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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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| 1340 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1340 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
| 1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 39 | // + with our written permission |
| 1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
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| 1340 | ingob | 42 | // + // + * porting or using the software 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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| 1362 | FredericG | 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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| 169 | |||
| 170 | { |
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| 171 | if(Parameter_UserParam1 < 1) |
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| 172 | { // Original function |
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| 173 | motor = neu - (alt - neu)*1; |
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| 174 | } |
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| 175 | else |
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| 176 | { |
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| 177 | if(Parameter_UserParam1 == 1) // If userpara1 = 1 then 150% down on the first step followed by upsmoothing. |
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| 178 | { |
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| 179 | motor = neu - (1*(alt - neu)/2); |
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| 180 | } |
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| 181 | else // If userpara1 > 1 then allow >= 50% of the intended step down to rapidly reach the intended value. |
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| 182 | { |
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| 183 | motor = neu + ((alt - neu)/Parameter_UserParam1); |
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| 184 | } |
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| 185 | } |
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| 186 | } |
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| 1166 | hbuss | 187 | //if(Poti2 < 20) return(neu); |
| 188 | return(motor); |
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| 189 | } |
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| 190 | |||
| 191 | |||
| 1 | ingob | 192 | void Piep(unsigned char Anzahl) |
| 193 | { |
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| 194 | while(Anzahl--) |
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| 195 | { |
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| 196 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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| 197 | beeptime = 100; |
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| 198 | Delay_ms(250); |
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| 199 | } |
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| 200 | } |
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| 201 | |||
| 202 | //############################################################################ |
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| 203 | // Nullwerte ermitteln |
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| 204 | void SetNeutral(void) |
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| 205 | //############################################################################ |
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| 206 | { |
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| 1111 | hbuss | 207 | unsigned char i; |
| 208 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1171 | hbuss | 209 | ServoActive = 0; HEF4017R_ON; |
| 1051 | killagreg | 210 | NeutralAccX = 0; |
| 1 | ingob | 211 | NeutralAccY = 0; |
| 212 | NeutralAccZ = 0; |
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| 1051 | killagreg | 213 | AdNeutralNick = 0; |
| 214 | AdNeutralRoll = 0; |
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| 1 | ingob | 215 | AdNeutralGier = 0; |
| 927 | hbuss | 216 | AdNeutralGierBias = 0; |
| 395 | hbuss | 217 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 218 | Parameter_AchsKopplung2 = 0; |
| 1036 | hbuss | 219 | ExpandBaro = 0; |
| 1051 | killagreg | 220 | CalibrierMittelwert(); |
| 395 | hbuss | 221 | Delay_ms_Mess(100); |
| 1 | ingob | 222 | CalibrierMittelwert(); |
| 223 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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| 1051 | killagreg | 224 | { |
| 1 | ingob | 225 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 226 | } |
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| 1166 | hbuss | 227 | #define NEUTRAL_FILTER 32 |
| 228 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 229 | { |
| 230 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 231 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 232 | nick_neutral += AdWertNick; |
| 233 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 234 | } |
| 1173 | hbuss | 235 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 236 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 237 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1111 | hbuss | 238 | AdNeutralGierBias = AdNeutralGier; |
| 401 | hbuss | 239 | StartNeutralRoll = AdNeutralRoll; |
| 240 | StartNeutralNick = AdNeutralNick; |
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| 1051 | killagreg | 241 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| 513 | hbuss | 242 | { |
| 1171 | hbuss | 243 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| 244 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 513 | hbuss | 245 | NeutralAccZ = Aktuell_az; |
| 246 | } |
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| 1051 | killagreg | 247 | else |
| 513 | hbuss | 248 | { |
| 249 | 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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| 250 | 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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| 251 | 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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| 252 | } |
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| 1051 | killagreg | 253 | |
| 1 | ingob | 254 | MesswertNick = 0; |
| 255 | MesswertRoll = 0; |
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| 256 | MesswertGier = 0; |
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| 1111 | hbuss | 257 | Delay_ms_Mess(100); |
| 1174 | hbuss | 258 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| 259 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 1173 | hbuss | 260 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 261 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 262 | Mess_IntegralNick2 = IntegralNick; |
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| 263 | Mess_IntegralRoll2 = IntegralRoll; |
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| 264 | Mess_Integral_Gier = 0; |
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| 1 | ingob | 265 | StartLuftdruck = Luftdruck; |
| 266 | HoeheD = 0; |
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| 267 | Mess_Integral_Hoch = 0; |
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| 268 | KompassStartwert = KompassValue; |
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| 269 | GPS_Neutral(); |
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| 1051 | killagreg | 270 | beeptime = 50; |
| 882 | hbuss | 271 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 272 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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| 492 | hbuss | 273 | ExternHoehenValue = 0; |
| 693 | hbuss | 274 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 275 | GierGyroFehler = 0; |
