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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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| 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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| 1051 | 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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| 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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| 831 | hbuss | 42 | // + * porting to systems other than 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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| 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 |
| 1051 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 54 | |||
| 55 | #include "main.h" |
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| 395 | hbuss | 56 | #include "eeprom.c" |
| 1 | ingob | 57 | |
| 58 | unsigned char h,m,s; |
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| 173 | holgerb | 59 | volatile unsigned int I2CTimeout = 100; |
| 1153 | hbuss | 60 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 61 | int TrimNick, TrimRoll; |
| 1051 | killagreg | 62 | int AdNeutralGierBias; |
| 927 | hbuss | 63 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 64 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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| 805 | hbuss | 65 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1 | ingob | 66 | volatile float NeutralAccZ = 0; |
| 67 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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| 693 | hbuss | 68 | long IntegralNick = 0,IntegralNick2 = 0; |
| 69 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 70 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 71 | long Integral_Gier = 0; |
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| 72 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 73 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 74 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 75 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1 | ingob | 76 | volatile long Mess_Integral_Hoch = 0; |
| 1153 | hbuss | 77 | int KompassValue = 0; |
| 78 | int KompassStartwert = 0; |
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| 79 | int KompassRichtung = 0; |
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| 693 | hbuss | 80 | unsigned int KompassSignalSchlecht = 500; |
| 855 | hbuss | 81 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 82 | unsigned char Notlandung = 0; |
| 83 | unsigned char HoehenReglerAktiv = 0; |
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| 880 | hbuss | 84 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 85 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 86 | long ErsatzKompass; |
| 87 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 88 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 89 | char GyroFaktor,GyroFaktorGier; |
| 90 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 91 | int DiffNick,DiffRoll; |
| 1051 | killagreg | 92 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| 1 | ingob | 93 | volatile unsigned char SenderOkay = 0; |
| 595 | hbuss | 94 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1 | ingob | 95 | char MotorenEin = 0; |
| 96 | int HoehenWert = 0; |
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| 97 | int SollHoehe = 0; |
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| 498 | hbuss | 98 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 1153 | hbuss | 99 | //float Ki = FAKTOR_I; |
| 100 | int Ki = 10300 / 33; |
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| 395 | hbuss | 101 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 102 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 103 | |
| 104 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 105 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 106 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 107 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 108 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1111 | hbuss | 109 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 110 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 111 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 112 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
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| 113 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 114 | unsigned char Parameter_UserParam1 = 0; |
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| 115 | unsigned char Parameter_UserParam2 = 0; |
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| 116 | unsigned char Parameter_UserParam3 = 0; |
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| 117 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 118 | unsigned char Parameter_UserParam5 = 0; |
| 119 | unsigned char Parameter_UserParam6 = 0; |
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| 120 | unsigned char Parameter_UserParam7 = 0; |
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| 121 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 122 | unsigned char Parameter_ServoNickControl = 100; |
| 173 | holgerb | 123 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 124 | unsigned char Parameter_AchsKopplung1 = 90; |
| 125 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 126 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 127 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 128 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 129 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 130 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 131 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 132 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 133 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 134 | unsigned char Parameter_NaviGpsGain; |
| 135 | unsigned char Parameter_NaviGpsP; |
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| 136 | unsigned char Parameter_NaviGpsI; |
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| 137 | unsigned char Parameter_NaviGpsD; |
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| 138 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 139 | unsigned char Parameter_NaviOperatingRadius; |
| 140 | unsigned char Parameter_NaviWindCorrection; |
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| 141 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 142 | unsigned char Parameter_ExternalControl; |
| 1 | ingob | 143 | struct mk_param_struct EE_Parameter; |
| 492 | hbuss | 144 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 145 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 146 | unsigned int modell_fliegt = 0; |
| 1209 | hbuss | 147 | volatile unsigned char MikroKopterFlags = 0; |
| 1121 | hbuss | 148 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 149 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 150 | unsigned char RequiredMotors = 4; |
| 151 | unsigned char Motor[MAX_MOTORS]; |
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| 152 | signed int tmp_motorwert[MAX_MOTORS]; |
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| 1155 | hbuss | 153 | |
| 1166 | hbuss | 154 | int MotorSmoothing(int neu, int alt) |
| 155 | { |
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| 156 | int motor; |
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| 1244 | Arthur | 157 | |
| 158 | if(neu > alt) |
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| 159 | { |
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| 160 | motor = (1*(int)alt + neu) / 2; |
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| 161 | } |
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| 162 | else |
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| 163 | |||
| 164 | // Arthur P: the original code allowed the motor value to drop to 0 or negative values |
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| 165 | // straight off, i.e. could amplify an intended decrease excessively while upregulation |
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| 166 | // is dampened. The modification would still allow immediate drop below intended value |
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| 167 | // but would dampen this. This would still allow for airbraking of the prop to have effect |
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| 168 | // but it might lead to less sudden excessive drops in rpm with only gradual recovery. |
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| 1265 | Arthur | 169 | // 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and |
| 170 | // possible timing issues with the shutter interval load, removed the shutter interval functions |
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| 171 | // and switched to use of userparam6 for the motor smoothing. |
