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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1300 | acid | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 04.2007 Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + www.MikroKopter.com |
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| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 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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| 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 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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| 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 28 | // + mit unserer Zustimmung zulässig |
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| 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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| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 33 | // + this list of conditions and the following disclaimer. |
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| 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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| 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 37 | // + for non-commercial use (directly or indirectly) |
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| 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 39 | // + with our written permission |
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| 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 41 | // + clearly linked as origin |
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| 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 52 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 54 | |||
| 55 | #include "main.h" |
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| 56 | #include "eeprom.c" |
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| 57 | |||
| 58 | unsigned char h,m,s; |
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| 59 | volatile unsigned int I2CTimeout = 100; |
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| 60 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
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| 61 | int TrimNick, TrimRoll; |
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| 62 | int AdNeutralGierBias; |
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| 63 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
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| 64 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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| 65 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
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| 66 | volatile float NeutralAccZ = 0; |
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| 67 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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| 68 | long IntegralNick = 0,IntegralNick2 = 0; |
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| 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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| 76 | volatile long Mess_Integral_Hoch = 0; |
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| 77 | int KompassValue = 0; |
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| 78 | int KompassStartwert = 0; |
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| 79 | int KompassRichtung = 0; |
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| 80 | unsigned int KompassSignalSchlecht = 500; |
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| 81 | unsigned char MAX_GAS,MIN_GAS; |
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| 82 | unsigned char Notlandung = 0; |
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| 83 | unsigned char HoehenReglerAktiv = 0; |
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| 84 | unsigned char TrichterFlug = 0; |
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| 85 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
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| 86 | long ErsatzKompass; |
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| 87 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 88 | int GierGyroFehler = 0; |
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| 89 | char GyroFaktor,GyroFaktorGier; |
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| 90 | char IntegralFaktor,IntegralFaktorGier; |
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| 91 | int DiffNick,DiffRoll; |
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| 92 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
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| 93 | volatile unsigned char SenderOkay = 0; |
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| 94 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
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| 95 | char MotorenEin = 0; |
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| 96 | int HoehenWert = 0; |
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| 97 | int SollHoehe = 0; |
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| 98 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
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| 99 | //float Ki = FAKTOR_I; |
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| 100 | int Ki = 10300 / 33; |
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| 101 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
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| 102 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 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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| 109 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
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| 110 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
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| 111 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
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| 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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| 118 | unsigned char Parameter_UserParam5 = 0; |
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| 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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| 122 | unsigned char Parameter_ServoNickControl = 100; |
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| 123 | unsigned char Parameter_LoopGasLimit = 70; |
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| 124 | unsigned char Parameter_AchsKopplung1 = 90; |
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| 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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| 128 | unsigned char Parameter_DynamicStability = 100; |
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| 129 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
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| 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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| 134 | unsigned char Parameter_NaviGpsGain; |
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| 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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| 139 | unsigned char Parameter_NaviOperatingRadius; |
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| 140 | unsigned char Parameter_NaviWindCorrection; |
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| 141 | unsigned char Parameter_NaviSpeedCompensation; |
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| 142 | unsigned char Parameter_ExternalControl; |
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| 143 | struct mk_param_struct EE_Parameter; |
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| 144 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
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| 145 | int MaxStickNick = 0,MaxStickRoll = 0; |
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| 146 | unsigned int modell_fliegt = 0; |
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| 147 | volatile unsigned char MikroKopterFlags = 0; |
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| 148 | long GIER_GRAD_FAKTOR = 1291; |
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| 149 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
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| 150 | unsigned char RequiredMotors = 4; |
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| 151 | unsigned char Motor[MAX_MOTORS]; |
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| 152 | signed int tmp_motorwert[MAX_MOTORS]; |
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| 153 | |||