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| 723 | hbuss | 276 | SendVersionToNavi = 1; |
| 921 | hbuss | 277 | LED_Init(); |
| 278 | MikroKopterFlags |= FLAG_CALIBRATE; |
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| 992 | hbuss | 279 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 280 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 281 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1172 | hbuss | 282 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
| 283 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
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| 284 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
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| 285 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
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| 1216 | killagreg | 286 | ServoActive = 1; |
| 1171 | hbuss | 287 | SenderOkay = 100; |
| 1 | ingob | 288 | } |
| 289 | |||
| 290 | //############################################################################ |
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| 395 | hbuss | 291 | // Bearbeitet die Messwerte |
| 1 | ingob | 292 | void Mittelwert(void) |
| 293 | //############################################################################ |
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| 1051 | killagreg | 294 | { |
| 1111 | hbuss | 295 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 296 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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| 1153 | hbuss | 297 | signed long winkel_nick, winkel_roll; |
| 1171 | hbuss | 298 | |
| 1111 | hbuss | 299 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 300 | // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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| 1171 | hbuss | 301 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 302 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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| 1153 | hbuss | 303 | RohMesswertNick = MesswertNick; |
| 304 | RohMesswertRoll = MesswertRoll; |
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| 1120 | hbuss | 305 | //DebugOut.Analog[21] = MesswertNick; |
| 306 | //DebugOut.Analog[22] = MesswertRoll; |
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| 1121 | hbuss | 307 | //DebugOut.Analog[22] = Mess_Integral_Gier; |
| 1216 | killagreg | 308 | //DebugOut.Analog[21] = MesswertNick; |
| 309 | //DebugOut.Analog[22] = MesswertRoll; |
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| 1166 | hbuss | 310 | |
| 395 | hbuss | 311 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 312 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 313 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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| 314 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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| 395 | hbuss | 315 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 316 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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| 805 | hbuss | 317 | NaviAccNick += AdWertAccNick; |
| 318 | NaviAccRoll += AdWertAccRoll; |
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| 319 | NaviCntAcc++; |
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| 1153 | hbuss | 320 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 321 | |||
| 1155 | hbuss | 322 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 323 | // ADC einschalten |
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| 1171 | hbuss | 324 | ANALOG_ON; |
| 1155 | hbuss | 325 | AdReady = 0; |
| 326 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 327 | |||
| 1216 | killagreg | 328 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 329 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
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| 1153 | hbuss | 330 | else winkel_roll = Mess_IntegralRoll; |
| 331 | |||
| 1216 | killagreg | 332 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 333 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 334 | else winkel_nick = Mess_IntegralNick; |
| 335 | |||
| 1120 | hbuss | 336 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 337 | Mess_Integral_Gier += MesswertGier; |
| 338 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 339 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 340 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 341 | { |
||
| 1153 | hbuss | 342 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 343 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 344 | tmpl3 /= 4096L; |
| 1153 | hbuss | 345 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 346 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 347 | tmpl4 /= 4096L; |
| 1153 | hbuss | 348 | KopplungsteilNickRoll = tmpl3; |
| 349 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 350 | tmpl4 -= tmpl3; |
| 351 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 352 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 353 | |
| 1153 | hbuss | 354 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 355 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 356 | tmpl /= 4096L; |
| 1153 | hbuss | 357 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 358 | tmpl2 *= Parameter_AchsKopplung1; |
| 880 | hbuss | 359 | tmpl2 /= 4096L; |
| 1225 | hbuss | 360 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 361 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 362 | } |
| 1166 | hbuss | 363 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1111 | hbuss | 364 | |
| 1166 | hbuss | 365 | TrimRoll = tmpl - tmpl2 / 100L; |
| 366 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 367 | |||
| 1111 | hbuss | 368 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 369 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 370 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 371 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 372 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 373 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 374 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 375 | { |
| 882 | hbuss | 376 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 377 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 378 | } |
| 395 | hbuss | 379 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 380 | { |
||
| 882 | hbuss | 381 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 382 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 383 | } |
| 395 | hbuss | 384 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 385 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 386 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 387 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 388 | { |
| 389 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 390 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 391 | } |
| 392 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 393 | { |
| 882 | hbuss | 394 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 395 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 396 | } |
| 1111 | hbuss | 397 | |
| 1 | ingob | 398 | Integral_Gier = Mess_Integral_Gier; |
| 399 | IntegralNick = Mess_IntegralNick; |
||
| 400 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 401 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 402 | IntegralRoll2 = Mess_IntegralRoll2; |
| 403 | |||
| 1166 | hbuss | 404 | #define D_LIMIT 128 |
| 405 | |||
| 1171 | hbuss | 406 | MesswertNick = HiResNick / 8; |
| 407 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 408 | |
| 1167 | hbuss | 409 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 410 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 411 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 412 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 413 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 414 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 415 | |||
