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Rev | Author | Line No. | Line |
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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 04.2007 Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + www.MikroKopter.com |
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8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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683 | 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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683 | 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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683 | killagreg | 27 | // + Die Portierung 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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683 | 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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683 | 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) |
683 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 39 | // + with our written permission |
683 | 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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1 | ingob | 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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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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492 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
1 | ingob | 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
683 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | killagreg | 54 | #include <stdlib.h> |
55 | #include <avr/io.h> |
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1 | ingob | 56 | |
57 | #include "main.h" |
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685 | killagreg | 58 | #include "eeprom.h" |
59 | #include "timer0.h" |
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60 | #include "_Settings.h" |
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61 | #include "analog.h" |
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62 | #include "fc.h" |
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63 | #include "gps.h" |
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64 | #include "uart.h" |
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65 | #include "rc.h" |
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66 | #include "twimaster.h" |
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1 | ingob | 67 | |
68 | unsigned char h,m,s; |
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173 | holgerb | 69 | volatile unsigned int I2CTimeout = 100; |
1 | ingob | 70 | volatile int MesswertNick,MesswertRoll,MesswertGier; |
401 | hbuss | 71 | volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
1 | ingob | 72 | volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
73 | volatile float NeutralAccZ = 0; |
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74 | volatile long IntegralNick = 0,IntegralNick2 = 0; |
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75 | volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
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395 | hbuss | 76 | volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
1 | ingob | 77 | volatile long Integral_Gier = 0; |
78 | volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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79 | volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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80 | volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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395 | hbuss | 81 | volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
1 | ingob | 82 | volatile long Mess_Integral_Hoch = 0; |
83 | volatile int KompassValue = 0; |
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84 | volatile int KompassStartwert = 0; |
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85 | volatile int KompassRichtung = 0; |
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86 | unsigned char MAX_GAS,MIN_GAS; |
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87 | unsigned char Notlandung = 0; |
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88 | unsigned char HoehenReglerAktiv = 0; |
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395 | hbuss | 89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
1 | ingob | 90 | |
91 | float GyroFaktor; |
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92 | float IntegralFaktor; |
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93 | volatile int DiffNick,DiffRoll; |
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683 | killagreg | 94 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
1 | ingob | 95 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
96 | unsigned char MotorWert[5]; |
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595 | hbuss | 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1 | ingob | 98 | char MotorenEin = 0; |
99 | int HoehenWert = 0; |
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100 | int SollHoehe = 0; |
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498 | hbuss | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
1 | ingob | 102 | float Ki = FAKTOR_I; |
395 | hbuss | 103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 105 | |
106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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173 | holgerb | 111 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 112 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
113 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
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690 | killagreg | 114 | unsigned char Parameter_I_Factor = 10; // Wert : 1-20 |
1 | ingob | 115 | unsigned char Parameter_UserParam1 = 0; |
116 | unsigned char Parameter_UserParam2 = 0; |
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117 | unsigned char Parameter_UserParam3 = 0; |
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118 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 119 | unsigned char Parameter_UserParam5 = 0; |
120 | unsigned char Parameter_UserParam6 = 0; |
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121 | unsigned char Parameter_UserParam7 = 0; |
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122 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 123 | unsigned char Parameter_ServoNickControl = 100; |
173 | holgerb | 124 | unsigned char Parameter_LoopGasLimit = 70; |
395 | hbuss | 125 | unsigned char Parameter_AchsKopplung1 = 0; |
126 | unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 127 | unsigned char Parameter_DynamicStability = 100; |
687 | killagreg | 128 | |
492 | hbuss | 129 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 130 | int MaxStickNick = 0,MaxStickRoll = 0; |
1 | ingob | 131 | |
132 | void Piep(unsigned char Anzahl) |
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133 | { |
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134 | while(Anzahl--) |
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135 | { |
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136 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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683 | killagreg | 137 | BeepTime = 100; |
1 | ingob | 138 | Delay_ms(250); |
139 | } |
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140 | } |
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141 | |||
