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| Rev | Author | Line No. | Line |
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| 1400 | acid | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 |
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| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 53 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 55 | |||
| 56 | #include "main.h" |
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| 57 | #include "eeprom.c" |
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| 58 | #include "mymath.h" |
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| 59 | #include "isqrt.h" |
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| 60 | |||
| 61 | unsigned char h,m,s; |
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| 62 | unsigned int BaroExpandActive = 0; |
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| 63 | volatile unsigned int I2CTimeout = 100; |
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| 64 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
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| 65 | int TrimNick, TrimRoll; |
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| 66 | int AdNeutralGierBias; |
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| 67 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
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| 68 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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| 69 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
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| 70 | volatile float NeutralAccZ = 0; |
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| 71 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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| 72 | long IntegralNick = 0,IntegralNick2 = 0; |
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| 73 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 74 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 75 | long Integral_Gier = 0; |
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| 76 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 77 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 79 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 80 | volatile long Mess_Integral_Hoch = 0; |
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| 81 | int KompassValue = 0; |
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| 82 | int KompassStartwert = 0; |
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| 83 | int KompassRichtung = 0; |
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| 84 | unsigned int KompassSignalSchlecht = 500; |
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| 85 | unsigned char MAX_GAS,MIN_GAS; |
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| 86 | unsigned char HoehenReglerAktiv = 0; |
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| 87 | unsigned char TrichterFlug = 0; |
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| 88 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
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| 89 | long ErsatzKompass; |
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| 90 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 91 | int GierGyroFehler = 0; |
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| 92 | char GyroFaktor,GyroFaktorGier; |
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| 93 | char IntegralFaktor,IntegralFaktorGier; |
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| 94 | int DiffNick,DiffRoll; |
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| 95 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
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| 96 | volatile unsigned char SenderOkay = 0; |
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| 97 | volatile unsigned char SenderRSSI = 0; |
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| 98 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
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| 99 | char MotorenEin = 0; |
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| 100 | long HoehenWert = 0; |
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| 101 | long SollHoehe = 0; |
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| 102 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
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| 103 | //float Ki = FAKTOR_I; |
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| 104 | int Ki = 10300 / 33; |
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| 105 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
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| 106 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 107 | |||
| 108 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 109 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 110 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 111 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 112 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 113 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
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| 114 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
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| 115 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
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| 116 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
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| 117 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
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| 118 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 119 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
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| 120 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 121 | unsigned char Parameter_UserParam1 = 0; |
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| 122 | unsigned char Parameter_UserParam2 = 0; |
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| 123 | unsigned char Parameter_UserParam3 = 0; |
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| 124 | unsigned char Parameter_UserParam4 = 0; |
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| 125 | unsigned char Parameter_UserParam5 = 0; |
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| 126 | unsigned char Parameter_UserParam6 = 0; |
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| 127 | unsigned char Parameter_UserParam7 = 0; |
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| 128 | unsigned char Parameter_UserParam8 = 0; |
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| 129 | unsigned char Parameter_ServoNickControl = 100; |
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| 130 | unsigned char Parameter_ServoRollControl = 100; |
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| 131 | unsigned char Parameter_LoopGasLimit = 70; |
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| 132 | unsigned char Parameter_AchsKopplung1 = 90; |
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| 133 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 134 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 135 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 136 | unsigned char Parameter_DynamicStability = 100; |
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| 137 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
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| 138 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 139 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 140 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 141 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 142 | unsigned char Parameter_NaviGpsGain; |
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| 143 | unsigned char Parameter_NaviGpsP; |
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| 144 | unsigned char Parameter_NaviGpsI; |
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| 145 | unsigned char Parameter_NaviGpsD; |
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| 146 | unsigned char Parameter_NaviGpsACC; |
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| 147 | unsigned char Parameter_NaviOperatingRadius; |
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| 148 | unsigned char Parameter_NaviWindCorrection; |
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| 149 | unsigned char Parameter_NaviSpeedCompensation; |
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| 150 | unsigned char Parameter_ExternalControl; |
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| 151 | struct mk_param_struct EE_Parameter; |
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| 152 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