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| 1244 | Arthur | 172 | |
| 173 | { |
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| 1265 | Arthur | 174 | if(Parameter_UserParam6 < 1) |
| 1244 | Arthur | 175 | { // Original function |
| 176 | motor = neu - (alt - neu)*1; |
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| 177 | } |
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| 178 | else |
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| 179 | { |
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| 1265 | Arthur | 180 | if(Parameter_UserParam6 == 1) // If userpara1 = 1 then 150% down on the first step followed by upsmoothing. |
| 1244 | Arthur | 181 | { |
| 182 | motor = neu - (1*(alt - neu)/2); |
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| 183 | } |
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| 1265 | Arthur | 184 | else // If userpara5 > 1 then allow >= 50% of the intended step down to rapidly reach the intended value. |
| 1244 | Arthur | 185 | { |
| 1265 | Arthur | 186 | motor = neu + ((alt - neu)/Parameter_UserParam6); |
| 1244 | Arthur | 187 | } |
| 188 | } |
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| 189 | } |
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| 1166 | hbuss | 190 | //if(Poti2 < 20) return(neu); |
| 191 | return(motor); |
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| 192 | } |
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| 193 | |||
| 194 | |||
| 1 | ingob | 195 | void Piep(unsigned char Anzahl) |
| 196 | { |
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| 197 | while(Anzahl--) |
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| 198 | { |
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| 199 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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| 200 | beeptime = 100; |
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| 201 | Delay_ms(250); |
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| 202 | } |
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| 203 | } |
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| 204 | |||
| 205 | //############################################################################ |
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| 206 | // Nullwerte ermitteln |
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| 207 | void SetNeutral(void) |
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| 208 | //############################################################################ |
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| 209 | { |
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| 1111 | hbuss | 210 | unsigned char i; |
| 211 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1171 | hbuss | 212 | ServoActive = 0; HEF4017R_ON; |
| 1051 | killagreg | 213 | NeutralAccX = 0; |
| 1 | ingob | 214 | NeutralAccY = 0; |
| 215 | NeutralAccZ = 0; |
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| 1051 | killagreg | 216 | AdNeutralNick = 0; |
| 217 | AdNeutralRoll = 0; |
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| 1 | ingob | 218 | AdNeutralGier = 0; |
| 927 | hbuss | 219 | AdNeutralGierBias = 0; |
| 395 | hbuss | 220 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 221 | Parameter_AchsKopplung2 = 0; |
| 1036 | hbuss | 222 | ExpandBaro = 0; |
| 1051 | killagreg | 223 | CalibrierMittelwert(); |
| 395 | hbuss | 224 | Delay_ms_Mess(100); |
| 1 | ingob | 225 | CalibrierMittelwert(); |
| 226 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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| 1051 | killagreg | 227 | { |
| 1 | ingob | 228 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 229 | } |
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| 1166 | hbuss | 230 | #define NEUTRAL_FILTER 32 |
| 231 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 232 | { |
| 233 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 234 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 235 | nick_neutral += AdWertNick; |
| 236 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 237 | } |
| 1173 | hbuss | 238 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 239 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 240 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1111 | hbuss | 241 | AdNeutralGierBias = AdNeutralGier; |
| 401 | hbuss | 242 | StartNeutralRoll = AdNeutralRoll; |
| 243 | StartNeutralNick = AdNeutralNick; |
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| 1051 | killagreg | 244 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| 513 | hbuss | 245 | { |
| 1171 | hbuss | 246 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| 247 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 513 | hbuss | 248 | NeutralAccZ = Aktuell_az; |
| 249 | } |
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| 1051 | killagreg | 250 | else |
| 513 | hbuss | 251 | { |
| 252 | NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
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| 253 | NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
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| 254 | NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
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| 255 | } |
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| 1051 | killagreg | 256 | |
| 1 | ingob | 257 | MesswertNick = 0; |
| 258 | MesswertRoll = 0; |
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| 259 | MesswertGier = 0; |
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| 1111 | hbuss | 260 | Delay_ms_Mess(100); |
| 1174 | hbuss | 261 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| 262 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 1173 | hbuss | 263 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 264 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 265 | Mess_IntegralNick2 = IntegralNick; |
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| 266 | Mess_IntegralRoll2 = IntegralRoll; |
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| 267 | Mess_Integral_Gier = 0; |
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| 1 | ingob | 268 | StartLuftdruck = Luftdruck; |
| 269 | HoeheD = 0; |
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| 270 | Mess_Integral_Hoch = 0; |
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| 271 | KompassStartwert = KompassValue; |
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| 272 | GPS_Neutral(); |
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| 1051 | killagreg | 273 | beeptime = 50; |
| 882 | hbuss | 274 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 275 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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| 492 | hbuss | 276 | ExternHoehenValue = 0; |
| 693 | hbuss | 277 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 278 | GierGyroFehler = 0; |
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| 723 | hbuss | 279 | SendVersionToNavi = 1; |
| 921 | hbuss | 280 | LED_Init(); |
| 281 | MikroKopterFlags |= FLAG_CALIBRATE; |
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| 992 | hbuss | 282 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 283 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 284 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1172 | hbuss | 285 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
| 286 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
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| 287 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
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| 288 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
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| 1216 | killagreg | 289 | ServoActive = 1; |
| 1171 | hbuss | 290 | SenderOkay = 100; |
| 1 | ingob | 291 | } |
| 292 | |||
| 293 | //############################################################################ |
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| 395 | hbuss | 294 | // Bearbeitet die Messwerte |
| 1 | ingob | 295 | void Mittelwert(void) |
| 296 | //############################################################################ |
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| 1051 | killagreg | 297 | { |
| 1111 | hbuss | 298 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 299 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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| 1153 | hbuss | 300 | signed long winkel_nick, winkel_roll; |
| 1171 | hbuss | 301 | |
| 1111 | hbuss | 302 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 303 | // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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| 1171 | hbuss | 304 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 305 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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| 1153 | hbuss | 306 | RohMesswertNick = MesswertNick; |