142 | //############################################################################ |
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143 | // Nullwerte ermitteln |
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144 | void SetNeutral(void) |
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145 | //############################################################################ |
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146 | { |
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683 | killagreg | 147 | NeutralAccX = 0; |
1 | ingob | 148 | NeutralAccY = 0; |
149 | NeutralAccZ = 0; |
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683 | killagreg | 150 | AdNeutralNick = 0; |
151 | AdNeutralRoll = 0; |
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1 | ingob | 152 | AdNeutralGier = 0; |
395 | hbuss | 153 | Parameter_AchsKopplung1 = 0; |
154 | Parameter_AchsGegenKopplung1 = 0; |
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683 | killagreg | 155 | CalibrierMittelwert(); |
395 | hbuss | 156 | Delay_ms_Mess(100); |
1 | ingob | 157 | CalibrierMittelwert(); |
690 | killagreg | 158 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
683 | killagreg | 159 | { |
1 | ingob | 160 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
161 | } |
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173 | holgerb | 162 | |
683 | killagreg | 163 | AdNeutralNick= AdValueGyrNick; |
164 | AdNeutralRoll= AdValueGyrRoll; |
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165 | AdNeutralGier= AdValueGyrGier; |
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401 | hbuss | 166 | StartNeutralRoll = AdNeutralRoll; |
167 | StartNeutralNick = AdNeutralNick; |
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687 | killagreg | 168 | if(GetParamByte(PID_ACC_NICK) > 4) |
513 | hbuss | 169 | { |
170 | NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
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171 | NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
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683 | killagreg | 172 | NeutralAccZ = Current_AccZ; |
513 | hbuss | 173 | } |
683 | killagreg | 174 | else |
513 | hbuss | 175 | { |
687 | killagreg | 176 | NeutralAccX = (int)GetParamByte(PID_ACC_NICK) * 256 + (int)GetParamByte(PID_ACC_NICK+1); |
177 | NeutralAccY = (int)GetParamByte(PID_ACC_ROLL) * 256 + (int)GetParamByte(PID_ACC_ROLL+1); |
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178 | NeutralAccZ = (int)GetParamByte(PID_ACC_Z) * 256 + (int)GetParamByte(PID_ACC_Z+1); |
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513 | hbuss | 179 | } |
683 | killagreg | 180 | |
181 | Mess_IntegralNick = 0; |
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1 | ingob | 182 | Mess_IntegralNick2 = 0; |
683 | killagreg | 183 | Mess_IntegralRoll = 0; |
1 | ingob | 184 | Mess_IntegralRoll2 = 0; |
683 | killagreg | 185 | Mess_Integral_Gier = 0; |
1 | ingob | 186 | MesswertNick = 0; |
187 | MesswertRoll = 0; |
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188 | MesswertGier = 0; |
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189 | StartLuftdruck = Luftdruck; |
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190 | HoeheD = 0; |
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191 | Mess_Integral_Hoch = 0; |
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192 | KompassStartwert = KompassValue; |
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193 | GPS_Neutral(); |
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683 | killagreg | 194 | BeepTime = 50; |
687 | killagreg | 195 | Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L; |
196 | Umschlag180Roll = (long) ParamSet.WinkelUmschlagRoll * 2500L; |
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492 | hbuss | 197 | ExternHoehenValue = 0; |
1 | ingob | 198 | } |
199 | |||
200 | //############################################################################ |
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395 | hbuss | 201 | // Bearbeitet die Messwerte |
1 | ingob | 202 | void Mittelwert(void) |
203 | //############################################################################ |
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683 | killagreg | 204 | { |
205 | static signed long tmpl,tmpl2; |
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206 | MesswertGier = (signed int) AdNeutralGier - AdValueGyrGier; |
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207 | MesswertRoll = (signed int) AdValueGyrRoll - AdNeutralRoll; |
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208 | MesswertNick = (signed int) AdValueGyrNick - AdNeutralNick; |
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401 | hbuss | 209 | |
604 | hbuss | 210 | //DebugOut.Analog[26] = MesswertNick; |
211 | DebugOut.Analog[28] = MesswertRoll; |
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212 | |||
395 | hbuss | 213 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | killagreg | 214 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdValueAccNick))) / 2L; |
215 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L; |
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216 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdValueAccTop)) / 2L; |
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217 | IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
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218 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
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219 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
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395 | hbuss | 220 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
221 | Mess_Integral_Gier += MesswertGier; |
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222 | Mess_Integral_Gier2 += MesswertGier; |
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223 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
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690 | killagreg | 224 | if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
395 | hbuss | 225 | { |
226 | tmpl = Mess_IntegralNick / 4096L; |
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227 | tmpl *= MesswertGier; |
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228 | tmpl *= Parameter_AchsKopplung1; //125 |
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229 | tmpl /= 2048L; |
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230 | tmpl2 = Mess_IntegralRoll / 4096L; |
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231 | tmpl2 *= MesswertGier; |
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232 | tmpl2 *= Parameter_AchsKopplung1; |
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233 | tmpl2 /= 2048L; |
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234 | } |
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235 | else tmpl = tmpl2 = 0; |
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236 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
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237 | MesswertRoll += tmpl; |
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238 | MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
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239 | Mess_IntegralRoll2 += MesswertRoll; |
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498 | hbuss | 240 | Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
683 | killagreg | 241 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 242 | { |