| 1216 | killagreg | 416 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 417 | { |
| 1166 | hbuss | 418 | d2Nick = HiResNick - oldNick; |
| 419 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 420 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 421 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 422 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 423 | d2Roll = HiResRoll - oldRoll; |
||
| 424 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 425 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 426 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 427 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 428 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 429 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 430 | } |
| 1111 | hbuss | 431 | |
| 1166 | hbuss | 432 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 433 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 434 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 435 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 436 | |
| 437 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 438 | { |
||
| 439 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 440 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 441 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 442 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 443 | } |
||
| 444 | |||
| 1 | ingob | 445 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 446 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 447 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 448 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 449 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 450 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 451 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 452 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 453 | } |
||
| 454 | |||
| 455 | //############################################################################ |
||
| 456 | // Messwerte beim Ermitteln der Nullage |
||
| 457 | void CalibrierMittelwert(void) |
||
| 458 | //############################################################################ |
||
| 1051 | killagreg | 459 | { |
| 1021 | hbuss | 460 | if(PlatinenVersion == 13) SucheGyroOffset(); |
| 1 | ingob | 461 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| 462 | ANALOG_OFF; |
||
| 395 | hbuss | 463 | MesswertNick = AdWertNick; |
| 464 | MesswertRoll = AdWertRoll; |
||
| 465 | MesswertGier = AdWertGier; |
||
| 466 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 467 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 468 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 469 | // ADC einschalten |
||
| 1051 | killagreg | 470 | ANALOG_ON; |
| 1 | ingob | 471 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 472 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 473 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 474 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 475 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 476 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 477 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 478 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 395 | hbuss | 479 | |
| 480 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 720 | ingob | 481 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 1 | ingob | 482 | } |
| 483 | |||
| 484 | //############################################################################ |
||
| 485 | // Senden der Motorwerte per I2C-Bus |
||
| 486 | void SendMotorData(void) |
||
| 487 | //############################################################################ |
||
| 1051 | killagreg | 488 | { |
| 1209 | hbuss | 489 | unsigned char i; |
| 921 | hbuss | 490 | if(!MotorenEin) |
| 1 | ingob | 491 | { |
| 1212 | hbuss | 492 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| 1216 | killagreg | 493 | for(i=0;i<MAX_MOTORS;i++) |
| 494 | { |
||
| 495 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1212 | hbuss | 496 | Motor[i] = MotorTest[i]; |
| 1216 | killagreg | 497 | } |
| 1212 | hbuss | 498 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 499 | } |
| 1212 | hbuss | 500 | else MikroKopterFlags |= FLAG_MOTOR_RUN; |
| 1111 | hbuss | 501 | |
| 1212 | hbuss | 502 | DebugOut.Analog[12] = Motor[0]; |
| 503 | DebugOut.Analog[13] = Motor[1]; |
||
| 504 | DebugOut.Analog[14] = Motor[3]; |
||
| 505 | DebugOut.Analog[15] = Motor[2]; |
||
| 1 | ingob | 506 | |
| 507 | //Start I2C Interrupt Mode |
||
| 508 | twi_state = 0; |
||
| 509 | motor = 0; |
||
| 1051 | killagreg | 510 | i2c_start(); |
| 1 | ingob | 511 | } |
| 512 | |||
| 513 | |||
| 514 | |||
| 515 | //############################################################################ |
||
| 516 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 517 | void ParameterZuordnung(void) |
| 1 | ingob | 518 | //############################################################################ |
| 519 | { |
||
| 921 | hbuss | 520 | #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;} |
| 521 | #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 | 522 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| 921 | hbuss | 523 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 524 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 1 | ingob | 525 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| 526 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
||
| 921 | hbuss | 527 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| 1 | ingob | 528 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| 1120 | hbuss | 529 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
| 1051 | killagreg | 530 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| 531 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 532 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 533 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 534 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 535 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 536 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 537 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 538 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 1 | ingob | 539 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| 173 | holgerb | 540 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| 395 | hbuss | 541 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| 1120 | hbuss | 542 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
| 543 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
||
| 544 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 499 | hbuss | 545 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| 921 | hbuss | 546 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| 547 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 548 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
| 1153 | hbuss | 549 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 550 | MAX_GAS = EE_Parameter.Gas_Max; |
| 551 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 552 | } |
||
| 553 | |||
| 554 | |||
| 819 | hbuss | 555 | |
| 1 | ingob | 556 | //############################################################################ |
| 557 | // |
||
| 558 | void MotorRegler(void) |
||
| 559 | //############################################################################ |
||
| 560 | { |
||
| 1209 | hbuss | 561 | int pd_ergebnis_nick,pd_ergebnis_roll,h,tmp_int; |
| 1 | ingob | 562 | int GierMischanteil,GasMischanteil; |
| 563 | static long SummeNick=0,SummeRoll=0; |
||
| 564 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 565 | static long IntegralFehlerNick = 0; |