| 307 | RohMesswertRoll = MesswertRoll; |
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| 1120 | hbuss | 308 | //DebugOut.Analog[21] = MesswertNick; |
| 309 | //DebugOut.Analog[22] = MesswertRoll; |
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| 1121 | hbuss | 310 | //DebugOut.Analog[22] = Mess_Integral_Gier; |
| 1216 | killagreg | 311 | //DebugOut.Analog[21] = MesswertNick; |
| 312 | //DebugOut.Analog[22] = MesswertRoll; |
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| 1166 | hbuss | 313 | |
| 395 | hbuss | 314 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 315 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 316 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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| 317 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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| 395 | hbuss | 318 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 319 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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| 805 | hbuss | 320 | NaviAccNick += AdWertAccNick; |
| 321 | NaviAccRoll += AdWertAccRoll; |
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| 322 | NaviCntAcc++; |
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| 1153 | hbuss | 323 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 324 | |||
| 1155 | hbuss | 325 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 326 | // ADC einschalten |
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| 1171 | hbuss | 327 | ANALOG_ON; |
| 1155 | hbuss | 328 | AdReady = 0; |
| 329 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 330 | |||
| 1216 | killagreg | 331 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 332 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
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| 1153 | hbuss | 333 | else winkel_roll = Mess_IntegralRoll; |
| 334 | |||
| 1216 | killagreg | 335 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 336 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 337 | else winkel_nick = Mess_IntegralNick; |
| 338 | |||
| 1120 | hbuss | 339 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 340 | Mess_Integral_Gier += MesswertGier; |
| 341 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 342 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 343 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 344 | { |
||
| 1153 | hbuss | 345 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 346 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 347 | tmpl3 /= 4096L; |
| 1153 | hbuss | 348 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 349 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 350 | tmpl4 /= 4096L; |
| 1153 | hbuss | 351 | KopplungsteilNickRoll = tmpl3; |
| 352 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 353 | tmpl4 -= tmpl3; |
| 354 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 355 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 356 | |
| 1153 | hbuss | 357 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 358 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 359 | tmpl /= 4096L; |
| 1153 | hbuss | 360 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 361 | tmpl2 *= Parameter_AchsKopplung1; |
| 880 | hbuss | 362 | tmpl2 /= 4096L; |
| 1225 | hbuss | 363 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 364 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 365 | } |
| 1166 | hbuss | 366 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1111 | hbuss | 367 | |
| 1166 | hbuss | 368 | TrimRoll = tmpl - tmpl2 / 100L; |
| 369 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 370 | |||
| 1111 | hbuss | 371 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 372 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 373 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 374 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 375 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 376 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 377 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 378 | { |
| 882 | hbuss | 379 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 380 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 381 | } |
| 395 | hbuss | 382 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 383 | { |
||
| 882 | hbuss | 384 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 385 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 386 | } |
| 395 | hbuss | 387 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 388 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 389 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 390 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 391 | { |
| 392 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 393 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 394 | } |
| 395 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 396 | { |
| 882 | hbuss | 397 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 398 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 399 | } |
| 1111 | hbuss | 400 | |
| 1 | ingob | 401 | Integral_Gier = Mess_Integral_Gier; |
| 402 | IntegralNick = Mess_IntegralNick; |
||
| 403 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 404 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 405 | IntegralRoll2 = Mess_IntegralRoll2; |
| 406 | |||
| 1166 | hbuss | 407 | #define D_LIMIT 128 |
| 408 | |||
| 1171 | hbuss | 409 | MesswertNick = HiResNick / 8; |
| 410 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 411 | |
| 1167 | hbuss | 412 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 413 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 414 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 415 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 416 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 417 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 418 | |||
| 1216 | killagreg | 419 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 420 | { |
| 1166 | hbuss | 421 | d2Nick = HiResNick - oldNick; |
| 422 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 423 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 424 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 425 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 426 | d2Roll = HiResRoll - oldRoll; |
||
| 427 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 428 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 429 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 430 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 431 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 432 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 433 | } |
| 1111 | hbuss | 434 | |
| 1166 | hbuss | 435 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 436 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 437 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 438 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 439 | |
| 440 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 441 | { |
||
| 442 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 443 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 444 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 445 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 446 | } |
||
| 447 | |||
| 1 | ingob | 448 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 449 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 450 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 451 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 452 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 453 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 454 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 455 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 456 | } |
||
| 457 | |||
| 458 | //############################################################################ |
||
| 459 | // Messwerte beim Ermitteln der Nullage |
||
| 460 | void CalibrierMittelwert(void) |
||
| 461 | //############################################################################ |
||
| 1051 | killagreg | 462 | { |
| 1021 | hbuss | 463 | if(PlatinenVersion == 13) SucheGyroOffset(); |
| 1 | ingob | 464 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| 465 | ANALOG_OFF; |
||
| 395 | hbuss | 466 | MesswertNick = AdWertNick; |
| 467 | MesswertRoll = AdWertRoll; |
||
| 468 | MesswertGier = AdWertGier; |
||
| 469 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 470 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 471 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 472 | // ADC einschalten |
||
| 1051 | killagreg | 473 | ANALOG_ON; |