243 | Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
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244 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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683 | killagreg | 245 | } |
395 | hbuss | 246 | if(Mess_IntegralRoll <-Umschlag180Roll) |
247 | { |
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248 | Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
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249 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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683 | killagreg | 250 | } |
251 | if(AdValueGyrRoll < 15) MesswertRoll = -1000; |
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252 | if(AdValueGyrRoll < 7) MesswertRoll = -2000; |
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685 | killagreg | 253 | if(BoardRelease == 10) |
401 | hbuss | 254 | { |
683 | killagreg | 255 | if(AdValueGyrRoll > 1010) MesswertRoll = +1000; |
256 | if(AdValueGyrRoll > 1017) MesswertRoll = +2000; |
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401 | hbuss | 257 | } |
683 | killagreg | 258 | else |
401 | hbuss | 259 | { |
683 | killagreg | 260 | if(AdValueGyrRoll > 2020) MesswertRoll = +1000; |
261 | if(AdValueGyrRoll > 2034) MesswertRoll = +2000; |
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401 | hbuss | 262 | } |
395 | hbuss | 263 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
264 | MesswertNick -= tmpl2; |
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265 | MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
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266 | Mess_IntegralNick2 += MesswertNick; |
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498 | hbuss | 267 | Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
683 | killagreg | 268 | if(Mess_IntegralNick > Umschlag180Nick) |
395 | hbuss | 269 | { |
270 | Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
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271 | Mess_IntegralNick2 = Mess_IntegralNick; |
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683 | killagreg | 272 | } |
273 | if(Mess_IntegralNick <-Umschlag180Nick) |
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395 | hbuss | 274 | { |
275 | Mess_IntegralNick = (Umschlag180Nick - 10000L); |
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276 | Mess_IntegralNick2 = Mess_IntegralNick; |
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683 | killagreg | 277 | } |
278 | if(AdValueGyrNick < 15) MesswertNick = -1000; |
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279 | if(AdValueGyrNick < 7) MesswertNick = -2000; |
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685 | killagreg | 280 | if(BoardRelease == 10) |
401 | hbuss | 281 | { |
683 | killagreg | 282 | if(AdValueGyrNick > 1010) MesswertNick = +1000; |
283 | if(AdValueGyrNick > 1017) MesswertNick = +2000; |
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401 | hbuss | 284 | } |
683 | killagreg | 285 | else |
401 | hbuss | 286 | { |
683 | killagreg | 287 | if(AdValueGyrNick > 2020) MesswertNick = +1000; |
288 | if(AdValueGyrNick > 2034) MesswertNick = +2000; |
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401 | hbuss | 289 | } |
395 | hbuss | 290 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
291 | // ADC einschalten |
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683 | killagreg | 292 | ADC_Enable(); |
395 | hbuss | 293 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
294 | |||
1 | ingob | 295 | Integral_Gier = Mess_Integral_Gier; |
296 | IntegralNick = Mess_IntegralNick; |
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297 | IntegralRoll = Mess_IntegralRoll; |
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683 | killagreg | 298 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 299 | IntegralRoll2 = Mess_IntegralRoll2; |
300 | |||
690 | killagreg | 301 | if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Nick && !Looping_Roll) |
395 | hbuss | 302 | { |
303 | if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
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683 | killagreg | 304 | else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
395 | hbuss | 305 | if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
683 | killagreg | 306 | else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
395 | hbuss | 307 | } |
690 | killagreg | 308 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
309 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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310 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
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311 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
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1 | ingob | 312 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
313 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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314 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
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315 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
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316 | } |
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317 | |||
318 | //############################################################################ |
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319 | // Messwerte beim Ermitteln der Nullage |
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320 | void CalibrierMittelwert(void) |
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321 | //############################################################################ |
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683 | killagreg | 322 | { |
1 | ingob | 323 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
683 | killagreg | 324 | ADC_Disable(); |
325 | MesswertNick = AdValueGyrNick; |
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326 | MesswertRoll = AdValueGyrRoll; |
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327 | MesswertGier = AdValueGyrGier; |
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328 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdValueAccNick; |
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329 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll; |
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330 | Mittelwert_AccHoch = (long)AdValueAccTop; |
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395 | hbuss | 331 | // ADC einschalten |
683 | killagreg | 332 | ADC_Enable(); |
690 | killagreg | 333 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
334 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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335 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
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336 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
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1 | ingob | 337 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
338 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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339 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
340 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
395 | hbuss | 341 | |
687 | killagreg | 342 | Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L; |
343 | Umschlag180Roll = (long) ParamSet.WinkelUmschlagNick * 2500L; |
||
1 | ingob | 344 | } |
345 | |||
346 | //############################################################################ |
