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