| 1 | ingob | 474 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 475 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 476 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 477 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 478 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 479 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 480 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 481 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 395 | hbuss | 482 | |
| 483 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 720 | ingob | 484 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 1 | ingob | 485 | } |
| 486 | |||
| 487 | //############################################################################ |
||
| 488 | // Senden der Motorwerte per I2C-Bus |
||
| 489 | void SendMotorData(void) |
||
| 490 | //############################################################################ |
||
| 1051 | killagreg | 491 | { |
| 1209 | hbuss | 492 | unsigned char i; |
| 921 | hbuss | 493 | if(!MotorenEin) |
| 1 | ingob | 494 | { |
| 1212 | hbuss | 495 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| 1216 | killagreg | 496 | for(i=0;i<MAX_MOTORS;i++) |
| 497 | { |
||
| 498 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1212 | hbuss | 499 | Motor[i] = MotorTest[i]; |
| 1216 | killagreg | 500 | } |
| 1212 | hbuss | 501 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 502 | } |
| 1212 | hbuss | 503 | else MikroKopterFlags |= FLAG_MOTOR_RUN; |
| 1111 | hbuss | 504 | |
| 1212 | hbuss | 505 | DebugOut.Analog[12] = Motor[0]; |
| 506 | DebugOut.Analog[13] = Motor[1]; |
||
| 507 | DebugOut.Analog[14] = Motor[3]; |
||
| 508 | DebugOut.Analog[15] = Motor[2]; |
||
| 1 | ingob | 509 | |
| 510 | //Start I2C Interrupt Mode |
||
| 511 | twi_state = 0; |
||
| 512 | motor = 0; |
||
| 1051 | killagreg | 513 | i2c_start(); |
| 1 | ingob | 514 | } |
| 515 | |||
| 516 | |||
| 517 | |||
| 518 | //############################################################################ |
||
| 519 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 520 | void ParameterZuordnung(void) |
| 1 | ingob | 521 | //############################################################################ |
| 522 | { |
||
| 921 | hbuss | 523 | #define CHK_POTI_MM(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;} |
| 524 | #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; } |
||
| 1 | ingob | 525 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| 921 | hbuss | 526 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 527 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 1 | ingob | 528 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| 529 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
||
| 921 | hbuss | 530 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| 1 | ingob | 531 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| 1120 | hbuss | 532 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
| 1051 | killagreg | 533 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| 534 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 535 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 536 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 537 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 538 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 539 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 540 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 541 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 1 | ingob | 542 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| 173 | holgerb | 543 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| 395 | hbuss | 544 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| 1120 | hbuss | 545 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
| 546 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
||
| 547 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 499 | hbuss | 548 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| 921 | hbuss | 549 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| 550 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 551 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
| 1153 | hbuss | 552 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 553 | MAX_GAS = EE_Parameter.Gas_Max; |
| 554 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 555 | } |
||
| 556 | |||
| 557 | |||
| 819 | hbuss | 558 | |
| 1 | ingob | 559 | //############################################################################ |
| 560 | // |
||
| 561 | void MotorRegler(void) |
||
| 562 | //############################################################################ |
||
| 563 | { |
||
| 1209 | hbuss | 564 | int pd_ergebnis_nick,pd_ergebnis_roll,h,tmp_int; |
| 1 | ingob | 565 | int GierMischanteil,GasMischanteil; |
| 566 | static long SummeNick=0,SummeRoll=0; |
||
| 567 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 568 | static long IntegralFehlerNick = 0; |
| 569 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 570 | static unsigned int RcLostTimer; |
| 571 | static unsigned char delay_neutral = 0; |
||
| 572 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 573 | static int hoehenregler = 0; |
||
| 574 | static char TimerWerteausgabe = 0; |
||
| 575 | static char NeueKompassRichtungMerken = 0; |
||
| 395 | hbuss | 576 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 577 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 578 | unsigned char i; |
| 1051 | killagreg | 579 | Mittelwert(); |
| 580 | |||
| 1 | ingob | 581 | GRN_ON; |
| 1051 | killagreg | 582 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 583 | // Gaswert ermitteln |
| 1051 | killagreg | 584 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 585 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 586 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1051 | killagreg | 587 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 588 | // Empfang schlecht |
| 1051 | killagreg | 589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 590 | if(SenderOkay < 100) |
| 591 | { |
||
| 1051 | killagreg | 592 | if(!PcZugriff) |
| 173 | holgerb | 593 | { |
| 1051 | killagreg | 594 | if(BeepMuster == 0xffff) |
| 595 | { |
||
| 173 | holgerb | 596 | beeptime = 15000; |
| 597 | BeepMuster = 0x0c00; |
||
| 1051 | killagreg | 598 | } |
| 173 | holgerb | 599 | } |
| 1051 | killagreg | 600 | if(RcLostTimer) RcLostTimer--; |
| 601 | else |
||
| 1 | ingob | 602 | { |
| 603 | MotorenEin = 0; |
||
| 604 | Notlandung = 0; |
||
| 1051 | killagreg | 605 | } |
| 1 | ingob | 606 | ROT_ON; |
| 693 | hbuss | 607 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 608 | { |
| 609 | GasMischanteil = EE_Parameter.NotGas; |
||
| 610 | Notlandung = 1; |
||
| 744 | hbuss | 611 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 612 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 613 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 614 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 615 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 616 | } |
| 1 | ingob | 617 | else MotorenEin = 0; |
| 618 | } |
||
| 1051 | killagreg | 619 | else |
| 620 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 621 | // Emfang gut |
| 1051 | killagreg | 622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 623 | if(SenderOkay > 140) |
| 624 | { |
||
| 625 | Notlandung = 0; |
||
| 626 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
| 921 | hbuss | 627 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 628 | { |
| 629 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 630 | } |
||
| 871 | hbuss | 631 | if((modell_fliegt < 256)) |
| 1 | ingob | 632 | { |
| 633 | SummeNick = 0; |
||
| 634 | SummeRoll = 0; |
||
| 1051 | killagreg | 635 | if(modell_fliegt == 250) |
| 918 | hbuss | 636 | { |
| 1051 | killagreg | 637 | NeueKompassRichtungMerken = 1; |
| 918 | hbuss | 638 | sollGier = 0; |
| 1051 | killagreg | 639 | Mess_Integral_Gier = 0; |
| 927 | hbuss | 640 | // Mess_Integral_Gier2 = 0; |
| 1051 | killagreg | 641 | } |
| 921 | hbuss | 642 | } else MikroKopterFlags |= FLAG_FLY; |
| 1051 | killagreg | 643 | |
| 595 | hbuss | 644 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 645 | { |
| 1051 | killagreg | 646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 647 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 648 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 649 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 650 | { |
||
| 651 | if(++delay_neutral > 200) // nicht sofort |
||
| 652 | { |
||
| 653 | GRN_OFF; |
||
| 654 | MotorenEin = 0; |
||
| 655 | delay_neutral = 0; |
||
| 656 | modell_fliegt = 0; |
||
| 657 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 658 | { |
||
| 304 | ingob | 659 | unsigned char setting=1; |