| 154 | int MotorSmoothing(int neu, int alt) |
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| 155 | { |
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| 156 | int motor; |
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| 157 | if(neu > alt) motor = (1*(int)alt + neu) / 2; |
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| 158 | else motor = neu - (alt - neu)*1; |
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| 159 | //if(Poti2 < 20) return(neu); |
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| 160 | return(motor); |
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| 161 | } |
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| 162 | |||
| 163 | |||
| 164 | void Piep(unsigned char Anzahl) |
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| 165 | { |
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| 166 | while(Anzahl--) |
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| 167 | { |
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| 168 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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| 169 | beeptime = 100; |
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| 170 | Delay_ms(250); |
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| 171 | } |
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| 172 | } |
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| 173 | |||
| 174 | //############################################################################ |
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| 175 | // Nullwerte ermitteln |
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| 176 | void SetNeutral(void) |
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| 177 | //############################################################################ |
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| 178 | { |
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| 179 | unsigned char i; |
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| 180 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 181 | ServoActive = 0; HEF4017R_ON; |
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| 182 | NeutralAccX = 0; |
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| 183 | NeutralAccY = 0; |
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| 184 | NeutralAccZ = 0; |
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| 185 | AdNeutralNick = 0; |
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| 186 | AdNeutralRoll = 0; |
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| 187 | AdNeutralGier = 0; |
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| 188 | AdNeutralGierBias = 0; |
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| 189 | Parameter_AchsKopplung1 = 0; |
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| 190 | Parameter_AchsKopplung2 = 0; |
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| 191 | ExpandBaro = 0; |
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| 192 | CalibrierMittelwert(); |
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| 193 | Delay_ms_Mess(100); |
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| 194 | CalibrierMittelwert(); |
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| 195 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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| 196 | { |
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| 197 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
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| 198 | } |
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| 199 | #define NEUTRAL_FILTER 32 |
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| 200 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 201 | { |
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| 202 | Delay_ms_Mess(10); |
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| 203 | gier_neutral += AdWertGier; |
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| 204 | nick_neutral += AdWertNick; |
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| 205 | roll_neutral += AdWertRoll; |
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| 206 | } |
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| 207 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 208 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 209 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 210 | AdNeutralGierBias = AdNeutralGier; |
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| 211 | StartNeutralRoll = AdNeutralRoll; |
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| 212 | StartNeutralNick = AdNeutralNick; |
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| 213 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
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| 214 | { |
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| 215 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 216 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 217 | NeutralAccZ = Aktuell_az; |
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| 218 | } |
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| 219 | else |
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| 220 | { |
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| 221 | 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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| 222 | 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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| 223 | 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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| 224 | } |
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| 225 | |||
| 226 | MesswertNick = 0; |
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| 227 | MesswertRoll = 0; |
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| 228 | MesswertGier = 0; |
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| 229 | Delay_ms_Mess(100); |
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| 230 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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| 231 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 232 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
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| 233 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 234 | Mess_IntegralNick2 = IntegralNick; |
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| 235 | Mess_IntegralRoll2 = IntegralRoll; |
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| 236 | Mess_Integral_Gier = 0; |
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| 237 | StartLuftdruck = Luftdruck; |
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| 238 | HoeheD = 0; |
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| 239 | Mess_Integral_Hoch = 0; |
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| 240 | KompassStartwert = KompassValue; |
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| 241 | GPS_Neutral(); |
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| 242 | beeptime = 50; |
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| 243 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
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| 244 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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| 245 | ExternHoehenValue = 0; |
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| 246 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
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| 247 | GierGyroFehler = 0; |
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| 248 | SendVersionToNavi = 1; |
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| 249 | LED_Init(); |
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| 250 | MikroKopterFlags |= FLAG_CALIBRATE; |
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| 251 | FromNaviCtrl_Value.Kalman_K = -1; |
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| 252 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
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| 253 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
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| 254 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
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| 255 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
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| 256 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
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| 257 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
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| 258 | ServoActive = 1; |
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| 259 | SenderOkay = 100; |