||
347 | // Senden der Motorwerte per I2C-Bus |
||
348 | void SendMotorData(void) |
||
349 | //############################################################################ |
||
683 | killagreg | 350 | { |
1 | ingob | 351 | if(MOTOR_OFF || !MotorenEin) |
352 | { |
||
353 | Motor_Hinten = 0; |
||
354 | Motor_Vorne = 0; |
||
355 | Motor_Rechts = 0; |
||
356 | Motor_Links = 0; |
||
357 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
||
358 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
||
359 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
||
360 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
||
361 | } |
||
362 | |||
363 | DebugOut.Analog[12] = Motor_Vorne; |
||
364 | DebugOut.Analog[13] = Motor_Hinten; |
||
365 | DebugOut.Analog[14] = Motor_Links; |
||
683 | killagreg | 366 | DebugOut.Analog[15] = Motor_Rechts; |
1 | ingob | 367 | |
368 | //Start I2C Interrupt Mode |
||
369 | twi_state = 0; |
||
370 | motor = 0; |
||
683 | killagreg | 371 | i2c_start(); |
1 | ingob | 372 | } |
373 | |||
374 | |||
375 | |||
376 | //############################################################################ |
||
377 | // Trägt ggf. das Poti als Parameter ein |
||
683 | killagreg | 378 | void ParameterZuordnung(void) |
1 | ingob | 379 | //############################################################################ |
380 | { |
||
381 | |||
382 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
||
687 | killagreg | 383 | CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHoehe,0,255); |
384 | CHK_POTI(Parameter_Luftdruck_D,ParamSet.Luftdruck_D,0,100); |
||
385 | CHK_POTI(Parameter_Hoehe_P,ParamSet.Hoehe_P,0,100); |
||
386 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hoehe_ACC_Wirkung,0,255); |
||
387 | CHK_POTI(Parameter_KompassWirkung,ParamSet.KompassWirkung,0,255); |
||
388 | CHK_POTI(Parameter_Gyro_P,ParamSet.Gyro_P,10,255); |
||
389 | CHK_POTI(Parameter_Gyro_I,ParamSet.Gyro_I,0,255); |
||
690 | killagreg | 390 | CHK_POTI(Parameter_I_Factor,ParamSet.I_Factor,0,255); |
687 | killagreg | 391 | CHK_POTI(Parameter_UserParam1,ParamSet.UserParam1,0,255); |
392 | CHK_POTI(Parameter_UserParam2,ParamSet.UserParam2,0,255); |
||
393 | CHK_POTI(Parameter_UserParam3,ParamSet.UserParam3,0,255); |
||
394 | CHK_POTI(Parameter_UserParam4,ParamSet.UserParam4,0,255); |
||
395 | CHK_POTI(Parameter_UserParam5,ParamSet.UserParam5,0,255); |
||
396 | CHK_POTI(Parameter_UserParam6,ParamSet.UserParam6,0,255); |
||
397 | CHK_POTI(Parameter_UserParam7,ParamSet.UserParam7,0,255); |
||
398 | CHK_POTI(Parameter_UserParam8,ParamSet.UserParam8,0,255); |
||
399 | CHK_POTI(Parameter_ServoNickControl,ParamSet.ServoNickControl,0,255); |
||
400 | CHK_POTI(Parameter_LoopGasLimit,ParamSet.LoopGasLimit,0,255); |
||
401 | CHK_POTI(Parameter_AchsKopplung1, ParamSet.AchsKopplung1,0,255); |
||
402 | CHK_POTI(Parameter_AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255); |
||
403 | CHK_POTI(Parameter_DynamicStability,ParamSet.DynamicStability,0,255); |
||
1 | ingob | 404 | |
690 | killagreg | 405 | Ki = (float) Parameter_I_Factor * 0.0001; |
687 | killagreg | 406 | MAX_GAS = ParamSet.Gas_Max; |
407 | MIN_GAS = ParamSet.Gas_Min; |
||
1 | ingob | 408 | } |
409 | |||
410 | |||
411 | //############################################################################ |
||
412 | // |
||
413 | void MotorRegler(void) |
||
414 | //############################################################################ |
||
415 | { |
||
416 | int motorwert,pd_ergebnis,h,tmp_int; |
||
417 | int GierMischanteil,GasMischanteil; |
||
418 | static long SummeNick=0,SummeRoll=0; |
||
419 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 420 | static long IntegralFehlerNick = 0; |
421 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 422 | static unsigned int RcLostTimer; |
423 | static unsigned char delay_neutral = 0; |
||
424 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
425 | static unsigned int modell_fliegt = 0; |
||
426 | static int hoehenregler = 0; |
||
427 | static char TimerWerteausgabe = 0; |
||
428 | static char NeueKompassRichtungMerken = 0; |
||
395 | hbuss | 429 | static long ausgleichNick, ausgleichRoll; |
1 | ingob | 430 | |
683 | killagreg | 431 | Mittelwert(); |
432 | |||
1 | ingob | 433 | GRN_ON; |
683 | killagreg | 434 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 435 | // Gaswert ermitteln |
683 | killagreg | 436 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
437 | GasMischanteil = StickGas; |
||
1 | ingob | 438 | if(GasMischanteil < 0) GasMischanteil = 0; |
683 | killagreg | 439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 440 | // Emfang schlecht |
683 | killagreg | 441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 442 | if(SenderOkay < 100) |
443 | { |
||
683 | killagreg | 444 | if(!PcZugriff) |
173 | holgerb | 445 | { |
683 | killagreg | 446 | if(BeepModulation == 0xFFFF) |
447 | { |
||
448 | BeepTime = 15000; // 1.5 seconds |
||
449 | BeepModulation = 0x0C00; |
||
450 | } |
||
173 | holgerb | 451 | } |
683 | killagreg | 452 | if(RcLostTimer) RcLostTimer--; |
453 | else |
||
1 | ingob | 454 | { |
455 | MotorenEin = 0; |
||
456 | Notlandung = 0; |
||
683 | killagreg | 457 | } |
1 | ingob | 458 | ROT_ON; |
459 | if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
||
460 | { |
||
690 | killagreg | 461 | GasMischanteil = ParamSet.EmergencyGas; |
1 | ingob | 462 | Notlandung = 1; |
690 | killagreg | 463 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
464 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
465 | PPM_in[ParamSet.ChannelAssignment[CH_GIER]] = 0; |
||
173 | holgerb | 466 | } |
1 | ingob | 467 | else MotorenEin = 0; |
468 | } |
||
683 | killagreg | 469 | else |
470 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 471 | // Emfang gut |
683 | killagreg | 472 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 473 | if(SenderOkay > 140) |
474 | { |
||
475 | Notlandung = 0; |
||
690 | killagreg | 476 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
1 | ingob | 477 | if(GasMischanteil > 40) |
478 | { |
||
479 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
480 | } |
||
481 | if((modell_fliegt < 200) || (GasMischanteil < 40)) |
||
482 | { |
||
483 | SummeNick = 0; |
||
484 | SummeRoll = 0; |
||
683 | killagreg | 485 | Mess_Integral_Gier = 0; |
1 | ingob | 486 | Mess_Integral_Gier2 = 0; |
487 | } |
||
690 | killagreg | 488 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 489 | { |
683 | killagreg | 490 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 491 | // auf Nullwerte kalibrieren |
683 | killagreg | 492 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | killagreg | 493 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75) // Neutralwerte |
1 | ingob | 494 | { |
495 | if(++delay_neutral > 200) // nicht sofort |
||
496 | { |
||
497 | GRN_OFF; |
||
498 | MotorenEin = 0; |
||
499 | delay_neutral = 0; |
||
500 | modell_fliegt = 0; |
||
690 | killagreg | 501 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
1 | ingob | 502 | { |
304 | ingob | 503 | unsigned char setting=1; |
690 | killagreg | 504 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
505 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
||
506 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
||
507 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
||
508 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
||
687 | killagreg | 509 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 510 | } |
690 | killagreg | 511 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