| 566 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 567 | static unsigned int RcLostTimer; |
| 568 | static unsigned char delay_neutral = 0; |
||
| 569 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 570 | static int hoehenregler = 0; |
||
| 571 | static char TimerWerteausgabe = 0; |
||
| 572 | static char NeueKompassRichtungMerken = 0; |
||
| 395 | hbuss | 573 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 574 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 575 | unsigned char i; |
| 1051 | killagreg | 576 | Mittelwert(); |
| 577 | |||
| 1 | ingob | 578 | GRN_ON; |
| 1051 | killagreg | 579 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 580 | // Gaswert ermitteln |
| 1051 | killagreg | 581 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 582 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 583 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1051 | killagreg | 584 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 585 | // Empfang schlecht |
| 1051 | killagreg | 586 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 587 | if(SenderOkay < 100) |
| 588 | { |
||
| 1051 | killagreg | 589 | if(!PcZugriff) |
| 173 | holgerb | 590 | { |
| 1051 | killagreg | 591 | if(BeepMuster == 0xffff) |
| 592 | { |
||
| 173 | holgerb | 593 | beeptime = 15000; |
| 594 | BeepMuster = 0x0c00; |
||
| 1051 | killagreg | 595 | } |
| 173 | holgerb | 596 | } |
| 1051 | killagreg | 597 | if(RcLostTimer) RcLostTimer--; |
| 598 | else |
||
| 1 | ingob | 599 | { |
| 600 | MotorenEin = 0; |
||
| 601 | Notlandung = 0; |
||
| 1051 | killagreg | 602 | } |
| 1 | ingob | 603 | ROT_ON; |
| 693 | hbuss | 604 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 605 | { |
| 606 | GasMischanteil = EE_Parameter.NotGas; |
||
| 607 | Notlandung = 1; |
||
| 744 | hbuss | 608 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 609 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 610 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 611 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 612 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 613 | } |
| 1 | ingob | 614 | else MotorenEin = 0; |
| 615 | } |
||
| 1051 | killagreg | 616 | else |
| 617 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 618 | // Emfang gut |
| 1051 | killagreg | 619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 620 | if(SenderOkay > 140) |
| 621 | { |
||
| 622 | Notlandung = 0; |
||
| 623 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
| 921 | hbuss | 624 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 625 | { |
| 626 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 627 | } |
||
| 871 | hbuss | 628 | if((modell_fliegt < 256)) |
| 1 | ingob | 629 | { |
| 630 | SummeNick = 0; |
||
| 631 | SummeRoll = 0; |
||
| 1051 | killagreg | 632 | if(modell_fliegt == 250) |
| 918 | hbuss | 633 | { |
| 1051 | killagreg | 634 | NeueKompassRichtungMerken = 1; |
| 918 | hbuss | 635 | sollGier = 0; |
| 1051 | killagreg | 636 | Mess_Integral_Gier = 0; |
| 927 | hbuss | 637 | // Mess_Integral_Gier2 = 0; |
| 1051 | killagreg | 638 | } |
| 921 | hbuss | 639 | } else MikroKopterFlags |= FLAG_FLY; |
| 1051 | killagreg | 640 | |
| 595 | hbuss | 641 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 642 | { |
| 1051 | killagreg | 643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 644 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 646 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 647 | { |
||
| 648 | if(++delay_neutral > 200) // nicht sofort |
||
| 649 | { |
||
| 650 | GRN_OFF; |
||
| 651 | MotorenEin = 0; |
||
| 652 | delay_neutral = 0; |
||
| 653 | modell_fliegt = 0; |
||
| 654 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 655 | { |
||
| 304 | ingob | 656 | unsigned char setting=1; |
| 1 | ingob | 657 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 658 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 659 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 660 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 661 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1063 | killagreg | 662 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
| 1 | ingob | 663 | } |
| 820 | hbuss | 664 | // else |
| 1051 | killagreg | 665 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 666 | { |
||
| 819 | hbuss | 667 | WinkelOut.CalcState = 1; |
| 668 | beeptime = 1000; |
||
| 669 | } |
||
| 670 | else |
||
| 1 | ingob | 671 | { |
| 819 | hbuss | 672 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 673 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 674 | { |
||
| 1 | ingob | 675 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 676 | } |
| 819 | hbuss | 677 | SetNeutral(); |
| 678 | Piep(GetActiveParamSetNumber()); |
||
| 679 | } |
||
| 1051 | killagreg | 680 | } |
| 1 | ingob | 681 | } |
| 1051 | killagreg | 682 | else |
| 513 | hbuss | 683 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 684 | { |
||
| 685 | if(++delay_neutral > 200) // nicht sofort |
||
| 686 | { |
||
| 687 | GRN_OFF; |
||
| 688 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 689 | MotorenEin = 0; |
||
| 690 | delay_neutral = 0; |
||
| 691 | modell_fliegt = 0; |
||
| 692 | SetNeutral(); |
||
| 693 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
| 694 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 695 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 696 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 697 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 698 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 699 | Piep(GetActiveParamSetNumber()); |
||
| 1051 | killagreg | 700 | } |
| 513 | hbuss | 701 | } |
| 1 | ingob | 702 | else delay_neutral = 0; |
| 703 | } |
||
| 1051 | killagreg | 704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 705 | // Gas ist unten |
| 1051 | killagreg | 706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 708 | { |
| 709 | // Starten |
||
| 710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 711 | { |
||
| 1051 | killagreg | 712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 713 | // Einschalten |
| 1051 | killagreg | 714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 715 | if(++delay_einschalten > 200) |
| 716 | { |
||
| 717 | delay_einschalten = 200; |
||
| 718 | modell_fliegt = 1; |
||
| 719 | MotorenEin = 1; |
||
| 720 | sollGier = 0; |
||
| 1051 | killagreg | 721 | Mess_Integral_Gier = 0; |
| 1 | ingob | 722 | Mess_Integral_Gier2 = 0; |
| 1173 | hbuss | 723 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 724 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 1 | ingob | 725 | Mess_IntegralNick2 = IntegralNick; |
| 726 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 727 | SummeNick = 0; |
||
| 728 | SummeRoll = 0; |
||
| 921 | hbuss | 729 | MikroKopterFlags |= FLAG_START; |
| 1051 | killagreg | 730 | } |
| 731 | } |
||
| 1 | ingob | 732 | else delay_einschalten = 0; |
| 733 | //Auf Neutralwerte setzen |
||
| 1051 | killagreg | 734 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 735 | // Auschalten |
| 1051 | killagreg | 736 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| 738 | { |
||
| 739 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 740 | { |
||
| 741 | MotorenEin = 0; |
||
| 742 | delay_ausschalten = 200; |
||
| 743 | modell_fliegt = 0; |
||
| 1051 | killagreg | 744 | } |
| 1 | ingob | 745 | } |
| 746 | else delay_ausschalten = 0; |
||
| 747 | } |
||
| 748 | } |
||
| 749 | |||
| 1051 | killagreg | 750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 751 | // neue Werte von der Funke |
| 1051 | killagreg | 752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 753 | |
| 1051 | killagreg | 754 | if(!NewPpmData-- || Notlandung) |
| 1 | ingob | 755 | { |
| 604 | hbuss | 756 | static int stick_nick,stick_roll; |
| 1 | ingob | 757 | ParameterZuordnung(); |