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| 260 | } |
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| 261 | |||
| 262 | //############################################################################ |
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| 263 | // Bearbeitet die Messwerte |
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| 264 | void Mittelwert(void) |
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| 265 | //############################################################################ |
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| 266 | { |
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| 267 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
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| 268 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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| 269 | signed long winkel_nick, winkel_roll; |
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| 270 | |||
| 271 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
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| 272 | // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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| 273 | MesswertNick = (signed int) AdWertNickFilter / 8; |
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| 274 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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| 275 | RohMesswertNick = MesswertNick; |
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| 276 | RohMesswertRoll = MesswertRoll; |
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| 277 | //DebugOut.Analog[21] = MesswertNick; |
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| 278 | //DebugOut.Analog[22] = MesswertRoll; |
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| 279 | //DebugOut.Analog[22] = Mess_Integral_Gier; |
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| 280 | //DebugOut.Analog[21] = MesswertNick; |
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| 281 | //DebugOut.Analog[22] = MesswertRoll; |
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| 282 | |||
| 283 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 284 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
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| 285 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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| 286 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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| 287 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
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| 288 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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| 289 | NaviAccNick += AdWertAccNick; |
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| 290 | NaviAccRoll += AdWertAccRoll; |
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| 291 | NaviCntAcc++; |
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| 292 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
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| 293 | |||
| 294 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 295 | // ADC einschalten |
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| 296 | ANALOG_ON; |
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| 297 | AdReady = 0; |
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| 298 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 299 | |||
| 300 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
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| 301 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
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| 302 | else winkel_roll = Mess_IntegralRoll; |
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| 303 | |||
| 304 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
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| 305 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
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| 306 | else winkel_nick = Mess_IntegralNick; |
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| 307 | |||
| 308 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 309 | Mess_Integral_Gier += MesswertGier; |
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| 310 | ErsatzKompass += MesswertGier; |
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| 311 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
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| 312 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
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| 313 | { |
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| 314 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
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| 315 | tmpl3 *= Parameter_AchsKopplung2; //65 |
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| 316 | tmpl3 /= 4096L; |
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| 317 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
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| 318 | tmpl4 *= Parameter_AchsKopplung2; //65 |
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| 319 | tmpl4 /= 4096L; |
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| 320 | KopplungsteilNickRoll = tmpl3; |
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| 321 | KopplungsteilRollNick = tmpl4; |
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| 322 | tmpl4 -= tmpl3; |
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| 323 | ErsatzKompass += tmpl4; |
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| 324 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
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| 325 | |||
| 326 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
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| 327 | tmpl *= Parameter_AchsKopplung1; // 90 |
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| 328 | tmpl /= 4096L; |
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| 329 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
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| 330 | tmpl2 *= Parameter_AchsKopplung1; |
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| 331 | tmpl2 /= 4096L; |
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| 332 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
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| 333 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
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| 334 | } |
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| 335 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
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| 336 | |||
| 337 | TrimRoll = tmpl - tmpl2 / 100L; |
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| 338 | TrimNick = -tmpl2 + tmpl / 100L; |
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| 339 | |||
| 340 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 341 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
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| 342 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
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| 343 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 344 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
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| 345 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
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| 346 | if(Mess_IntegralRoll > Umschlag180Roll) |
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| 347 | { |
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| 348 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
||
| 349 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 350 | } |
||
| 351 | if(Mess_IntegralRoll <-Umschlag180Roll) |
||
| 352 | { |
||
| 353 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
||
| 354 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 355 | } |
||
| 356 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 357 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
||
| 358 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 359 | if(Mess_IntegralNick > Umschlag180Nick) |
||
| 360 | { |
||
| 361 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 362 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 363 | } |
||
| 364 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 365 | { |
||
| 366 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
||
| 367 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 368 | } |
||
| 369 | |||
| 370 | Integral_Gier = Mess_Integral_Gier; |
||
| 371 | IntegralNick = Mess_IntegralNick; |
||
| 372 | IntegralRoll = Mess_IntegralRoll; |