| 1 | ingob | 660 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 661 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 662 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 663 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 664 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1063 | killagreg | 665 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
| 1 | ingob | 666 | } |
| 820 | hbuss | 667 | // else |
| 1051 | killagreg | 668 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 669 | { |
||
| 819 | hbuss | 670 | WinkelOut.CalcState = 1; |
| 671 | beeptime = 1000; |
||
| 672 | } |
||
| 673 | else |
||
| 1 | ingob | 674 | { |
| 819 | hbuss | 675 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 676 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 677 | { |
||
| 1 | ingob | 678 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 679 | } |
| 819 | hbuss | 680 | SetNeutral(); |
| 681 | Piep(GetActiveParamSetNumber()); |
||
| 682 | } |
||
| 1051 | killagreg | 683 | } |
| 1 | ingob | 684 | } |
| 1051 | killagreg | 685 | else |
| 513 | hbuss | 686 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 687 | { |
||
| 688 | if(++delay_neutral > 200) // nicht sofort |
||
| 689 | { |
||
| 690 | GRN_OFF; |
||
| 691 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 692 | MotorenEin = 0; |
||
| 693 | delay_neutral = 0; |
||
| 694 | modell_fliegt = 0; |
||
| 695 | SetNeutral(); |
||
| 696 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
| 697 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 698 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 699 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 700 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 701 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 702 | Piep(GetActiveParamSetNumber()); |
||
| 1051 | killagreg | 703 | } |
| 513 | hbuss | 704 | } |
| 1 | ingob | 705 | else delay_neutral = 0; |
| 706 | } |
||
| 1051 | killagreg | 707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 708 | // Gas ist unten |
| 1051 | killagreg | 709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 711 | { |
| 712 | // Starten |
||
| 713 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 714 | { |
||
| 1051 | killagreg | 715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 716 | // Einschalten |
| 1051 | killagreg | 717 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 718 | if(++delay_einschalten > 200) |
| 719 | { |
||
| 720 | delay_einschalten = 200; |
||
| 721 | modell_fliegt = 1; |
||
| 722 | MotorenEin = 1; |
||
| 723 | sollGier = 0; |
||
| 1051 | killagreg | 724 | Mess_Integral_Gier = 0; |
| 1 | ingob | 725 | Mess_Integral_Gier2 = 0; |
| 1173 | hbuss | 726 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 727 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 1 | ingob | 728 | Mess_IntegralNick2 = IntegralNick; |
| 729 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 730 | SummeNick = 0; |
||
| 731 | SummeRoll = 0; |
||
| 921 | hbuss | 732 | MikroKopterFlags |= FLAG_START; |
| 1051 | killagreg | 733 | } |
| 734 | } |
||
| 1 | ingob | 735 | else delay_einschalten = 0; |
| 736 | //Auf Neutralwerte setzen |
||
| 1051 | killagreg | 737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 738 | // Auschalten |
| 1051 | killagreg | 739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| 741 | { |
||
| 742 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 743 | { |
||
| 744 | MotorenEin = 0; |
||
| 745 | delay_ausschalten = 200; |
||
| 746 | modell_fliegt = 0; |
||
| 1051 | killagreg | 747 | } |
| 1 | ingob | 748 | } |
| 749 | else delay_ausschalten = 0; |
||
| 750 | } |
||
| 751 | } |
||
| 752 | |||
| 1051 | killagreg | 753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 754 | // neue Werte von der Funke |
| 1051 | killagreg | 755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 756 | |
| 1051 | killagreg | 757 | if(!NewPpmData-- || Notlandung) |
| 1 | ingob | 758 | { |
| 604 | hbuss | 759 | static int stick_nick,stick_roll; |
| 1 | ingob | 760 | ParameterZuordnung(); |
| 1051 | killagreg | 761 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 762 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 805 | hbuss | 763 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| 604 | hbuss | 764 | |
| 723 | hbuss | 765 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 766 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 805 | hbuss | 767 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| 723 | hbuss | 768 | |
| 1 | ingob | 769 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 770 | if(StickGier > 2) StickGier -= 2; else |
| 771 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 772 | |||
| 595 | hbuss | 773 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1153 | hbuss | 774 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 775 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1211 | hbuss | 776 | GyroFaktorGier = (Parameter_Gyro_P + 10.0); |
| 777 | IntegralFaktorGier = Parameter_Gyro_I; |
||
| 1 | ingob | 778 | |
| 595 | hbuss | 779 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 780 | //+ Analoge Steuerung per Seriell |
||
| 781 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 782 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 783 | { |
| 784 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 785 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 786 | StickGier += ExternControl.Gier; |
||
| 787 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 788 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 789 | } |
||
| 855 | hbuss | 790 | if(StickGas < 0) StickGas = 0; |
| 492 | hbuss | 791 | |
| 1 | ingob | 792 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 793 | if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 794 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 723 | hbuss | 795 | |
| 1051 | killagreg | 796 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 797 | { |
| 1051 | killagreg | 798 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 799 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 800 | } |
| 928 | hbuss | 801 | else MaxStickNick--; |
| 1051 | killagreg | 802 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 803 | { |
| 1051 | killagreg | 804 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 805 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 806 | } |
| 928 | hbuss | 807 | else MaxStickRoll--; |
| 723 | hbuss | 808 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 809 | |||
| 1051 | killagreg | 810 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 811 | // Looping? |
| 1051 | killagreg | 812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 813 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 814 | else |
| 815 | { |
||
| 395 | hbuss | 816 | { |
| 1051 | killagreg | 817 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 818 | } |
||
| 819 | } |
||
| 993 | hbuss | 820 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 821 | else |
| 395 | hbuss | 822 | { |
| 823 | if(Looping_Rechts) // Hysterese |
||
| 824 | { |
||
| 825 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 826 | } |
||
| 1051 | killagreg | 827 | } |
| 173 | holgerb | 828 | |
| 993 | hbuss | 829 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 830 | else |
| 831 | { |
||
| 395 | hbuss | 832 | if(Looping_Oben) // Hysterese |
| 833 | { |
||
| 1051 | killagreg | 834 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 835 | } |
||
| 836 | } |
||
| 993 | hbuss | 837 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 838 | else |
| 395 | hbuss | 839 | { |
| 840 | if(Looping_Unten) // Hysterese |
||
| 841 | { |
||
| 842 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 843 | } |
||
| 1051 | killagreg | 844 | } |
| 395 | hbuss | 845 | |
| 846 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 847 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 848 | } // Ende neue Funken-Werte |
| 849 | |||
| 850 | if(Looping_Roll || Looping_Nick) |
||
| 851 | { |
||
| 173 | holgerb | 852 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 853 | TrichterFlug = 1; |
| 173 | holgerb | 854 | } |
| 855 | |||
| 1051 | killagreg | 856 | |
| 857 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 858 | // Bei Empfangsausfall im Flug |
||
| 859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 860 | if(Notlandung) |
| 861 | { |
||
| 862 | StickGier = 0; |
||
| 863 | StickNick = 0; |
||
| 864 | StickRoll = 0; |
||
| 1211 | hbuss | 865 | GyroFaktor = 90; |
| 866 | IntegralFaktor = 120; |
||
| 867 | GyroFaktorGier = 90; |
||
| 868 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 869 | Looping_Roll = 0; |
| 870 | Looping_Nick = 0; |
||
| 1051 | killagreg | 871 | } |
| 395 | hbuss | 872 | |
| 873 | |||
| 1051 | killagreg | 874 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 875 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 876 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 877 | #define ABGLEICH_ANZAHL 256L |