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| 153 | int MaxStickNick = 0,MaxStickRoll = 0; |
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| 154 | unsigned int modell_fliegt = 0; |
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| 155 | volatile unsigned char MikroKopterFlags = 0; |
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| 156 | long GIER_GRAD_FAKTOR = 1291; |
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| 157 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
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| 158 | unsigned char RequiredMotors = 4; |
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| 159 | unsigned char Motor[MAX_MOTORS]; |
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| 160 | signed int tmp_motorwert[MAX_MOTORS]; |
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| 161 | unsigned char LoadHandler = 0; |
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| 162 | #define LIMIT_MIN(value, min) {if(value < min) value = min;} |
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| 163 | #define LIMIT_MAX(value, max) {if(value > max) value = max;} |
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| 164 | #define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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| 165 | |||
| 166 | int MotorSmoothing(int neu, int alt) |
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| 167 | { |
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| 168 | int motor; |
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| 169 | if(neu > alt) motor = (1*(int)alt + neu) / 2; |
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| 170 | else motor = neu - (alt - neu)*1; |
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| 171 | //if(Poti2 < 20) return(neu); |
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| 172 | return(motor); |
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| 173 | } |
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| 174 | |||
| 175 | void Piep(unsigned char Anzahl, unsigned int dauer) |
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| 176 | { |
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| 177 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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| 178 | while(Anzahl--) |
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| 179 | { |
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| 180 | beeptime = dauer; |
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| 181 | while(beeptime); |
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| 182 | Delay_ms(dauer * 2); |
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| 183 | } |
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| 184 | } |
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| 185 | |||
| 186 | //############################################################################ |
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| 187 | // Nullwerte ermitteln |
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| 188 | void SetNeutral(void) |
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| 189 | //############################################################################ |
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| 190 | { |
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| 191 | unsigned char i; |
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| 192 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 193 | HEF4017R_ON; |
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| 194 | NeutralAccX = 0; |
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| 195 | NeutralAccY = 0; |
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| 196 | NeutralAccZ = 0; |
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| 197 | AdNeutralNick = 0; |
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| 198 | AdNeutralRoll = 0; |
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| 199 | AdNeutralGier = 0; |
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| 200 | AdNeutralGierBias = 0; |
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| 201 | Parameter_AchsKopplung1 = 0; |
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| 202 | Parameter_AchsKopplung2 = 0; |
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| 203 | ExpandBaro = 0; |
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| 204 | CalibrierMittelwert(); |
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| 205 | Delay_ms_Mess(100); |
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| 206 | CalibrierMittelwert(); |
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| 207 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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| 208 | { |
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| 209 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
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| 210 | } |
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| 211 | #define NEUTRAL_FILTER 32 |
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| 212 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 213 | { |
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| 214 | Delay_ms_Mess(10); |
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| 215 | gier_neutral += AdWertGier; |
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| 216 | nick_neutral += AdWertNick; |
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| 217 | roll_neutral += AdWertRoll; |
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| 218 | } |
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| 219 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 220 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 221 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 222 | AdNeutralGierBias = AdNeutralGier; |
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| 223 | StartNeutralRoll = AdNeutralRoll; |
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| 224 | StartNeutralNick = AdNeutralNick; |
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| 225 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
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| 226 | { |
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| 227 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 228 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 229 | NeutralAccZ = Aktuell_az; |
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| 230 | } |
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| 231 | else |
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| 232 | { |
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| 233 | 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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| 234 | 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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| 235 | 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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| 236 | } |
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| 237 | |||
| 238 | MesswertNick = 0; |
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| 239 | MesswertRoll = 0; |
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| 240 | MesswertGier = 0; |
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| 241 | Delay_ms_Mess(100); |
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| 242 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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| 243 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 244 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
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| 245 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 246 | Mess_IntegralNick2 = IntegralNick; |
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| 247 | Mess_IntegralRoll2 = IntegralRoll; |
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| 248 | Mess_Integral_Gier = 0; |
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| 249 | StartLuftdruck = Luftdruck; |
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| 250 | VarioMeter = 0; |
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| 251 | Mess_Integral_Hoch = 0; |
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| 252 | KompassStartwert = KompassValue; |
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| 253 | GPS_Neutral(); |
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| 254 | beeptime = 50; |
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| 255 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
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| 256 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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| 257 | ExternHoehenValue = 0; |
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| 258 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