||
| 373 | IntegralNick2 = Mess_IntegralNick2; |
||
| 374 | IntegralRoll2 = Mess_IntegralRoll2; |
||
| 375 | |||
| 376 | #define D_LIMIT 128 |
||
| 377 | |||
| 378 | MesswertNick = HiResNick / 8; |
||
| 379 | MesswertRoll = HiResRoll / 8; |
||
| 380 | |||
| 381 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
||
| 382 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 383 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 384 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 385 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 386 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 387 | |||
| 388 | if(Parameter_Gyro_D) |
||
| 389 | { |
||
| 390 | d2Nick = HiResNick - oldNick; |
||
| 391 | oldNick = (oldNick + HiResNick)/2; |
||
| 392 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
||
| 393 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 394 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
| 395 | d2Roll = HiResRoll - oldRoll; |
||
| 396 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 397 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
||
| 398 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 399 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
||
| 400 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 401 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 402 | } |
||
| 403 | |||
| 404 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 405 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 406 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 407 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 408 | |||
| 409 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 410 | { |
||
| 411 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 412 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 413 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 414 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 415 | } |
||
| 416 | |||
| 417 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
||
| 418 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 419 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 420 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 421 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 422 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 423 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 424 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 425 | } |
||
| 426 | |||
| 427 | //############################################################################ |
||
| 428 | // Messwerte beim Ermitteln der Nullage |
||
| 429 | void CalibrierMittelwert(void) |
||
| 430 | //############################################################################ |
||
| 431 | { |
||
| 432 | if(PlatinenVersion == 13) SucheGyroOffset(); |
||
| 433 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
||
| 434 | ANALOG_OFF; |
||
| 435 | MesswertNick = AdWertNick; |
||
| 436 | MesswertRoll = AdWertRoll; |
||
| 437 | MesswertGier = AdWertGier; |
||
| 438 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 439 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 440 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 441 | // ADC einschalten |
||
| 442 | ANALOG_ON; |
||
| 443 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
||
| 444 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 445 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 446 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 447 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 448 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 449 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 450 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 451 | |||
| 452 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 453 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 454 | } |
||
| 455 | |||
| 456 | //############################################################################ |
||
| 457 | // Senden der Motorwerte per I2C-Bus |
||
| 458 | void SendMotorData(void) |
||
| 459 | //############################################################################ |
||
| 460 | { |
||
| 461 | unsigned char i; |
||
| 462 | if(!MotorenEin) |
||
| 463 | { |
||
| 464 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
||
| 465 | for(i=0;i<MAX_MOTORS;i++) |
||
| 466 | { |
||
| 467 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 468 | Motor[i] = MotorTest[i]; |
||
| 469 | } |
||
| 470 | if(PC_MotortestActive) PC_MotortestActive--; |
||
| 471 | } |
||
| 472 | else MikroKopterFlags |= FLAG_MOTOR_RUN; |
||
| 473 | |||
| 474 | DebugOut.Analog[12] = Motor[0]; |
||
| 475 | DebugOut.Analog[13] = Motor[1]; |
||
| 476 | DebugOut.Analog[14] = Motor[3]; |
||
| 477 | DebugOut.Analog[15] = Motor[2]; |
||
| 478 | |||
| 479 | //Start I2C Interrupt Mode |
||
| 480 | twi_state = 0; |
||
| 481 | motor = 0; |
||
| 482 | i2c_start(); |
||
| 483 | } |
||
| 484 | |||
| 485 | |||
| 486 | |||
| 487 | //############################################################################ |
||
| 488 | // Trägt ggf. das Poti als Parameter ein |
||
| 489 | void ParameterZuordnung(void) |
||
| 490 | //############################################################################ |
||
| 491 | { |
||
| 492 | #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;} |
||
| 493 | #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; } |
||
| 494 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
||
| 495 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
||
| 496 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 497 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
||
| 498 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
||
| 499 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 500 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
||
| 501 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
||
| 502 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
||
| 503 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 504 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 505 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 506 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 507 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 508 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 509 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 510 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 511 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
||
| 512 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
||
| 513 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
||
| 514 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
||
| 515 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
||
| 516 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 517 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
||
| 518 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 519 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 520 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
| 521 | Ki = 10300 / (Parameter_I_Faktor + 1); |
||
| 522 | MAX_GAS = EE_Parameter.Gas_Max; |
||
| 523 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 524 | } |
||
| 525 | |||
| 526 | |||
| 527 | |||
| 528 | //############################################################################ |
||
| 529 | // |
||
| 530 | void MotorRegler(void) |
||
| 531 | //############################################################################ |
||
| 532 | { |
||
| 533 | int pd_ergebnis_nick,pd_ergebnis_roll,h,tmp_int; |
||
| 534 | int GierMischanteil,GasMischanteil; |
||
| 535 | static long SummeNick=0,SummeRoll=0; |
||
| 536 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 537 | static long IntegralFehlerNick = 0; |
||
| 538 | static long IntegralFehlerRoll = 0; |
||
| 539 | static unsigned int RcLostTimer; |
||
| 540 | static unsigned char delay_neutral = 0; |
||
| 541 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 542 | static int hoehenregler = 0; |
||
| 543 | static char TimerWerteausgabe = 0; |
||
| 544 | static char NeueKompassRichtungMerken = 0; |
||
| 545 | static long ausgleichNick, ausgleichRoll; |
||
| 546 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
||
| 547 | unsigned char i; |
||
| 548 | Mittelwert(); |
||
| 549 | |||
| 550 | GRN_ON; |
||
| 551 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 552 | // Gaswert ermitteln |
||
| 553 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 554 | GasMischanteil = StickGas; |
||
| 555 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
||
| 556 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 557 | // Empfang schlecht |
||
| 558 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 559 | if(SenderOkay < 100) |
||
| 560 | { |
||
| 561 | if(!PcZugriff) |
||
| 562 | { |
||
| 563 | if(BeepMuster == 0xffff) |