| 878 | |||
| 879 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 880 | MittelIntegralRoll += IntegralRoll; |
||
| 881 | MittelIntegralNick2 += IntegralNick2; |
||
| 882 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 883 | |||
| 884 | if(Looping_Nick || Looping_Roll) |
||
| 885 | { |
||
| 886 | IntegralAccNick = 0; |
||
| 887 | IntegralAccRoll = 0; |
||
| 888 | MittelIntegralNick = 0; |
||
| 889 | MittelIntegralRoll = 0; |
||
| 890 | MittelIntegralNick2 = 0; |
||
| 891 | MittelIntegralRoll2 = 0; |
||
| 892 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 893 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 894 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 895 | LageKorrekturNick = 0; |
| 896 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 897 | } |
| 898 | |||
| 1051 | killagreg | 899 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 900 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 901 | { |
| 902 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 903 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 904 | { |
| 905 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 906 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 907 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 908 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 909 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 910 | { |
||
| 911 | tmp_long /= 2; |
||
| 912 | tmp_long2 /= 2; |
||
| 913 | } |
||
| 914 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 915 | { |
||
| 916 | tmp_long /= 3; |
||
| 917 | tmp_long2 /= 3; |
||
| 918 | } |
||
| 919 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 920 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 921 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 922 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 923 | } |
||
| 1051 | killagreg | 924 | else |
| 992 | hbuss | 925 | { |
| 926 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 927 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 928 | tmp_long /= 16; |
| 929 | tmp_long2 /= 16; |
||
| 930 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 931 | { |
||
| 932 | tmp_long /= 3; |
||
| 933 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 934 | } |
| 935 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 936 | { |
| 937 | tmp_long /= 3; |
||
| 938 | tmp_long2 /= 3; |
||
| 939 | } |
||
| 1155 | hbuss | 940 | |
| 941 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 942 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 943 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 944 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 945 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 946 | } |
||
| 1166 | hbuss | 947 | |
| 948 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 1111 | hbuss | 949 | Mess_IntegralNick -= tmp_long; |
| 950 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 951 | } |
| 1051 | killagreg | 952 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 953 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 954 | { |
||
| 955 | static int cnt = 0; |
||
| 956 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 957 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 958 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 959 | { |
| 395 | hbuss | 960 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 961 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 962 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 963 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 964 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 492 | hbuss | 965 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 966 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 967 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 968 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 969 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 970 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 971 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 972 | |
| 973 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 974 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 975 | |
| 992 | hbuss | 976 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 977 | { |
| 978 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 979 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 980 | } |
| 498 | hbuss | 981 | |
| 1051 | killagreg | 982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 983 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 984 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 985 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 986 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 987 | tmp_long = IntegralNick2 - IntegralNick; |
| 988 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 989 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 990 | |||
| 991 | IntegralFehlerNick = tmp_long; |
||
| 992 | IntegralFehlerRoll = tmp_long2; |
||
| 993 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 994 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 995 | |||
| 996 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
| 997 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 1111 | hbuss | 998 | if(EE_Parameter.Driftkomp) |
| 999 | { |
||
| 927 | hbuss | 1000 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
| 1001 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 1111 | hbuss | 1002 | } |
| 1153 | hbuss | 1003 | //DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| 921 | hbuss | 1004 | //DebugOut.Analog[24] = GierGyroFehler; |
| 693 | hbuss | 1005 | GierGyroFehler = 0; |
| 720 | ingob | 1006 | |
| 1007 | |||
| 1008 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
||
| 395 | hbuss | 1009 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
| 1010 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 1011 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 720 | ingob | 1012 | */ |
| 1013 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 1014 | //MittelIntegralRoll = MittelIntegralRoll; |
||
| 469 | hbuss | 1015 | //DebugOut.Analog[28] = ausgleichNick; |
| 720 | ingob | 1016 | /* |
| 395 | hbuss | 1017 | DebugOut.Analog[29] = ausgleichRoll; |
| 498 | hbuss | 1018 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| 720 | ingob | 1019 | */ |
| 395 | hbuss | 1020 | |
| 1225 | hbuss | 1021 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1022 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1023 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
||
| 492 | hbuss | 1024 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1025 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1026 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1027 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1028 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1029 | { |
| 1051 | killagreg | 1030 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1031 | { |
| 1051 | killagreg | 1032 | if(last_n_p) |
| 395 | hbuss | 1033 | { |
| 1173 | hbuss | 1034 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1035 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1036 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1037 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1038 | } |
| 395 | hbuss | 1039 | else last_n_p = 1; |
| 1040 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1041 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1042 | { |
| 1043 | if(last_n_n) |
||
| 1051 | killagreg | 1044 | { |
| 1173 | hbuss | 1045 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1046 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1047 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1048 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1049 | } |
| 395 | hbuss | 1050 | else last_n_n = 1; |
| 1051 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1052 | } |
| 1053 | else |
||
| 847 | hbuss | 1054 | { |
| 1055 | cnt = 0; |
||
| 921 | hbuss | 1056 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1057 | } |
| 499 | hbuss | 1058 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1059 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1060 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1061 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1062 | |
| 395 | hbuss | 1063 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 492 | hbuss | 1064 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| 1225 | hbuss | 1065 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 498 | hbuss | 1066 | ausgleichRoll = 0; |
| 1173 | hbuss | 1067 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1068 | { |
| 1051 | killagreg | 1069 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1070 | { |
| 1051 | killagreg | 1071 | if(last_r_p) |
| 395 | hbuss | 1072 | { |