| 1051 | killagreg | 758 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 759 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 805 | hbuss | 760 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| 604 | hbuss | 761 | |
| 723 | hbuss | 762 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 763 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 805 | hbuss | 764 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| 723 | hbuss | 765 | |
| 1 | ingob | 766 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 767 | if(StickGier > 2) StickGier -= 2; else |
| 768 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 769 | |||
| 595 | hbuss | 770 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1153 | hbuss | 771 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 772 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1211 | hbuss | 773 | GyroFaktorGier = (Parameter_Gyro_P + 10.0); |
| 774 | IntegralFaktorGier = Parameter_Gyro_I; |
||
| 1 | ingob | 775 | |
| 595 | hbuss | 776 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 777 | //+ Analoge Steuerung per Seriell |
||
| 778 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 779 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 780 | { |
| 781 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 782 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 783 | StickGier += ExternControl.Gier; |
||
| 784 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 785 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 786 | } |
||
| 855 | hbuss | 787 | if(StickGas < 0) StickGas = 0; |
| 492 | hbuss | 788 | |
| 1 | ingob | 789 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 790 | if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 791 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 723 | hbuss | 792 | |
| 1051 | killagreg | 793 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 794 | { |
| 1051 | killagreg | 795 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 796 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 797 | } |
| 928 | hbuss | 798 | else MaxStickNick--; |
| 1051 | killagreg | 799 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 800 | { |
| 1051 | killagreg | 801 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 802 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 803 | } |
| 928 | hbuss | 804 | else MaxStickRoll--; |
| 723 | hbuss | 805 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 806 | |||
| 1051 | killagreg | 807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 808 | // Looping? |
| 1051 | killagreg | 809 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 810 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 811 | else |
| 812 | { |
||
| 395 | hbuss | 813 | { |
| 1051 | killagreg | 814 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 815 | } |
||
| 816 | } |
||
| 993 | hbuss | 817 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 818 | else |
| 395 | hbuss | 819 | { |
| 820 | if(Looping_Rechts) // Hysterese |
||
| 821 | { |
||
| 822 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 823 | } |
||
| 1051 | killagreg | 824 | } |
| 173 | holgerb | 825 | |
| 993 | hbuss | 826 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 827 | else |
| 828 | { |
||
| 395 | hbuss | 829 | if(Looping_Oben) // Hysterese |
| 830 | { |
||
| 1051 | killagreg | 831 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 832 | } |
||
| 833 | } |
||
| 993 | hbuss | 834 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 835 | else |
| 395 | hbuss | 836 | { |
| 837 | if(Looping_Unten) // Hysterese |
||
| 838 | { |
||
| 839 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 840 | } |
||
| 1051 | killagreg | 841 | } |
| 395 | hbuss | 842 | |
| 843 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 844 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 845 | } // Ende neue Funken-Werte |
| 846 | |||
| 847 | if(Looping_Roll || Looping_Nick) |
||
| 848 | { |
||
| 173 | holgerb | 849 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 850 | TrichterFlug = 1; |
| 173 | holgerb | 851 | } |
| 852 | |||
| 1051 | killagreg | 853 | |
| 854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 855 | // Bei Empfangsausfall im Flug |
||
| 856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 857 | if(Notlandung) |
| 858 | { |
||
| 859 | StickGier = 0; |
||
| 860 | StickNick = 0; |
||
| 861 | StickRoll = 0; |
||
| 1211 | hbuss | 862 | GyroFaktor = 90; |
| 863 | IntegralFaktor = 120; |
||
| 864 | GyroFaktorGier = 90; |
||
| 865 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 866 | Looping_Roll = 0; |
| 867 | Looping_Nick = 0; |
||
| 1051 | killagreg | 868 | } |
| 395 | hbuss | 869 | |
| 870 | |||
| 1051 | killagreg | 871 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 872 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 873 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 874 | #define ABGLEICH_ANZAHL 256L |
| 875 | |||
| 876 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 877 | MittelIntegralRoll += IntegralRoll; |
||
| 878 | MittelIntegralNick2 += IntegralNick2; |
||
| 879 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 880 | |||
| 881 | if(Looping_Nick || Looping_Roll) |
||
| 882 | { |
||
| 883 | IntegralAccNick = 0; |
||
| 884 | IntegralAccRoll = 0; |
||
| 885 | MittelIntegralNick = 0; |
||
| 886 | MittelIntegralRoll = 0; |
||
| 887 | MittelIntegralNick2 = 0; |
||
| 888 | MittelIntegralRoll2 = 0; |
||
| 889 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 890 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 891 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 892 | LageKorrekturNick = 0; |
| 893 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 894 | } |
| 895 | |||
| 1051 | killagreg | 896 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 897 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 898 | { |
| 899 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 900 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 901 | { |
| 902 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 903 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 904 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 905 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 906 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 907 | { |
||
| 908 | tmp_long /= 2; |
||
| 909 | tmp_long2 /= 2; |
||
| 910 | } |
||
| 911 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 912 | { |
||
| 913 | tmp_long /= 3; |
||
| 914 | tmp_long2 /= 3; |
||
| 915 | } |
||
| 916 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 917 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 918 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 919 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 920 | } |
||
| 1051 | killagreg | 921 | else |
| 992 | hbuss | 922 | { |
| 923 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 924 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 925 | tmp_long /= 16; |
| 926 | tmp_long2 /= 16; |
||
| 927 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 928 | { |
||
| 929 | tmp_long /= 3; |
||
| 930 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 931 | } |
| 932 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 933 | { |
| 934 | tmp_long /= 3; |
||
| 935 | tmp_long2 /= 3; |
||
| 936 | } |
||
| 1155 | hbuss | 937 | |
| 938 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 939 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 940 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 941 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 942 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 943 | } |
||
| 1166 | hbuss | 944 | |
| 945 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 1111 | hbuss | 946 | Mess_IntegralNick -= tmp_long; |
| 947 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 948 | } |
| 1051 | killagreg | 949 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 950 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 951 | { |