||
| 564 | { |
||
| 565 | beeptime = 15000; |
||
| 566 | BeepMuster = 0x0c00; |
||
| 567 | } |
||
| 568 | } |
||
| 569 | if(RcLostTimer) RcLostTimer--; |
||
| 570 | else |
||
| 571 | { |
||
| 572 | MotorenEin = 0; |
||
| 573 | Notlandung = 0; |
||
| 574 | } |
||
| 575 | ROT_ON; |
||
| 576 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
||
| 577 | { |
||
| 578 | GasMischanteil = EE_Parameter.NotGas; |
||
| 579 | Notlandung = 1; |
||
| 580 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 581 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 582 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 583 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 584 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 585 | } |
||
| 586 | else MotorenEin = 0; |
||
| 587 | } |
||
| 588 | else |
||
| 589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 590 | // Emfang gut |
||
| 591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 592 | if(SenderOkay > 140) |
||
| 593 | { |
||
| 594 | Notlandung = 0; |
||
| 595 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
| 596 | if(GasMischanteil > 40 && MotorenEin) |
||
| 597 | { |
||
| 598 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 599 | } |
||
| 600 | if((modell_fliegt < 256)) |
||
| 601 | { |
||
| 602 | SummeNick = 0; |
||
| 603 | SummeRoll = 0; |
||
| 604 | if(modell_fliegt == 250) |
||
| 605 | { |
||
| 606 | NeueKompassRichtungMerken = 1; |
||
| 607 | sollGier = 0; |
||
| 608 | Mess_Integral_Gier = 0; |
||
| 609 | // Mess_Integral_Gier2 = 0; |
||
| 610 | } |
||
| 611 | } else MikroKopterFlags |= FLAG_FLY; |
||
| 612 | |||
| 613 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
||
| 614 | { |
||
| 615 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 616 | // auf Nullwerte kalibrieren |
||
| 617 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 618 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
||
| 619 | { |
||
| 620 | if(++delay_neutral > 200) // nicht sofort |
||
| 621 | { |
||
| 622 | GRN_OFF; |
||
| 623 | MotorenEin = 0; |
||
| 624 | delay_neutral = 0; |
||
| 625 | modell_fliegt = 0; |
||
| 626 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 627 | { |
||
| 628 | unsigned char setting=1; |
||
| 629 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
||
| 630 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 631 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 632 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 633 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 634 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
||
| 635 | } |
||
| 636 | // else |
||
| 637 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
||
| 638 | { |
||
| 639 | WinkelOut.CalcState = 1; |
||
| 640 | beeptime = 1000; |
||
| 641 | } |
||
| 642 | else |
||
| 643 | { |
||
| 644 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 645 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 646 | { |
||
| 647 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
| 648 | } |
||
| 649 | SetNeutral(); |
||
| 650 | Piep(GetActiveParamSetNumber()); |
||
| 651 | } |
||
| 652 | } |
||
| 653 | } |
||
| 654 | else |
||
| 655 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
||
| 656 | { |
||
| 657 | if(++delay_neutral > 200) // nicht sofort |
||
| 658 | { |
||
| 659 | GRN_OFF; |
||
| 660 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 661 | MotorenEin = 0; |
||
| 662 | delay_neutral = 0; |
||
| 663 | modell_fliegt = 0; |
||
| 664 | SetNeutral(); |
||
| 665 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
| 666 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 667 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 668 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 669 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 670 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 671 | Piep(GetActiveParamSetNumber()); |
||
| 672 | } |
||
| 673 | } |
||
| 674 | else delay_neutral = 0; |
||
| 675 | } |
||
| 676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 677 | // Gas ist unten |
||
| 678 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 679 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
||
| 680 | { |
||
| 681 | // Starten |
||
| 682 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 683 | { |
||
| 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 685 | // Einschalten |
||
| 686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 687 | if(++delay_einschalten > 200) |
||
| 688 | { |
||
| 689 | delay_einschalten = 200; |
||
| 690 | modell_fliegt = 1; |
||
| 691 | MotorenEin = 1; |
||
| 692 | sollGier = 0; |
||
| 693 | Mess_Integral_Gier = 0; |
||
| 694 | Mess_Integral_Gier2 = 0; |
||
| 695 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 696 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 697 | Mess_IntegralNick2 = IntegralNick; |
||
| 698 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 699 | SummeNick = 0; |
||
| 700 | SummeRoll = 0; |
||
| 701 | MikroKopterFlags |= FLAG_START; |
||
| 702 | } |
||
| 703 | } |
||
| 704 | else delay_einschalten = 0; |
||
| 705 | //Auf Neutralwerte setzen |
||
| 706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 707 | // Auschalten |
||
| 708 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 710 | { |
||
| 711 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 712 | { |
||
| 713 | MotorenEin = 0; |
||
| 714 | delay_ausschalten = 200; |
||
| 715 | modell_fliegt = 0; |
||
| 716 | } |
||
| 717 | } |
||
| 718 | else delay_ausschalten = 0; |
||
| 719 | } |
||
| 720 | } |
||
| 721 | |||
| 722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 723 | // neue Werte von der Funke |
||
| 724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 725 | |||
| 726 | if(!NewPpmData-- || Notlandung) |
||
| 727 | { |
||
| 728 | static int stick_nick,stick_roll; |
||
| 729 | ParameterZuordnung(); |
||
| 730 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
||
| 731 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
||
| 732 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
||
| 733 | |||
| 734 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
| 735 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 736 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
||
| 737 | |||
| 738 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
||
| 739 | if(StickGier > 2) StickGier -= 2; else |
||
| 740 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 741 | |||
| 742 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
||
| 743 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
||
| 744 | IntegralFaktor = Parameter_Gyro_I; |
||
| 745 | GyroFaktorGier = (Parameter_Gyro_P + 10.0); |
||
| 746 | IntegralFaktorGier = Parameter_Gyro_I; |
||
| 747 | |||
| 748 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 749 | //+ Analoge Steuerung per Seriell |
||
| 750 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 751 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
||
| 752 | { |
||
| 753 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 754 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 755 | StickGier += ExternControl.Gier; |
||
| 756 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 757 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 758 | } |
||
| 759 | if(StickGas < 0) StickGas = 0; |
||
| 760 | |||
| 761 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
||
| 762 | if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 763 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 764 | |||
| 765 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
||
| 766 | { |
||
| 767 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
| 768 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
| 769 | } |
||
| 770 | else MaxStickNick--; |
||
| 771 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
||
| 772 | { |
||
| 773 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
| 774 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
| 775 | } |
||
| 776 | else MaxStickRoll--; |
||
| 777 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
||
| 778 | |||
| 779 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 780 | // Looping? |
||
| 781 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 782 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
||
| 783 | else |
||
| 784 | { |
||
| 785 | { |
||
| 786 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
||
| 787 | } |
||
| 788 | } |
||
| 789 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
||
| 790 | else |
||
| 791 | { |
||
| 792 | if(Looping_Rechts) // Hysterese |
||
| 793 | { |
||
| 794 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 795 | } |
||
| 796 | } |
||
| 797 | |||
| 798 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
||
| 799 | else |
||
| 800 | { |
||