1 | ingob | 512 | { |
513 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
683 | killagreg | 514 | } |
687 | killagreg | 515 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
173 | holgerb | 516 | SetNeutral(); |
687 | killagreg | 517 | Piep(GetActiveParamSet()); |
683 | killagreg | 518 | } |
1 | ingob | 519 | } |
683 | killagreg | 520 | else |
690 | killagreg | 521 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75) // ACC Neutralwerte speichern |
513 | hbuss | 522 | { |
523 | if(++delay_neutral > 200) // nicht sofort |
||
524 | { |
||
525 | GRN_OFF; |
||
687 | killagreg | 526 | SetParamByte(PID_ACC_NICK,0xFF); // Werte löschen |
513 | hbuss | 527 | MotorenEin = 0; |
528 | delay_neutral = 0; |
||
529 | modell_fliegt = 0; |
||
530 | SetNeutral(); |
||
687 | killagreg | 531 | SetParamByte(PID_ACC_NICK, NeutralAccX / 256); // ACC-NeutralWerte speichern |
532 | SetParamByte(PID_ACC_NICK+1,NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
533 | SetParamByte(PID_ACC_ROLL,NeutralAccY / 256); |
||
534 | SetParamByte(PID_ACC_ROLL+1,NeutralAccY % 256); |
||
535 | SetParamByte(PID_ACC_Z,(int)NeutralAccZ / 256); |
||
536 | SetParamByte(PID_ACC_Z+1,(int)NeutralAccZ % 256); |
||
537 | Piep(GetActiveParamSet()); |
||
683 | killagreg | 538 | } |
513 | hbuss | 539 | } |
1 | ingob | 540 | else delay_neutral = 0; |
541 | } |
||
683 | killagreg | 542 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 543 | // Gas ist unten |
683 | killagreg | 544 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | killagreg | 545 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120) |
1 | ingob | 546 | { |
547 | // Starten |
||
690 | killagreg | 548 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75) |
1 | ingob | 549 | { |
683 | killagreg | 550 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 551 | // Einschalten |
683 | killagreg | 552 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 553 | if(++delay_einschalten > 200) |
554 | { |
||
555 | delay_einschalten = 200; |
||
556 | modell_fliegt = 1; |
||
557 | MotorenEin = 1; |
||
558 | sollGier = 0; |
||
683 | killagreg | 559 | Mess_Integral_Gier = 0; |
1 | ingob | 560 | Mess_Integral_Gier2 = 0; |
561 | Mess_IntegralNick = 0; |
||
562 | Mess_IntegralRoll = 0; |
||
563 | Mess_IntegralNick2 = IntegralNick; |
||
564 | Mess_IntegralRoll2 = IntegralRoll; |
||
565 | SummeNick = 0; |
||
566 | SummeRoll = 0; |
||
683 | killagreg | 567 | } |
568 | } |
||
1 | ingob | 569 | else delay_einschalten = 0; |
570 | //Auf Neutralwerte setzen |
||
683 | killagreg | 571 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 572 | // Auschalten |
683 | killagreg | 573 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | killagreg | 574 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75) |
1 | ingob | 575 | { |
576 | if(++delay_ausschalten > 200) // nicht sofort |
||
577 | { |
||
578 | MotorenEin = 0; |
||
579 | delay_ausschalten = 200; |
||
580 | modell_fliegt = 0; |
||
683 | killagreg | 581 | } |
1 | ingob | 582 | } |
583 | else delay_ausschalten = 0; |
||
584 | } |
||
585 | } |
||
586 | |||
683 | killagreg | 587 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 588 | // neue Werte von der Funke |
683 | killagreg | 589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
590 | if(!NewPpmData-- || Notlandung) |
||
1 | ingob | 591 | { |
492 | hbuss | 592 | int tmp_int; |
604 | hbuss | 593 | static int stick_nick,stick_roll; |
1 | ingob | 594 | ParameterZuordnung(); |
690 | killagreg | 595 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
596 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
||
597 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
||
598 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
604 | hbuss | 599 | |
690 | killagreg | 600 | StickGier = -PPM_in[ParamSet.ChannelAssignment[CH_GIER]]; |
601 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120; |
||
595 | hbuss | 602 | |
690 | killagreg | 603 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) > MaxStickNick) |
604 | MaxStickNick = abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]); else MaxStickNick--; |
||
605 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
||
606 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--; |
||
614 | hbuss | 607 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
608 | |||
1 | ingob | 609 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
610 | IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
||
611 | |||
595 | hbuss | 612 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
613 | //+ Digitale Steuerung per DubWise |
||
614 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
492 | hbuss | 615 | #define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
683 | killagreg | 616 | if(DubWiseKeys[1]) BeepTime = 10; |
492 | hbuss | 617 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
618 | if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
||
619 | ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
||
620 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
||
621 | if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
||
622 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
||
623 | |||
624 | if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
||
625 | if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
||
626 | if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
||
627 | if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
||
628 | |||
629 | StickNick += ExternStickNick / 8; |
||
630 | StickRoll += ExternStickRoll / 8; |
||
631 | StickGier += ExternStickGier; |
||
595 | hbuss | 632 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
633 | //+ Analoge Steuerung per Seriell |
||
634 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
635 | if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128) |
||
636 | { |
||
687 | killagreg | 637 | StickNick += (int) ExternControl.Nick * (int) ParamSet.Stick_P; |
638 | StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P; |
||
595 | hbuss | 639 | StickGier += ExternControl.Gier; |
687 | killagreg | 640 | ExternHoehenValue = (int) ExternControl.Hight * (int)ParamSet.Hoehe_Verstaerkung; |
595 | hbuss | 641 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
642 | } |
||
492 | hbuss | 643 | |
687 | killagreg | 644 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1 | ingob | 645 | if(GyroFaktor < 0) GyroFaktor = 0; |
646 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
683 | killagreg | 647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 648 | // Looping? |
683 | killagreg | 649 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | killagreg | 650 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Links = 1; |
683 | killagreg | 651 | else |
652 | { |
||
395 | hbuss | 653 | { |
690 | killagreg | 654 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Links = 0; |
683 | killagreg | 655 | } |
656 | } |
||
690 | killagreg | 657 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Rechts = 1; |
683 | killagreg | 658 | else |
395 | hbuss | 659 | { |
660 | if(Looping_Rechts) // Hysterese |
||
661 | { |
||
690 | killagreg | 662 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Rechts = 0; |
395 | hbuss | 663 | } |
683 | killagreg | 664 | } |
173 | holgerb | 665 | |
690 | killagreg | 666 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Oben = 1; |
683 | killagreg | 667 | else |
668 | { |
||
395 | hbuss | 669 | if(Looping_Oben) // Hysterese |
670 | { |
||
690 | killagreg | 671 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Oben = 0; |