||
| 952 | static int cnt = 0; |
||
| 953 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 954 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 955 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 956 | { |
| 395 | hbuss | 957 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 958 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 959 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 960 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 961 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 492 | hbuss | 962 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 963 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 964 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 965 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 966 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 967 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 968 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 969 | |
| 970 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 971 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 972 | |
| 992 | hbuss | 973 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 974 | { |
| 975 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 976 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 977 | } |
| 498 | hbuss | 978 | |
| 1051 | killagreg | 979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 980 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 981 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 982 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 983 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 984 | tmp_long = IntegralNick2 - IntegralNick; |
| 985 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 986 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 987 | |||
| 988 | IntegralFehlerNick = tmp_long; |
||
| 989 | IntegralFehlerRoll = tmp_long2; |
||
| 990 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 991 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 992 | |||
| 993 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
| 994 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 1111 | hbuss | 995 | if(EE_Parameter.Driftkomp) |
| 996 | { |
||
| 927 | hbuss | 997 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
| 998 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 1111 | hbuss | 999 | } |
| 1153 | hbuss | 1000 | //DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| 921 | hbuss | 1001 | //DebugOut.Analog[24] = GierGyroFehler; |
| 693 | hbuss | 1002 | GierGyroFehler = 0; |
| 720 | ingob | 1003 | |
| 1004 | |||
| 1005 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
||
| 395 | hbuss | 1006 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
| 1007 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 1008 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 720 | ingob | 1009 | */ |
| 1010 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 1011 | //MittelIntegralRoll = MittelIntegralRoll; |
||
| 469 | hbuss | 1012 | //DebugOut.Analog[28] = ausgleichNick; |
| 720 | ingob | 1013 | /* |
| 395 | hbuss | 1014 | DebugOut.Analog[29] = ausgleichRoll; |
| 498 | hbuss | 1015 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| 720 | ingob | 1016 | */ |
| 395 | hbuss | 1017 | |
| 1225 | hbuss | 1018 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1019 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1020 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
||
| 492 | hbuss | 1021 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1022 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1023 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1024 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1025 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1026 | { |
| 1051 | killagreg | 1027 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1028 | { |
| 1051 | killagreg | 1029 | if(last_n_p) |
| 395 | hbuss | 1030 | { |
| 1173 | hbuss | 1031 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1032 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1033 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1034 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1035 | } |
| 395 | hbuss | 1036 | else last_n_p = 1; |
| 1037 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1038 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1039 | { |
| 1040 | if(last_n_n) |
||
| 1051 | killagreg | 1041 | { |
| 1173 | hbuss | 1042 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1043 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1044 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1045 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1046 | } |
| 395 | hbuss | 1047 | else last_n_n = 1; |
| 1048 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1049 | } |
| 1050 | else |
||
| 847 | hbuss | 1051 | { |
| 1052 | cnt = 0; |
||
| 921 | hbuss | 1053 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1054 | } |
| 499 | hbuss | 1055 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1056 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1057 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1058 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1059 | |
| 395 | hbuss | 1060 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 492 | hbuss | 1061 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| 1225 | hbuss | 1062 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 498 | hbuss | 1063 | ausgleichRoll = 0; |
| 1173 | hbuss | 1064 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1065 | { |
| 1051 | killagreg | 1066 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1067 | { |
| 1051 | killagreg | 1068 | if(last_r_p) |
| 395 | hbuss | 1069 | { |
| 1173 | hbuss | 1070 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1071 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1072 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1073 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1074 | } |
| 395 | hbuss | 1075 | else last_r_p = 1; |
| 1076 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1077 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1078 | { |
| 1051 | killagreg | 1079 | if(last_r_n) |
| 395 | hbuss | 1080 | { |
| 1173 | hbuss | 1081 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1082 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1083 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1084 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1085 | } |
| 1086 | else last_r_n = 1; |
||
| 1087 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1088 | } else |
| 492 | hbuss | 1089 | { |
| 1090 | cnt = 0; |
||
| 921 | hbuss | 1091 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1092 | } |
| 499 | hbuss | 1093 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1094 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1095 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1096 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1097 | } |
| 1051 | killagreg | 1098 | else |
| 498 | hbuss | 1099 | { |
| 1100 | LageKorrekturRoll = 0; |
||
| 1101 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1102 | TrichterFlug = 0; |
| 498 | hbuss | 1103 | } |
| 1051 | killagreg | 1104 | |
| 498 | hbuss | 1105 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1106 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1107 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1108 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1109 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1110 | IntegralAccNick = 0; |
| 1111 | IntegralAccRoll = 0; |
||
| 1112 | IntegralAccZ = 0; |
||
| 1113 | MittelIntegralNick = 0; |
||
| 1114 | MittelIntegralRoll = 0; |
||
| 1115 | MittelIntegralNick2 = 0; |
||
| 1116 | MittelIntegralRoll2 = 0; |
||