| 801 | if(Looping_Oben) // Hysterese |
||
| 802 | { |
||
| 803 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
||
| 804 | } |
||
| 805 | } |
||
| 806 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
||
| 807 | else |
||
| 808 | { |
||
| 809 | if(Looping_Unten) // Hysterese |
||
| 810 | { |
||
| 811 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 812 | } |
||
| 813 | } |
||
| 814 | |||
| 815 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 816 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
| 817 | } // Ende neue Funken-Werte |
||
| 818 | |||
| 819 | if(Looping_Roll || Looping_Nick) |
||
| 820 | { |
||
| 821 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
||
| 822 | TrichterFlug = 1; |
||
| 823 | } |
||
| 824 | |||
| 825 | |||
| 826 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 827 | // Bei Empfangsausfall im Flug |
||
| 828 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 829 | if(Notlandung) |
||
| 830 | { |
||
| 831 | StickGier = 0; |
||
| 832 | StickNick = 0; |
||
| 833 | StickRoll = 0; |
||
| 834 | GyroFaktor = 90; |
||
| 835 | IntegralFaktor = 120; |
||
| 836 | GyroFaktorGier = 90; |
||
| 837 | IntegralFaktorGier = 120; |
||
| 838 | Looping_Roll = 0; |
||
| 839 | Looping_Nick = 0; |
||
| 840 | } |
||
| 841 | |||
| 842 | |||
| 843 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 844 | // Integrale auf ACC-Signal abgleichen |
||
| 845 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 846 | #define ABGLEICH_ANZAHL 256L |
||
| 847 | |||
| 848 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 849 | MittelIntegralRoll += IntegralRoll; |
||
| 850 | MittelIntegralNick2 += IntegralNick2; |
||
| 851 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 852 | |||
| 853 | if(Looping_Nick || Looping_Roll) |
||
| 854 | { |
||
| 855 | IntegralAccNick = 0; |
||
| 856 | IntegralAccRoll = 0; |
||
| 857 | MittelIntegralNick = 0; |
||
| 858 | MittelIntegralRoll = 0; |
||
| 859 | MittelIntegralNick2 = 0; |
||
| 860 | MittelIntegralRoll2 = 0; |
||
| 861 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 862 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 863 | ZaehlMessungen = 0; |
||
| 864 | LageKorrekturNick = 0; |
||
| 865 | LageKorrekturRoll = 0; |
||
| 866 | } |
||
| 867 | |||
| 868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 869 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
||
| 870 | { |
||
| 871 | long tmp_long, tmp_long2; |
||
| 872 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
||
| 873 | { |
||
| 874 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 875 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 876 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 877 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 878 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 879 | { |
||
| 880 | tmp_long /= 2; |
||
| 881 | tmp_long2 /= 2; |
||
| 882 | } |
||
| 883 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 884 | { |
||
| 885 | tmp_long /= 3; |
||
| 886 | tmp_long2 /= 3; |
||
| 887 | } |
||
| 888 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 889 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 890 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 891 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 892 | } |
||
| 893 | else |
||
| 894 | { |
||
| 895 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 896 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 897 | tmp_long /= 16; |
||
| 898 | tmp_long2 /= 16; |
||
| 899 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 900 | { |
||
| 901 | tmp_long /= 3; |
||
| 902 | tmp_long2 /= 3; |
||
| 903 | } |
||
| 904 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 905 | { |
||
| 906 | tmp_long /= 3; |
||
| 907 | tmp_long2 /= 3; |
||
| 908 | } |
||
| 909 | |||
| 910 | #define AUSGLEICH 32 |
||
| 911 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
||
| 912 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 913 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 914 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 915 | } |
||
| 916 | |||
| 917 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 918 | Mess_IntegralNick -= tmp_long; |
||
| 919 | Mess_IntegralRoll -= tmp_long2; |
||
| 920 | } |
||
| 921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 922 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
||
| 923 | { |
||
| 924 | static int cnt = 0; |
||
| 925 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 926 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 927 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
||
| 928 | { |
||
| 929 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
||
| 930 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 931 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 932 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 933 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 934 | #define MAX_I 0//(Poti2/10) |
||
| 935 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 936 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 937 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 938 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 939 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 940 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
||
| 941 | |||
| 942 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 943 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 944 | |||
| 945 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
||
| 946 | { |
||
| 947 | LageKorrekturNick /= 2; |
||
| 948 | LageKorrekturRoll /= 2; |
||
| 949 | } |
||
| 950 | |||
| 951 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 952 | // Gyro-Drift ermitteln |
||
| 953 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 954 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
||
| 955 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 956 | tmp_long = IntegralNick2 - IntegralNick; |
||
| 957 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 958 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
||
| 959 | |||
| 960 | IntegralFehlerNick = tmp_long; |
||
| 961 | IntegralFehlerRoll = tmp_long2; |
||
| 962 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 963 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 964 | |||
| 965 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
| 966 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 967 | if(EE_Parameter.Driftkomp) |
||
| 968 | { |
||
| 969 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
||
| 970 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 971 | } |
||
| 972 | //DebugOut.Analog[22] = MittelIntegralRoll / 26; |
||
| 973 | //DebugOut.Analog[24] = GierGyroFehler; |
||
| 974 | GierGyroFehler = 0; |
||
| 975 | |||
| 976 | |||
| 977 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
||
| 978 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
| 979 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 980 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 981 | */ |
||
| 982 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 983 | //MittelIntegralRoll = MittelIntegralRoll; |
||
| 984 | //DebugOut.Analog[28] = ausgleichNick; |
||
| 985 | /* |
||
| 986 | DebugOut.Analog[29] = ausgleichRoll; |
||
| 987 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
||
| 988 | */ |
||
| 989 | |||
| 990 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
||
| 991 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 992 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
||
| 993 | #define BEWEGUNGS_LIMIT 20000 |
||
| 994 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 995 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 996 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
||
| 997 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
||
| 998 | { |
||
| 999 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
||
| 1000 | { |
||
| 1001 | if(last_n_p) |
||
| 1002 | { |
||
| 1003 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
||
| 1004 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 1005 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
||
| 1006 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 1007 | } |
||
| 1008 | else last_n_p = 1; |
||
| 1009 | } else last_n_p = 0; |
||
| 1010 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
||
| 1011 | { |
||
| 1012 | if(last_n_n) |
||
| 1013 | { |
||
| 1014 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
||
| 1015 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 1016 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
||
| 1017 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 1018 | } |
||
| 1019 | else last_n_n = 1; |
||
| 1020 | } else last_n_n = 0; |
||
| 1021 | } |
||
| 1022 | else |
||
| 1023 | { |
||
| 1024 | cnt = 0; |
||