683 | killagreg | 672 | } |
673 | } |
||
690 | killagreg | 674 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Unten = 1; |
683 | killagreg | 675 | else |
395 | hbuss | 676 | { |
677 | if(Looping_Unten) // Hysterese |
||
678 | { |
||
690 | killagreg | 679 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Unten = 0; |
395 | hbuss | 680 | } |
683 | killagreg | 681 | } |
395 | hbuss | 682 | |
683 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
684 | if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
685 | } // Ende neue Funken-Werte |
||
686 | |||
683 | killagreg | 687 | if(Looping_Roll) BeepTime = 100; |
395 | hbuss | 688 | if(Looping_Roll || Looping_Nick) |
689 | { |
||
687 | killagreg | 690 | if(GasMischanteil > ParamSet.LoopGasLimit) GasMischanteil = ParamSet.LoopGasLimit; |
173 | holgerb | 691 | } |
692 | |||
683 | killagreg | 693 | |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
695 | // Bei Empfangsausfall im Flug |
||
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 697 | if(Notlandung) |
698 | { |
||
699 | StickGier = 0; |
||
700 | StickNick = 0; |
||
701 | StickRoll = 0; |
||
702 | GyroFaktor = 0.1; |
||
703 | IntegralFaktor = 0.005; |
||
173 | holgerb | 704 | Looping_Roll = 0; |
705 | Looping_Nick = 0; |
||
683 | killagreg | 706 | } |
395 | hbuss | 707 | |
708 | |||
683 | killagreg | 709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 710 | // Integrale auf ACC-Signal abgleichen |
683 | killagreg | 711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 712 | #define ABGLEICH_ANZAHL 256L |
713 | |||
714 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
715 | MittelIntegralRoll += IntegralRoll; |
||
716 | MittelIntegralNick2 += IntegralNick2; |
||
717 | MittelIntegralRoll2 += IntegralRoll2; |
||
718 | |||
719 | if(Looping_Nick || Looping_Roll) |
||
720 | { |
||
721 | IntegralAccNick = 0; |
||
722 | IntegralAccRoll = 0; |
||
723 | MittelIntegralNick = 0; |
||
724 | MittelIntegralRoll = 0; |
||
725 | MittelIntegralNick2 = 0; |
||
726 | MittelIntegralRoll2 = 0; |
||
727 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
728 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
729 | ZaehlMessungen = 0; |
||
498 | hbuss | 730 | LageKorrekturNick = 0; |
731 | LageKorrekturRoll = 0; |
||
395 | hbuss | 732 | } |
733 | |||
683 | killagreg | 734 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
498 | hbuss | 735 | if(!Looping_Nick && !Looping_Roll) |
469 | hbuss | 736 | { |
737 | long tmp_long, tmp_long2; |
||
687 | killagreg | 738 | tmp_long = (long)(IntegralNick / ParamSet.GyroAccFaktor - (long)Mittelwert_AccNick); |
739 | tmp_long2 = (long)(IntegralRoll / ParamSet.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
469 | hbuss | 740 | tmp_long /= 16; |
741 | tmp_long2 /= 16; |
||
623 | hbuss | 742 | if((MaxStickNick > 15) || (MaxStickRoll > 15)) |
614 | hbuss | 743 | { |
744 | tmp_long /= 3; |
||
745 | tmp_long2 /= 3; |
||
746 | } |
||
690 | killagreg | 747 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25) |
623 | hbuss | 748 | { |
749 | tmp_long /= 3; |
||
750 | tmp_long2 /= 3; |
||
751 | } |
||
614 | hbuss | 752 | |
753 | #define AUSGLEICH 32 |
||
469 | hbuss | 754 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
755 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
756 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
757 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
614 | hbuss | 758 | |
469 | hbuss | 759 | Mess_IntegralNick -= tmp_long; |
760 | Mess_IntegralRoll -= tmp_long2; |
||
761 | } |
||
683 | killagreg | 762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
469 | hbuss | 763 | |
395 | hbuss | 764 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
765 | { |
||
766 | static int cnt = 0; |
||
767 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
768 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
297 | holgerb | 769 | if(!Looping_Nick && !Looping_Roll) |
173 | holgerb | 770 | { |
395 | hbuss | 771 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
772 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
687 | killagreg | 773 | IntegralAccNick = (ParamSet.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
774 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
395 | hbuss | 775 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
492 | hbuss | 776 | #define MAX_I 0//(Poti2/10) |
395 | hbuss | 777 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
778 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
687 | killagreg | 779 | ausgleichNick = IntegralFehlerNick / ParamSet.GyroAccAbgleich; |
683 | killagreg | 780 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
687 | killagreg | 782 | ausgleichRoll = IntegralFehlerRoll / ParamSet.GyroAccAbgleich; |
614 | hbuss | 783 | |
784 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 785 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 786 | |
690 | killagreg | 787 | if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25)) |
614 | hbuss | 788 | { |
789 | LageKorrekturNick /= 2; |
||
790 | LageKorrekturNick /= 2; |
||
791 | } |
||
498 | hbuss | 792 | |
683 | killagreg | 793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 794 | // Gyro-Drift ermitteln |
683 | killagreg | 795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 796 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
797 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
683 | killagreg | 798 | tmp_long = IntegralNick2 - IntegralNick; |
799 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 800 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
801 | |||
802 | IntegralFehlerNick = tmp_long; |
||
803 | IntegralFehlerRoll = tmp_long2; |
||
804 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
805 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
806 | |||
807 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
808 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
809 | |||
810 | |||
811 | DebugOut.Analog[17] = IntegralAccNick / 26; |
||
812 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
813 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
814 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
815 | DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
816 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
||
469 | hbuss | 817 | //DebugOut.Analog[28] = ausgleichNick; |
395 | hbuss | 818 | DebugOut.Analog[29] = ausgleichRoll; |
498 | hbuss | 819 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
395 | hbuss | 820 | |
492 | hbuss | 821 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
822 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
||
823 | #define BEWEGUNGS_LIMIT 20000 |
||
395 | hbuss | 824 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
825 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
492 | hbuss | 826 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
827 | { |
||
683 | killagreg | 828 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 829 | { |
683 | killagreg | 830 | if(last_n_p) |
395 | hbuss | 831 | { |
683 | killagreg | 832 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
492 | hbuss | 833 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 834 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 835 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
683 | killagreg | 836 | } |
395 | hbuss | 837 | else last_n_p = 1; |
838 | } else last_n_p = 0; |
||
683 | killagreg | 839 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 840 | { |
841 | if(last_n_n) |