| 1173 | hbuss | 1073 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1074 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1075 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1076 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1077 | } |
| 395 | hbuss | 1078 | else last_r_p = 1; |
| 1079 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1080 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1081 | { |
| 1051 | killagreg | 1082 | if(last_r_n) |
| 395 | hbuss | 1083 | { |
| 1173 | hbuss | 1084 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1085 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1086 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1087 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1088 | } |
| 1089 | else last_r_n = 1; |
||
| 1090 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1091 | } else |
| 492 | hbuss | 1092 | { |
| 1093 | cnt = 0; |
||
| 921 | hbuss | 1094 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1095 | } |
| 499 | hbuss | 1096 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1097 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1098 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1099 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1100 | } |
| 1051 | killagreg | 1101 | else |
| 498 | hbuss | 1102 | { |
| 1103 | LageKorrekturRoll = 0; |
||
| 1104 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1105 | TrichterFlug = 0; |
| 498 | hbuss | 1106 | } |
| 1051 | killagreg | 1107 | |
| 498 | hbuss | 1108 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1109 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1110 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1111 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1113 | IntegralAccNick = 0; |
| 1114 | IntegralAccRoll = 0; |
||
| 1115 | IntegralAccZ = 0; |
||
| 1116 | MittelIntegralNick = 0; |
||
| 1117 | MittelIntegralRoll = 0; |
||
| 1118 | MittelIntegralNick2 = 0; |
||
| 1119 | MittelIntegralRoll2 = 0; |
||
| 1120 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1121 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1122 | |
| 1173 | hbuss | 1123 | |
| 1051 | killagreg | 1124 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1125 | // Gieren |
| 1051 | killagreg | 1126 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 1127 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| 1051 | killagreg | 1128 | if(abs(StickGier) > 15) // war 35 |
| 1 | ingob | 1129 | { |
| 921 | hbuss | 1130 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1131 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1132 | { |
||
| 1133 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1134 | }; |
| 1 | ingob | 1135 | } |
| 395 | hbuss | 1136 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1137 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1138 | sollGier = tmp_int; |
| 1051 | killagreg | 1139 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1140 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1141 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1142 | |
| 1143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1144 | // Kompass |
| 1051 | killagreg | 1145 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1175 | hbuss | 1146 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
| 819 | hbuss | 1147 | |
| 1051 | killagreg | 1148 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1 | ingob | 1149 | { |
| 819 | hbuss | 1150 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1151 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1152 | v = abs(IntegralRoll /512); |
||
| 1153 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 824 | hbuss | 1154 | korrektur = w / 8 + 1; |
| 921 | hbuss | 1155 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1171 | hbuss | 1156 | if(abs(MesswertGier) > 128) |
| 1036 | hbuss | 1157 | { |
| 1158 | fehler = 0; |
||
| 1051 | killagreg | 1159 | } |
| 921 | hbuss | 1160 | if(!KompassSignalSchlecht && w < 25) |
| 1161 | { |
||
| 1162 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1163 | if(NeueKompassRichtungMerken) |
| 1164 | { |
||
| 921 | hbuss | 1165 | beeptime = 200; |
| 847 | hbuss | 1166 | // KompassStartwert = KompassValue; |
| 1171 | hbuss | 1167 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1168 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1169 | NeueKompassRichtungMerken = 0; |
||
| 1170 | } |
||
| 1 | ingob | 1171 | } |
| 824 | hbuss | 1172 | ErsatzKompass += (fehler * 8) / korrektur; |
| 921 | hbuss | 1173 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1174 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1175 | if(w >= 0) |
| 1 | ingob | 1176 | { |
| 1051 | killagreg | 1177 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1178 | { |
| 1051 | killagreg | 1179 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1180 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 1181 | // r = KompassRichtung; |
||
| 819 | hbuss | 1182 | v = (r * w) / v; // nach Kompass ausrichten |
| 1183 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1184 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1185 | else |
| 693 | hbuss | 1186 | if(v < -w) v = -w; |
| 1187 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1188 | } |
| 693 | hbuss | 1189 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1190 | } |
| 921 | hbuss | 1191 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1192 | } |
| 1193 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1194 | |
| 1051 | killagreg | 1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1196 | // Debugwerte zuordnen |
| 1051 | killagreg | 1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1198 | if(!TimerWerteausgabe--) |
| 1199 | { |
||
| 395 | hbuss | 1200 | TimerWerteausgabe = 24; |
| 805 | hbuss | 1201 | |
| 1171 | hbuss | 1202 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| 1203 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1204 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
| 1205 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
| 1 | ingob | 1206 | DebugOut.Analog[4] = MesswertGier; |
| 1207 | DebugOut.Analog[5] = HoehenWert; |
||
| 1224 | hbuss | 1208 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| 1 | ingob | 1209 | DebugOut.Analog[8] = KompassValue; |
| 297 | holgerb | 1210 | DebugOut.Analog[9] = UBat; |
| 1051 | killagreg | 1211 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 297 | holgerb | 1212 | DebugOut.Analog[10] = SenderOkay; |
| 929 | hbuss | 1213 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
| 1083 | killagreg | 1214 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| 1215 | //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
||
| 819 | hbuss | 1216 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 854 | hbuss | 1217 | DebugOut.Analog[20] = ServoValue; |
| 1171 | hbuss | 1218 | // DebugOut.Analog[24] = MesswertNick/2; |
| 1219 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
| 1173 | hbuss | 1220 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
| 1172 | hbuss | 1221 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
| 1222 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1215 | hbuss | 1223 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 1216 | killagreg | 1224 | DebugOut.Analog[30] = GPS_Nick; |
| 720 | ingob | 1225 | DebugOut.Analog[31] = GPS_Roll; |
| 1226 | |||
| 805 | hbuss | 1227 | |
| 1228 | // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
||
| 1229 | // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
||
| 1230 | |||
| 173 | holgerb | 1231 | /* DebugOut.Analog[16] = motor_rx[0]; |
| 1232 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1233 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1234 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1235 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1236 | DebugOut.Analog[20] /= 14; |
||
| 1237 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1238 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1239 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1240 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1241 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1242 | */ |
||
| 1243 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1 | ingob | 1244 | // DebugOut.Analog[9] = SollHoehe; |
| 1245 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 1246 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 1051 | killagreg | 1247 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
| 1248 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
||
| 1249 | // DebugOut.Analog[9] = KompassRichtung; |
||
| 1 | ingob | 1250 | // DebugOut.Analog[10] = GasMischanteil; |
| 1251 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 1252 | // DebugOut.Analog[4] = hoehenregler; |
||
| 1253 | } |
||
| 1254 | |||