| 1117 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1118 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1119 | |
| 1173 | hbuss | 1120 | |
| 1051 | killagreg | 1121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1122 | // Gieren |
| 1051 | killagreg | 1123 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 1124 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| 1051 | killagreg | 1125 | if(abs(StickGier) > 15) // war 35 |
| 1 | ingob | 1126 | { |
| 921 | hbuss | 1127 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1128 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1129 | { |
||
| 1130 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1131 | }; |
| 1 | ingob | 1132 | } |
| 395 | hbuss | 1133 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1134 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1135 | sollGier = tmp_int; |
| 1051 | killagreg | 1136 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1137 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1138 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1139 | |
| 1140 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1141 | // Kompass |
| 1051 | killagreg | 1142 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1175 | hbuss | 1143 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
| 819 | hbuss | 1144 | |
| 1051 | killagreg | 1145 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1 | ingob | 1146 | { |
| 819 | hbuss | 1147 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1148 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1149 | v = abs(IntegralRoll /512); |
||
| 1150 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 824 | hbuss | 1151 | korrektur = w / 8 + 1; |
| 921 | hbuss | 1152 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1171 | hbuss | 1153 | if(abs(MesswertGier) > 128) |
| 1036 | hbuss | 1154 | { |
| 1155 | fehler = 0; |
||
| 1051 | killagreg | 1156 | } |
| 921 | hbuss | 1157 | if(!KompassSignalSchlecht && w < 25) |
| 1158 | { |
||
| 1159 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1160 | if(NeueKompassRichtungMerken) |
| 1161 | { |
||
| 921 | hbuss | 1162 | beeptime = 200; |
| 847 | hbuss | 1163 | // KompassStartwert = KompassValue; |
| 1171 | hbuss | 1164 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1165 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1166 | NeueKompassRichtungMerken = 0; |
||
| 1167 | } |
||
| 1 | ingob | 1168 | } |
| 824 | hbuss | 1169 | ErsatzKompass += (fehler * 8) / korrektur; |
| 921 | hbuss | 1170 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1171 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1172 | if(w >= 0) |
| 1 | ingob | 1173 | { |
| 1051 | killagreg | 1174 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1175 | { |
| 1051 | killagreg | 1176 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1177 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 1178 | // r = KompassRichtung; |
||
| 819 | hbuss | 1179 | v = (r * w) / v; // nach Kompass ausrichten |
| 1180 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1181 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1182 | else |
| 693 | hbuss | 1183 | if(v < -w) v = -w; |
| 1184 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1185 | } |
| 693 | hbuss | 1186 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1187 | } |
| 921 | hbuss | 1188 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1189 | } |
| 1190 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1191 | |
| 1051 | killagreg | 1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1193 | // Debugwerte zuordnen |
| 1051 | killagreg | 1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1195 | if(!TimerWerteausgabe--) |
| 1196 | { |
||
| 395 | hbuss | 1197 | TimerWerteausgabe = 24; |
| 805 | hbuss | 1198 | |
| 1171 | hbuss | 1199 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| 1200 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1201 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
| 1202 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
| 1 | ingob | 1203 | DebugOut.Analog[4] = MesswertGier; |
| 1204 | DebugOut.Analog[5] = HoehenWert; |
||
| 1224 | hbuss | 1205 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| 1 | ingob | 1206 | DebugOut.Analog[8] = KompassValue; |
| 297 | holgerb | 1207 | DebugOut.Analog[9] = UBat; |
| 1051 | killagreg | 1208 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 297 | holgerb | 1209 | DebugOut.Analog[10] = SenderOkay; |
| 929 | hbuss | 1210 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
| 1083 | killagreg | 1211 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| 1212 | //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
||
| 819 | hbuss | 1213 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 854 | hbuss | 1214 | DebugOut.Analog[20] = ServoValue; |
| 1171 | hbuss | 1215 | // DebugOut.Analog[24] = MesswertNick/2; |
| 1216 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
| 1173 | hbuss | 1217 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
| 1172 | hbuss | 1218 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
| 1219 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1215 | hbuss | 1220 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 1216 | killagreg | 1221 | DebugOut.Analog[30] = GPS_Nick; |
| 720 | ingob | 1222 | DebugOut.Analog[31] = GPS_Roll; |
| 1223 | |||
| 805 | hbuss | 1224 | |
| 1225 | // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
||
| 1226 | // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
||
| 1227 | |||
| 173 | holgerb | 1228 | /* DebugOut.Analog[16] = motor_rx[0]; |
| 1229 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1230 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1231 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1232 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1233 | DebugOut.Analog[20] /= 14; |
||
| 1234 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1235 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1236 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1237 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1238 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1239 | */ |
||
| 1240 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1 | ingob | 1241 | // DebugOut.Analog[9] = SollHoehe; |
| 1242 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 1243 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 1051 | killagreg | 1244 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
| 1245 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
||
| 1246 | // DebugOut.Analog[9] = KompassRichtung; |
||
| 1 | ingob | 1247 | // DebugOut.Analog[10] = GasMischanteil; |
| 1248 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 1249 | // DebugOut.Analog[4] = hoehenregler; |
||
| 1250 | } |
||
| 1251 | |||
| 1051 | killagreg | 1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1253 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1254 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1255 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1256 | |
| 1171 | hbuss | 1257 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1258 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1259 | |
| 1167 | hbuss | 1260 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1261 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1262 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1263 | |
| 1166 | hbuss | 1264 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1265 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1266 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1267 | |
| 1 | ingob | 1268 | // Maximalwerte abfangen |
| 1153 | hbuss | 1269 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1270 | #define MAX_SENSOR (4096*4) |
||