||
683 | killagreg | 842 | { |
843 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
||
492 | hbuss | 844 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 845 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 846 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
683 | killagreg | 847 | } |
395 | hbuss | 848 | else last_n_n = 1; |
849 | } else last_n_n = 0; |
||
492 | hbuss | 850 | } else cnt = 0; |
690 | killagreg | 851 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
395 | hbuss | 852 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
853 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 854 | |
395 | hbuss | 855 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 856 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
857 | |||
498 | hbuss | 858 | ausgleichRoll = 0; |
492 | hbuss | 859 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
860 | { |
||
683 | killagreg | 861 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 862 | { |
683 | killagreg | 863 | if(last_r_p) |
395 | hbuss | 864 | { |
683 | killagreg | 865 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
492 | hbuss | 866 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 867 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 868 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
683 | killagreg | 869 | } |
395 | hbuss | 870 | else last_r_p = 1; |
871 | } else last_r_p = 0; |
||
683 | killagreg | 872 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 873 | { |
683 | killagreg | 874 | if(last_r_n) |
395 | hbuss | 875 | { |
683 | killagreg | 876 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
492 | hbuss | 877 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 878 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 879 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 880 | } |
881 | else last_r_n = 1; |
||
882 | } else last_r_n = 0; |
||
683 | killagreg | 883 | } else |
492 | hbuss | 884 | { |
885 | cnt = 0; |
||
683 | killagreg | 886 | } |
614 | hbuss | 887 | |
690 | killagreg | 888 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
395 | hbuss | 889 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
890 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
614 | hbuss | 891 | DebugOut.Analog[27] = ausgleichRoll; |
492 | hbuss | 892 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
401 | hbuss | 893 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
173 | holgerb | 894 | } |
683 | killagreg | 895 | else |
498 | hbuss | 896 | { |
897 | LageKorrekturRoll = 0; |
||
898 | LageKorrekturNick = 0; |
||
899 | } |
||
595 | hbuss | 900 | |
498 | hbuss | 901 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
683 | killagreg | 902 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
903 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
904 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
905 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 906 | IntegralAccNick = 0; |
907 | IntegralAccRoll = 0; |
||
908 | IntegralAccZ = 0; |
||
909 | MittelIntegralNick = 0; |
||
910 | MittelIntegralRoll = 0; |
||
911 | MittelIntegralNick2 = 0; |
||
912 | MittelIntegralRoll2 = 0; |
||
913 | ZaehlMessungen = 0; |
||
914 | } |
||
469 | hbuss | 915 | //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
395 | hbuss | 916 | |
683 | killagreg | 917 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 918 | // Gieren |
683 | killagreg | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
920 | if(abs(StickGier) > 20) // war 35 |
||
1 | ingob | 921 | { |
690 | killagreg | 922 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) NeueKompassRichtungMerken = 1; |
1 | ingob | 923 | } |
687 | killagreg | 924 | tmp_int = (long) ParamSet.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
925 | tmp_int += (ParamSet.Gier_P * StickGier) / 4; |
||
173 | holgerb | 926 | sollGier = tmp_int; |
683 | killagreg | 927 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 928 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
929 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
683 | killagreg | 930 | |
931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 932 | // Kompass |
683 | killagreg | 933 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | killagreg | 934 | if(KompassValue && (ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
1 | ingob | 935 | { |
936 | int w,v; |
||
683 | killagreg | 937 | static int SignalSchlecht = 0; |
1 | ingob | 938 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
939 | v = abs(IntegralRoll /512); |
||
940 | if(v > w) w = v; // grösste Neigung ermitteln |
||
683 | killagreg | 941 | if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
942 | { |
||
1 | ingob | 943 | KompassStartwert = KompassValue; |
944 | NeueKompassRichtungMerken = 0; |
||
945 | } |
||
946 | w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
||
947 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
||
948 | if(w > 0) |
||
949 | { |
||
950 | if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
||
951 | if(SignalSchlecht) SignalSchlecht--; |
||
683 | killagreg | 952 | } |
1 | ingob | 953 | else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
683 | killagreg | 954 | } |
955 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 956 | |
683 | killagreg | 957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 958 | // Debugwerte zuordnen |
683 | killagreg | 959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 960 | if(!TimerWerteausgabe--) |
961 | { |
||
395 | hbuss | 962 | TimerWerteausgabe = 24; |
687 | killagreg | 963 | DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFaktor; |
964 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
||
1 | ingob | 965 | DebugOut.Analog[2] = Mittelwert_AccNick; |
966 | DebugOut.Analog[3] = Mittelwert_AccRoll; |
||
967 | DebugOut.Analog[4] = MesswertGier; |
||
968 | DebugOut.Analog[5] = HoehenWert; |
||
395 | hbuss | 969 | DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
1 | ingob | 970 | DebugOut.Analog[8] = KompassValue; |
297 | holgerb | 971 | DebugOut.Analog[9] = UBat; |
972 | DebugOut.Analog[10] = SenderOkay; |
||
395 | hbuss | 973 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
173 | holgerb | 974 | |
975 | /* DebugOut.Analog[16] = motor_rx[0]; |
||
976 | DebugOut.Analog[17] = motor_rx[1]; |
||
977 | DebugOut.Analog[18] = motor_rx[2]; |
||
978 | DebugOut.Analog[19] = motor_rx[3]; |
||
979 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
980 | DebugOut.Analog[20] /= 14; |
||
981 | DebugOut.Analog[21] = motor_rx[4]; |
||
982 | DebugOut.Analog[22] = motor_rx[5]; |
||
983 | DebugOut.Analog[23] = motor_rx[6]; |
||
984 | DebugOut.Analog[24] = motor_rx[7]; |
||
985 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
986 | */ |
||
987 | // DebugOut.Analog[9] = MesswertNick; |
||
1 | ingob | 988 | // DebugOut.Analog[9] = SollHoehe; |
989 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
990 | // DebugOut.Analog[11] = KompassStartwert; |
||
683 | killagreg | 991 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
687 | killagreg | 992 | // DebugOut.Analog[10] = ParamSet.Gyro_I; |
683 | killagreg | 993 | // DebugOut.Analog[9] = KompassRichtung; |
1 | ingob | 994 | // DebugOut.Analog[10] = GasMischanteil; |
995 | // DebugOut.Analog[3] = HoeheD * 32; |
||
996 | // DebugOut.Analog[4] = hoehenregler; |
||
997 | } |
||
998 | |||
683 | killagreg | 999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1000 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
683 | killagreg | 1001 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