| 1025 | KompassSignalSchlecht = 1000; |
||
| 1026 | } |
||
| 1027 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1028 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1029 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
||
| 1030 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 1031 | |||
| 1032 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1033 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1034 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
||
| 1035 | ausgleichRoll = 0; |
||
| 1036 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
||
| 1037 | { |
||
| 1038 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
||
| 1039 | { |
||
| 1040 | if(last_r_p) |
||
| 1041 | { |
||
| 1042 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
||
| 1043 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1044 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
||
| 1045 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1046 | } |
||
| 1047 | else last_r_p = 1; |
||
| 1048 | } else last_r_p = 0; |
||
| 1049 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
||
| 1050 | { |
||
| 1051 | if(last_r_n) |
||
| 1052 | { |
||
| 1053 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
||
| 1054 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1055 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
||
| 1056 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1057 | } |
||
| 1058 | else last_r_n = 1; |
||
| 1059 | } else last_r_n = 0; |
||
| 1060 | } else |
||
| 1061 | { |
||
| 1062 | cnt = 0; |
||
| 1063 | KompassSignalSchlecht = 1000; |
||
| 1064 | } |
||
| 1065 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1066 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1067 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
||
| 1068 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 1069 | } |
||
| 1070 | else |
||
| 1071 | { |
||
| 1072 | LageKorrekturRoll = 0; |
||
| 1073 | LageKorrekturNick = 0; |
||
| 1074 | TrichterFlug = 0; |
||
| 1075 | } |
||
| 1076 | |||
| 1077 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
||
| 1078 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1079 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1080 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1081 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1082 | IntegralAccNick = 0; |
||
| 1083 | IntegralAccRoll = 0; |
||
| 1084 | IntegralAccZ = 0; |
||
| 1085 | MittelIntegralNick = 0; |
||
| 1086 | MittelIntegralRoll = 0; |
||
| 1087 | MittelIntegralNick2 = 0; |
||
| 1088 | MittelIntegralRoll2 = 0; |
||
| 1089 | ZaehlMessungen = 0; |
||
| 1090 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
||
| 1091 | |||
| 1092 | |||
| 1093 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1094 | // Gieren |
||
| 1095 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1096 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
||
| 1097 | if(abs(StickGier) > 15) // war 35 |
||
| 1098 | { |
||
| 1099 | KompassSignalSchlecht = 1000; |
||
| 1100 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
||
| 1101 | { |
||
| 1102 | NeueKompassRichtungMerken = 1; |
||
| 1103 | }; |
||
| 1104 | } |
||
| 1105 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
||
| 1106 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
||
| 1107 | sollGier = tmp_int; |
||
| 1108 | Mess_Integral_Gier -= tmp_int; |
||
| 1109 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
||
| 1110 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1111 | |||
| 1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1113 | // Kompass |
||
| 1114 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1115 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
||
| 1116 | |||
| 1117 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
| 1118 | { |
||
| 1119 | int w,v,r,fehler,korrektur; |
||
| 1120 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
||
| 1121 | v = abs(IntegralRoll /512); |
||
| 1122 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1123 | korrektur = w / 8 + 1; |
||
| 1124 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
| 1125 | if(abs(MesswertGier) > 128) |
||
| 1126 | { |
||
| 1127 | fehler = 0; |
||
| 1128 | } |
||
| 1129 | if(!KompassSignalSchlecht && w < 25) |
||
| 1130 | { |
||
| 1131 | GierGyroFehler += fehler; |
||
| 1132 | if(NeueKompassRichtungMerken) |
||
| 1133 | { |
||
| 1134 | beeptime = 200; |
||
| 1135 | // KompassStartwert = KompassValue; |
||
| 1136 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
| 1137 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
| 1138 | NeueKompassRichtungMerken = 0; |
||
| 1139 | } |
||
| 1140 | } |
||
| 1141 | ErsatzKompass += (fehler * 8) / korrektur; |
||
| 1142 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
||
| 1143 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
||
| 1144 | if(w >= 0) |
||
| 1145 | { |
||
| 1146 | if(!KompassSignalSchlecht) |
||
| 1147 | { |
||
| 1148 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
||
| 1149 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
||
| 1150 | // r = KompassRichtung; |
||
| 1151 | v = (r * w) / v; // nach Kompass ausrichten |
||
| 1152 | w = 3 * Parameter_KompassWirkung; |
||
| 1153 | if(v > w) v = w; // Begrenzen |
||
| 1154 | else |
||
| 1155 | if(v < -w) v = -w; |
||
| 1156 | Mess_Integral_Gier += v; |
||
| 1157 | } |
||
| 1158 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
| 1159 | } |
||
| 1160 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
||
| 1161 | } |
||
| 1162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1163 | |||
| 1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1165 | // Debugwerte zuordnen |
||
| 1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1167 | if(!TimerWerteausgabe--) |
||
| 1168 | { |
||
| 1169 | TimerWerteausgabe = 24; |
||
| 1170 | |||
| 1171 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1172 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1173 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
| 1174 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
| 1175 | DebugOut.Analog[4] = MesswertGier; |
||
| 1176 | DebugOut.Analog[5] = HoehenWert; |
||
| 1177 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
||
| 1178 | DebugOut.Analog[8] = KompassValue; |
||
| 1179 | DebugOut.Analog[9] = UBat; |
||
| 1180 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
||
| 1181 | DebugOut.Analog[10] = SenderOkay; |
||
| 1182 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
||
| 1183 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
||
| 1184 | //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
||
| 1185 | DebugOut.Analog[19] = WinkelOut.CalcState; |
||
| 1186 | DebugOut.Analog[20] = ServoValue; |
||
| 1187 | // DebugOut.Analog[24] = MesswertNick/2; |
||
| 1188 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
| 1189 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1190 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1191 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1192 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
||
| 1193 | DebugOut.Analog[30] = GPS_Nick; |
||
| 1194 | DebugOut.Analog[31] = GPS_Roll; |
||
| 1195 | |||
| 1196 | |||
| 1197 | // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
||
| 1198 | // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
||
| 1199 | |||
| 1200 | /* DebugOut.Analog[16] = motor_rx[0]; |
||
| 1201 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1202 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1203 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1204 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1205 | DebugOut.Analog[20] /= 14; |
||
| 1206 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1207 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1208 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1209 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1210 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1211 | */ |
||
| 1212 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1213 | // DebugOut.Analog[9] = SollHoehe; |
||
| 1214 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 1215 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 1216 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
||
| 1217 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
||
| 1218 | // DebugOut.Analog[9] = KompassRichtung; |
||
| 1219 | // DebugOut.Analog[10] = GasMischanteil; |
||
| 1220 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 1221 | // DebugOut.Analog[4] = hoehenregler; |
||
| 1222 | } |
||
| 1223 | |||
| 1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1225 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
||
| 1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1227 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