| 1216 | killagreg | 1271 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1272 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1273 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1274 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1275 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1276 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1277 | |||
| 1051 | killagreg | 1278 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1210 | hbuss | 1279 | // all BL-Ctrl connected? |
| 1280 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1216 | killagreg | 1281 | if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1282 | { |
||
| 1283 | modell_fliegt = 1; |
||
| 1284 | GasMischanteil = MIN_GAS; |
||
| 1285 | } |
||
| 1210 | hbuss | 1286 | |
| 1287 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1288 | // Höhenregelung |
| 1289 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1290 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1291 | GasMischanteil *= STICK_GAIN; |
| 1 | ingob | 1292 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| 1293 | { |
||
| 1294 | int tmp_int; |
||
| 1036 | hbuss | 1295 | static char delay = 100; |
| 1 | ingob | 1296 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| 1297 | { |
||
| 1216 | killagreg | 1298 | if(Parameter_MaxHoehe < 50) |
| 1 | ingob | 1299 | { |
| 1036 | hbuss | 1300 | if(!delay--) |
| 1301 | { |
||
| 1225 | hbuss | 1302 | if((MessLuftdruck > 1000) && OCR0A < 254) |
| 1036 | hbuss | 1303 | { |
| 1225 | hbuss | 1304 | if(OCR0A < 244) |
| 1305 | { |
||
| 1306 | ExpandBaro -= 10; |
||
| 1307 | OCR0A = DruckOffsetSetting - ExpandBaro; |
||
| 1308 | } |
||
| 1309 | else OCR0A = 254; |
||
| 1310 | beeptime = 300; |
||
| 1311 | delay = 250; |
||
| 1036 | hbuss | 1312 | } |
| 1225 | hbuss | 1313 | else |
| 1314 | if((MessLuftdruck < 100) && OCR0A > 1) |
||
| 1036 | hbuss | 1315 | { |
| 1225 | hbuss | 1316 | if(OCR0A > 10) |
| 1317 | { |
||
| 1318 | ExpandBaro += 10; |
||
| 1319 | OCR0A = DruckOffsetSetting - ExpandBaro; |
||
| 1320 | } |
||
| 1321 | else OCR0A = 1; |
||
| 1036 | hbuss | 1322 | beeptime = 300; |
| 1323 | delay = 250; |
||
| 1324 | } |
||
| 1325 | else |
||
| 1051 | killagreg | 1326 | { |
| 1036 | hbuss | 1327 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| 1328 | HoehenReglerAktiv = 0; |
||
| 1329 | delay = 1; |
||
| 1330 | } |
||
| 1051 | killagreg | 1331 | } |
| 1 | ingob | 1332 | } |
| 1051 | killagreg | 1333 | else |
| 1334 | { |
||
| 1036 | hbuss | 1335 | HoehenReglerAktiv = 1; |
| 1336 | delay = 200; |
||
| 1051 | killagreg | 1337 | } |
| 1 | ingob | 1338 | } |
| 1051 | killagreg | 1339 | else |
| 1 | ingob | 1340 | { |
| 492 | hbuss | 1341 | SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| 1 | ingob | 1342 | HoehenReglerAktiv = 1; |
| 1343 | } |
||
| 1344 | |||
| 1345 | if(Notlandung) SollHoehe = 0; |
||
| 1346 | h = HoehenWert; |
||
| 1347 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
||
| 1051 | killagreg | 1348 | { |
| 855 | hbuss | 1349 | h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
| 1 | ingob | 1350 | h = GasMischanteil - h; // vom Gas abziehen |
| 871 | hbuss | 1351 | h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
| 1352 | tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
||
| 1353 | if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
||
| 1354 | else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
||
| 1 | ingob | 1355 | h -= tmp_int; |
| 1051 | killagreg | 1356 | hoehenregler = (hoehenregler*15 + h) / 16; |
| 855 | hbuss | 1357 | if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
| 1 | ingob | 1358 | { |
| 855 | hbuss | 1359 | if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
| 1360 | if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
||
| 1051 | killagreg | 1361 | } |
| 1 | ingob | 1362 | if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| 1363 | GasMischanteil = hoehenregler; |
||
| 1051 | killagreg | 1364 | } |
| 1 | ingob | 1365 | } |
| 855 | hbuss | 1366 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1367 | |
| 1051 | killagreg | 1368 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1369 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1370 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1371 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1372 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1373 | // Gier-Anteil |
| 1051 | killagreg | 1374 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 188 | holgerb | 1375 | #define MUL_G 1.0 |
| 855 | hbuss | 1376 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 604 | hbuss | 1377 | // GierMischanteil = 0; |
| 855 | hbuss | 1378 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| 693 | hbuss | 1379 | if(GasMischanteil > MIN_GIERGAS) |
| 1380 | { |
||
| 1051 | killagreg | 1381 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1382 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1383 | } |
| 1051 | killagreg | 1384 | else |
| 693 | hbuss | 1385 | { |
| 1051 | killagreg | 1386 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1387 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1388 | } |
| 855 | hbuss | 1389 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1390 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1391 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1392 | |
| 1051 | killagreg | 1393 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1394 | // Nick-Achse |
| 1051 | killagreg | 1395 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1396 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1397 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1398 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1399 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1400 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1153 | hbuss | 1401 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1402 | // Motor Vorn |
| 499 | hbuss | 1403 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1404 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1405 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1406 | |
| 1153 | hbuss | 1407 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1408 | // Roll-Achse |
||
| 1409 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1410 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1411 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1412 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1413 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1414 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1415 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
| 1416 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1417 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 1418 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1419 | |||
| 1420 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1421 | // Universal Mixer |
| 1155 | hbuss | 1422 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1423 | for(i=0; i<MAX_MOTORS; i++) |
| 1209 | hbuss | 1424 | { |
| 1425 | signed int tmp_int; |
||
| 1426 | if(Mixer.Motor[i][0] > 0) |
||
| 1427 | { |
||
| 1428 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
| 1429 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1430 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1431 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1432 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
| 1216 | killagreg | 1433 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| 1209 | hbuss | 1434 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1216 | killagreg | 1435 | Motor[i] = tmp_int; |
| 1209 | hbuss | 1436 | } |
| 1437 | else Motor[i] = 0; |
||
| 1438 | } |
||
| 1167 | hbuss | 1439 | /* |
| 1153 | hbuss | 1440 | if(Poti1 > 20) Motor1 = 0; |
| 1441 | if(Poti1 > 90) Motor6 = 0; |
||
| 1442 | if(Poti1 > 140) Motor2 = 0; |
||
| 1175 | hbuss | 1443 | //if(Poti1 > 200) Motor7 = 0; |
| 1167 | hbuss | 1444 | */ |
| 1111 | hbuss | 1445 | } |