604 | hbuss | 1002 | //DebugOut.Analog[26] = MesswertNick; |
1003 | //DebugOut.Analog[28] = MesswertRoll; |
||
1004 | |||
173 | holgerb | 1005 | if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
1006 | else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
||
1007 | if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
||
1008 | else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
||
623 | hbuss | 1009 | MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
1 | ingob | 1010 | |
469 | hbuss | 1011 | DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
1012 | DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
||
604 | hbuss | 1013 | DebugOut.Analog[28] = MesswertRoll; |
469 | hbuss | 1014 | |
1 | ingob | 1015 | // Maximalwerte abfangen |
1016 | #define MAX_SENSOR 2048 |
||
1017 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
1018 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
1019 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1020 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1021 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1022 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1023 | |||
683 | killagreg | 1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1025 | // Höhenregelung |
1026 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
683 | killagreg | 1027 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1028 | //OCR0B = 180 - (Poti1 + 120) / 4; |
1029 | //DruckOffsetSetting = OCR0B; |
||
690 | killagreg | 1030 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung |
1 | ingob | 1031 | { |
1032 | int tmp_int; |
||
690 | killagreg | 1033 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) // Regler wird über Schalter gesteuert |
1 | ingob | 1034 | { |
683 | killagreg | 1035 | if(Parameter_MaxHoehe < 50) |
1 | ingob | 1036 | { |
1037 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
||
1038 | HoehenReglerAktiv = 0; |
||
1039 | } |
||
683 | killagreg | 1040 | else |
1 | ingob | 1041 | HoehenReglerAktiv = 1; |
1042 | } |
||
683 | killagreg | 1043 | else |
1 | ingob | 1044 | { |
687 | killagreg | 1045 | SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hoehe_Verstaerkung - 20; |
1 | ingob | 1046 | HoehenReglerAktiv = 1; |
1047 | } |
||
1048 | |||
1049 | if(Notlandung) SollHoehe = 0; |
||
1050 | h = HoehenWert; |
||
1051 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
||
1052 | { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
||
1053 | h = GasMischanteil - h; // vom Gas abziehen |
||
1054 | h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
||
1055 | tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
||
1056 | if(tmp_int > 50) tmp_int = 50; |
||
1057 | else if(tmp_int < -50) tmp_int = -50; |
||
1058 | h -= tmp_int; |
||
683 | killagreg | 1059 | hoehenregler = (hoehenregler*15 + h) / 16; |
687 | killagreg | 1060 | if(hoehenregler < ParamSet.Hoehe_MinGas) // nicht unter MIN |
1 | ingob | 1061 | { |
687 | killagreg | 1062 | if(GasMischanteil >= ParamSet.Hoehe_MinGas) hoehenregler = ParamSet.Hoehe_MinGas; |
1063 | if(GasMischanteil < ParamSet.Hoehe_MinGas) hoehenregler = GasMischanteil; |
||
683 | killagreg | 1064 | } |
1 | ingob | 1065 | if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
1066 | GasMischanteil = hoehenregler; |
||
683 | killagreg | 1067 | } |
1 | ingob | 1068 | } |
595 | hbuss | 1069 | if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
683 | killagreg | 1070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1071 | // + Mischer und PI-Regler |
683 | killagreg | 1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1073 | DebugOut.Analog[7] = GasMischanteil; |
683 | killagreg | 1074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1075 | // Gier-Anteil |
683 | killagreg | 1076 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
188 | holgerb | 1077 | #define MUL_G 1.0 |
173 | holgerb | 1078 | GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
604 | hbuss | 1079 | // GierMischanteil = 0; |
173 | holgerb | 1080 | |
683 | killagreg | 1081 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1082 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
1083 | if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
||
514 | hbuss | 1084 | if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
513 | hbuss | 1085 | |
188 | holgerb | 1086 | if(GasMischanteil < 20) GierMischanteil = 0; |
683 | killagreg | 1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1088 | // Nick-Achse |
683 | killagreg | 1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
513 | hbuss | 1090 | DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
498 | hbuss | 1091 | if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
683 | killagreg | 1092 | else SummeNick += DiffNick; // I-Anteil bei HH |
1 | ingob | 1093 | if(SummeNick > 16000) SummeNick = 16000; |
1094 | if(SummeNick < -16000) SummeNick = -16000; |
||
683 | killagreg | 1095 | pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
1 | ingob | 1096 | // Motor Vorn |
499 | hbuss | 1097 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
683 | killagreg | 1098 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
1099 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
173 | holgerb | 1100 | |
1 | ingob | 1101 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
173 | holgerb | 1102 | if ((motorwert < 0)) motorwert = 0; |
1 | ingob | 1103 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
683 | killagreg | 1104 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
1105 | Motor_Vorne = motorwert; |
||
1 | ingob | 1106 | // Motor Heck |
1107 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
||
173 | holgerb | 1108 | if ((motorwert < 0)) motorwert = 0; |
1 | ingob | 1109 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
1110 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
683 | killagreg | 1111 | Motor_Hinten = motorwert; |
1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1113 | // Roll-Achse |
683 | killagreg | 1114 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
513 | hbuss | 1115 | DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
498 | hbuss | 1116 | if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
1117 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1 | ingob | 1118 | if(SummeRoll > 16000) SummeRoll = 16000; |
1119 | if(SummeRoll < -16000) SummeRoll = -16000; |
||
297 | holgerb | 1120 | pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
499 | hbuss | 1121 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
683 | killagreg | 1122 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
1123 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
1 | ingob | 1124 | // Motor Links |
1125 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
||
604 | hbuss | 1126 | #define GRENZE Poti1 |
1127 | |||
173 | holgerb | 1128 | if ((motorwert < 0)) motorwert = 0; |
1 | ingob | 1129 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
1130 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
683 | killagreg | 1131 | Motor_Links = motorwert; |
1 | ingob | 1132 | // Motor Rechts |
1133 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
||
604 | hbuss | 1134 | |
173 | holgerb | 1135 | if ((motorwert < 0)) motorwert = 0; |
1 | ingob | 1136 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
683 | killagreg | 1137 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
1138 | Motor_Rechts = motorwert; |
||
1 | ingob | 1139 | // +++++++++++++++++++++++++++++++++++++++++++++++ |
1140 | } |
||
1141 |