| 1051 | killagreg | 1255 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1256 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1257 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1258 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1259 | |
| 1171 | hbuss | 1260 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1261 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1262 | |
| 1167 | hbuss | 1263 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1264 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1265 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1266 | |
| 1166 | hbuss | 1267 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1268 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1269 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1270 | |
| 1 | ingob | 1271 | // Maximalwerte abfangen |
| 1153 | hbuss | 1272 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1273 | #define MAX_SENSOR (4096*4) |
||
| 1216 | killagreg | 1274 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1275 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1276 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1277 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1278 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1279 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1280 | |||
| 1051 | killagreg | 1281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1210 | hbuss | 1282 | // all BL-Ctrl connected? |
| 1283 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1216 | killagreg | 1284 | if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1285 | { |
||
| 1286 | modell_fliegt = 1; |
||
| 1287 | GasMischanteil = MIN_GAS; |
||
| 1288 | } |
||
| 1210 | hbuss | 1289 | |
| 1290 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1291 | // Höhenregelung |
| 1292 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1293 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1294 | GasMischanteil *= STICK_GAIN; |
| 1 | ingob | 1295 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| 1296 | { |
||
| 1297 | int tmp_int; |
||
| 1036 | hbuss | 1298 | static char delay = 100; |
| 1 | ingob | 1299 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| 1300 | { |
||
| 1216 | killagreg | 1301 | if(Parameter_MaxHoehe < 50) |
| 1 | ingob | 1302 | { |
| 1036 | hbuss | 1303 | if(!delay--) |
| 1304 | { |
||
| 1225 | hbuss | 1305 | if((MessLuftdruck > 1000) && OCR0A < 254) |
| 1036 | hbuss | 1306 | { |
| 1225 | hbuss | 1307 | if(OCR0A < 244) |
| 1308 | { |
||
| 1309 | ExpandBaro -= 10; |
||
| 1310 | OCR0A = DruckOffsetSetting - ExpandBaro; |
||
| 1311 | } |
||
| 1312 | else OCR0A = 254; |
||
| 1313 | beeptime = 300; |
||
| 1314 | delay = 250; |
||
| 1036 | hbuss | 1315 | } |
| 1225 | hbuss | 1316 | else |
| 1317 | if((MessLuftdruck < 100) && OCR0A > 1) |
||
| 1036 | hbuss | 1318 | { |
| 1225 | hbuss | 1319 | if(OCR0A > 10) |
| 1320 | { |
||
| 1321 | ExpandBaro += 10; |
||
| 1322 | OCR0A = DruckOffsetSetting - ExpandBaro; |
||
| 1323 | } |
||
| 1324 | else OCR0A = 1; |
||
| 1036 | hbuss | 1325 | beeptime = 300; |
| 1326 | delay = 250; |
||
| 1327 | } |
||
| 1328 | else |
||
| 1051 | killagreg | 1329 | { |
| 1036 | hbuss | 1330 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| 1331 | HoehenReglerAktiv = 0; |
||
| 1332 | delay = 1; |
||
| 1333 | } |
||
| 1051 | killagreg | 1334 | } |
| 1 | ingob | 1335 | } |
| 1051 | killagreg | 1336 | else |
| 1337 | { |
||
| 1036 | hbuss | 1338 | HoehenReglerAktiv = 1; |
| 1339 | delay = 200; |
||
| 1051 | killagreg | 1340 | } |
| 1 | ingob | 1341 | } |
| 1051 | killagreg | 1342 | else |
| 1 | ingob | 1343 | { |
| 492 | hbuss | 1344 | SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| 1 | ingob | 1345 | HoehenReglerAktiv = 1; |
| 1346 | } |
||
| 1347 | |||
| 1348 | if(Notlandung) SollHoehe = 0; |
||
| 1349 | h = HoehenWert; |
||
| 1350 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
||
| 1051 | killagreg | 1351 | { |
| 855 | hbuss | 1352 | h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
| 1 | ingob | 1353 | h = GasMischanteil - h; // vom Gas abziehen |
| 871 | hbuss | 1354 | h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
| 1355 | tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
||
| 1356 | if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
||
| 1357 | else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
||
| 1 | ingob | 1358 | h -= tmp_int; |
| 1051 | killagreg | 1359 | hoehenregler = (hoehenregler*15 + h) / 16; |
| 855 | hbuss | 1360 | if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
| 1 | ingob | 1361 | { |
| 855 | hbuss | 1362 | if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
| 1363 | if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
||
| 1051 | killagreg | 1364 | } |
| 1 | ingob | 1365 | if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| 1366 | GasMischanteil = hoehenregler; |
||
| 1051 | killagreg | 1367 | } |
| 1 | ingob | 1368 | } |
| 855 | hbuss | 1369 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1370 | |
| 1051 | killagreg | 1371 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1372 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1373 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1374 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1375 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1376 | // Gier-Anteil |
| 1051 | killagreg | 1377 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 188 | holgerb | 1378 | #define MUL_G 1.0 |
| 855 | hbuss | 1379 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 604 | hbuss | 1380 | // GierMischanteil = 0; |
| 855 | hbuss | 1381 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| 693 | hbuss | 1382 | if(GasMischanteil > MIN_GIERGAS) |
| 1383 | { |
||
| 1051 | killagreg | 1384 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1385 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1386 | } |
| 1051 | killagreg | 1387 | else |
| 693 | hbuss | 1388 | { |
| 1051 | killagreg | 1389 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1390 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1391 | } |
| 855 | hbuss | 1392 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1393 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1394 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1395 | |
| 1051 | killagreg | 1396 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1397 | // Nick-Achse |
| 1051 | killagreg | 1398 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1399 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1400 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1401 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1402 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1403 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1153 | hbuss | 1404 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1405 | // Motor Vorn |
| 499 | hbuss | 1406 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1407 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1408 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1409 | |
| 1153 | hbuss | 1410 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1411 | // Roll-Achse |
||
| 1412 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1413 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1414 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1415 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1416 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1417 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1418 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
| 1419 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1420 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 1421 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1422 | |||
| 1423 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1424 | // Universal Mixer |
| 1155 | hbuss | 1425 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1426 | for(i=0; i<MAX_MOTORS; i++) |
| 1209 | hbuss | 1427 | { |
| 1428 | signed int tmp_int; |
||
| 1429 | if(Mixer.Motor[i][0] > 0) |
||
| 1430 | { |
||
| 1431 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
| 1432 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1433 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1434 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1435 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
| 1216 | killagreg | 1436 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| 1209 | hbuss | 1437 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1216 | killagreg | 1438 | Motor[i] = tmp_int; |
| 1209 | hbuss | 1439 | } |
| 1440 | else Motor[i] = 0; |
||
| 1441 | } |
||
| 1167 | hbuss | 1442 | /* |
| 1153 | hbuss | 1443 | if(Poti1 > 20) Motor1 = 0; |
| 1444 | if(Poti1 > 90) Motor6 = 0; |
||
| 1445 | if(Poti1 > 140) Motor2 = 0; |
||
| 1175 | hbuss | 1446 | //if(Poti1 > 200) Motor7 = 0; |
| 1167 | hbuss | 1447 | */ |
| 1111 | hbuss | 1448 | } |