||
| 1228 | |||
| 1229 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
||
| 1230 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1231 | |||
| 1232 | #define TRIM_MAX 200 |
||
| 1233 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
||
| 1234 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1235 | |||
| 1236 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
||
| 1237 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1238 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
||
| 1239 | |||
| 1240 | // Maximalwerte abfangen |
||
| 1241 | // #define MAX_SENSOR (4096*STICK_GAIN) |
||
| 1242 | #define MAX_SENSOR (4096*4) |
||
| 1243 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
| 1244 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
| 1245 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1246 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1247 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1248 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1249 | |||
| 1250 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1251 | // all BL-Ctrl connected? |
||
| 1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1253 | if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
||
| 1254 | { |
||
| 1255 | modell_fliegt = 1; |
||
| 1256 | GasMischanteil = MIN_GAS; |
||
| 1257 | } |
||
| 1258 | |||
| 1259 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1260 | // Höhenregelung |
||
| 1261 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1262 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1263 | GasMischanteil *= STICK_GAIN; |
||
| 1264 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
||
| 1265 | { |
||
| 1266 | int tmp_int; |
||
| 1267 | static char delay = 100; |
||
| 1268 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1269 | { |
||
| 1270 | if(Parameter_MaxHoehe < 50) |
||
| 1271 | { |
||
| 1272 | if(!delay--) |
||
| 1273 | { |
||
| 1274 | if((MessLuftdruck > 1000) && OCR0A < 254) |
||
| 1275 | { |
||
| 1276 | if(OCR0A < 244) |
||
| 1277 | { |
||
| 1278 | ExpandBaro -= 10; |
||
| 1279 | OCR0A = DruckOffsetSetting - ExpandBaro; |
||
| 1280 | } |
||
| 1281 | else OCR0A = 254; |
||
| 1282 | beeptime = 300; |
||
| 1283 | delay = 250; |
||
| 1284 | } |
||
| 1285 | else |
||
| 1286 | if((MessLuftdruck < 100) && OCR0A > 1) |
||
| 1287 | { |
||
| 1288 | if(OCR0A > 10) |
||
| 1289 | { |
||
| 1290 | ExpandBaro += 10; |
||
| 1291 | OCR0A = DruckOffsetSetting - ExpandBaro; |
||
| 1292 | } |
||
| 1293 | else OCR0A = 1; |
||
| 1294 | beeptime = 300; |
||
| 1295 | delay = 250; |
||
| 1296 | } |
||
| 1297 | else |
||
| 1298 | { |
||
| 1299 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
||
| 1300 | HoehenReglerAktiv = 0; |
||
| 1301 | delay = 1; |
||
| 1302 | } |
||
| 1303 | } |
||
| 1304 | } |
||
| 1305 | else |
||
| 1306 | { |
||
| 1307 | HoehenReglerAktiv = 1; |
||
| 1308 | delay = 200; |
||
| 1309 | } |
||
| 1310 | } |
||
| 1311 | else |
||
| 1312 | { |
||
| 1313 | SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
||
| 1314 | HoehenReglerAktiv = 1; |
||
| 1315 | } |
||
| 1316 | |||
| 1317 | if(Notlandung) SollHoehe = 0; |
||
| 1318 | h = HoehenWert; |
||
| 1319 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
||
| 1320 | { |
||
| 1321 | h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
||
| 1322 | h = GasMischanteil - h; // vom Gas abziehen |
||
| 1323 | h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
||
| 1324 | tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
||
| 1325 | if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
||
| 1326 | else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
||
| 1327 | h -= tmp_int; |
||
| 1328 | hoehenregler = (hoehenregler*15 + h) / 16; |
||
| 1329 | if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
||
| 1330 | { |
||
| 1331 | if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
||
| 1332 | if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
||
| 1333 | } |
||
| 1334 | if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
||
| 1335 | GasMischanteil = hoehenregler; |
||
| 1336 | } |
||
| 1337 | } |
||
| 1338 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
||
| 1339 | |||
| 1340 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1341 | // + Mischer und PI-Regler |
||
| 1342 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1343 | DebugOut.Analog[7] = GasMischanteil; |
||
| 1344 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1345 | // Gier-Anteil |
||
| 1346 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1347 | #define MUL_G 1.0 |
||
| 1348 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
||
| 1349 | // GierMischanteil = 0; |
||
| 1350 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 1351 | if(GasMischanteil > MIN_GIERGAS) |
||
| 1352 | { |
||
| 1353 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
||
| 1354 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 1355 | } |
||
| 1356 | else |
||
| 1357 | { |
||
| 1358 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
||
| 1359 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 1360 | } |
||
| 1361 | tmp_int = MAX_GAS*STICK_GAIN; |
||
| 1362 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
||
| 1363 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
||
| 1364 | |||
| 1365 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1366 | // Nick-Achse |
||
| 1367 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1368 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
||
| 1369 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
||
| 1370 | else SummeNick += DiffNick; // I-Anteil bei HH |
||
| 1371 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
||
| 1372 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1373 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
||
| 1374 | // Motor Vorn |
||
| 1375 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1376 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
||
| 1377 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 1378 | |||
| 1379 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1380 | // Roll-Achse |
||
| 1381 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1382 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1383 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1384 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
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| 1385 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
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| 1386 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
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| 1387 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
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| 1388 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
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| 1389 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 1390 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
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| 1391 | |||
| 1392 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1393 | // Universal Mixer |
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| 1394 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1395 | for(i=0; i<MAX_MOTORS; i++) |
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| 1396 | { |
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| 1397 | signed int tmp_int; |
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| 1398 | if(Mixer.Motor[i][0] > 0) |
||
| 1399 | { |
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| 1400 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
| 1401 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
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| 1402 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
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| 1403 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1404 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
| 1405 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
||
| 1406 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
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| 1407 | Motor[i] = tmp_int; |
||
| 1408 | } |
||
| 1409 | else Motor[i] = 0; |
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| 1410 | } |
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| 1411 | /* |
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| 1412 | if(Poti1 > 20) Motor1 = 0; |
||
| 1413 | if(Poti1 > 90) Motor6 = 0; |
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| 1414 | if(Poti1 > 140) Motor2 = 0; |
||
| 1415 | //if(Poti1 > 200) Motor7 = 0; |
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| 1416 | */ |
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| 1417 | } |