgerb | 1695 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1696 | { |
1590 | killagreg | 1697 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1698 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1699 | } |
1590 | killagreg | 1700 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1701 | if(EE_Parameter.Hoehe_HoverBand) |
1702 | { |
||
1703 | int16_t band; |
||
1587 | killagreg | 1704 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1705 | HoverGasMin = HoverGas - band; |
||
1706 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1707 | } |
1708 | else |
||
1709 | { // no limit |
||
1587 | killagreg | 1710 | HoverGasMin = 0; |
1711 | HoverGasMax = 1023; |
||
1309 | hbuss | 1712 | } |
1765 | killagreg | 1713 | } |
1714 | else |
||
1698 | holgerb | 1715 | { |
1716 | StartTrigger = 0; |
||
1717 | HoverGasFilter = 0; |
||
1718 | HoverGas = 0; |
||
1765 | killagreg | 1719 | } |
1916 | holgerb | 1720 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1721 | else |
1722 | { |
||
1723 | // set undefined state to indicate vario off |
||
1724 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1725 | } // EOF no height control |
||
1726 | |||
1309 | hbuss | 1727 | // limit gas to parameter setting |
1320 | hbuss | 1728 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1729 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1730 | |
1051 | killagreg | 1731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1732 | // all BL-Ctrl connected? |
1733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1931 | holgerb | 1734 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) // wait until all BL-Ctrls started |
1735 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
||
1320 | hbuss | 1736 | { |
1737 | modell_fliegt = 1; |
||
1675 | holgerb | 1738 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1739 | } |
1740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1741 | // + Mischer und PI-Regler |
1051 | killagreg | 1742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1743 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1744 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1745 | // Gier-Anteil |
1051 | killagreg | 1746 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1747 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1748 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1749 | if(GasMischanteil > MIN_GIERGAS) |
1750 | { |
||
1051 | killagreg | 1751 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1752 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1753 | } |
1051 | killagreg | 1754 | else |
693 | hbuss | 1755 | { |
1051 | killagreg | 1756 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1757 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1758 | } |
855 | hbuss | 1759 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1760 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1761 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1762 | |
1051 | killagreg | 1763 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1764 | // Nick-Achse |
1051 | killagreg | 1765 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1766 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1767 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1768 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1769 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1770 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1771 | |
1772 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1773 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1774 | pd_ergebnis_nick += SummeNick / Ki; |
||
1775 | |||
1676 | holgerb | 1776 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1777 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1778 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1779 | |
1153 | hbuss | 1780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1781 | // Roll-Achse |
||
1782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1783 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1784 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1785 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1786 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1787 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1788 | |
1789 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
1790 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
1791 | pd_ergebnis_roll += SummeRoll / Ki; |
||
1792 | |||
1676 | holgerb | 1793 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1794 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1795 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1796 | |||
1797 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1798 | // Universal Mixer |
1155 | hbuss | 1799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1800 | for(i=0; i<MAX_MOTORS; i++) |
1801 | { |
||
1802 | signed int tmp_int; |
||
1803 | if(Mixer.Motor[i][0] > 0) |
||
1804 | { |
||
1652 | holgerb | 1805 | // Gas |
1676 | holgerb | 1806 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1807 | // Nick |
1808 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1809 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1810 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1811 | // Roll |
||
1812 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1813 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1814 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1815 | // Gier |
||
1676 | holgerb | 1816 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1817 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1818 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1819 | |
1913 | holgerb | 1820 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1821 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
1822 | else |
||
1823 | { |
||
1824 | if(EE_Parameter.MotorSmooth == 0) |
||
1825 | { |
||
1931 | holgerb | 1826 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 1827 | } |
1828 | else // 1 means tmp_int = tmp_int; |
||
1829 | if(EE_Parameter.MotorSmooth > 1) |
||
1830 | { |
||
1831 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
1925 | holgerb | 1832 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1913 | holgerb | 1833 | } |
1834 | } |
||
1931 | holgerb | 1835 | |
1760 | holgerb | 1836 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 1837 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1838 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1839 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1840 | } |
1841 | else |
||
1842 | { |
||
1843 | Motor[i].SetPoint = 0; |
||
1844 | Motor[i].SetPointLowerBits = 0; |
||
1845 | } |
||
1846 | } |
||
1111 | hbuss | 1847 | } |