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| 259 | GierGyroFehler = 0; |
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| 260 | SendVersionToNavi = 1; |
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| 261 | LED_Init(); |
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| 262 | MikroKopterFlags |= FLAG_CALIBRATE; |
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| 263 | FromNaviCtrl_Value.Kalman_K = -1; |
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| 264 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
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| 265 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
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| 266 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
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| 267 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
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| 268 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
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| 269 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
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| 270 | SenderOkay = 100; |
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| 271 | { |
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| 272 | HEF4017R_ON; |
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| 273 | DDRD |=0x80; // enable J7 -> Servo signal |
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| 274 | } |
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| 275 | } |
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| 276 | |||
| 277 | //############################################################################ |
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| 278 | // Bearbeitet die Messwerte |
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| 279 | void Mittelwert(void) |
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| 280 | //############################################################################ |
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| 281 | { |
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| 282 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
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| 283 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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| 284 | signed long winkel_nick, winkel_roll; |
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| 285 | |||
| 286 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
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| 287 | // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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| 288 | MesswertNick = (signed int) AdWertNickFilter / 8; |
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| 289 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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| 290 | RohMesswertNick = MesswertNick; |
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| 291 | RohMesswertRoll = MesswertRoll; |
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| 292 | |||
| 293 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 294 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
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| 295 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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| 296 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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| 297 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
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| 298 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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| 299 | NaviAccNick += AdWertAccNick; |
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| 300 | NaviAccRoll += AdWertAccRoll; |
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| 301 | NaviCntAcc++; |
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| 302 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
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| 303 | |||
| 304 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 305 | // ADC einschalten |
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| 306 | ANALOG_ON; |
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| 307 | AdReady = 0; |
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| 308 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 309 | |||
| 310 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
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| 311 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
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| 312 | else winkel_roll = Mess_IntegralRoll; |
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| 313 | |||
| 314 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
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| 315 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
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| 316 | else winkel_nick = Mess_IntegralNick; |
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| 317 | |||
| 318 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 319 | Mess_Integral_Gier += MesswertGier; |
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| 320 | ErsatzKompass += MesswertGier; |
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| 321 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
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| 322 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
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| 323 | { |
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| 324 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
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| 325 | tmpl3 *= Parameter_AchsKopplung2; //65 |
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| 326 | tmpl3 /= 4096L; |
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| 327 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
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| 328 | tmpl4 *= Parameter_AchsKopplung2; //65 |
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| 329 | tmpl4 /= 4096L; |
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| 330 | KopplungsteilNickRoll = tmpl3; |
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| 331 | KopplungsteilRollNick = tmpl4; |
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| 332 | tmpl4 -= tmpl3; |
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| 333 | ErsatzKompass += tmpl4; |
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| 334 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
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| 335 | |||
| 336 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
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| 337 | tmpl *= Parameter_AchsKopplung1; // 90 |
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| 338 | tmpl /= 4096L; |
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| 339 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
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| 340 | tmpl2 *= Parameter_AchsKopplung1; |
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| 341 | tmpl2 /= 4096L; |
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| 342 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
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| 343 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
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| 344 | } |
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| 345 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
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| 346 | |||
| 347 | TrimRoll = tmpl - tmpl2 / 100L; |
||
| 348 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 349 | |||
| 350 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 351 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 352 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 353 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 354 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
||
| 355 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 356 | if(Mess_IntegralRoll > Umschlag180Roll) |
||
| 357 | { |
||
| 358 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
||
| 359 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 360 | } |
||
| 361 | if(Mess_IntegralRoll <-Umschlag180Roll) |
||
| 362 | { |
||
| 363 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
||
| 364 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 365 | } |
||
| 366 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 367 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
||
| 368 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 369 | if(Mess_IntegralNick > Umschlag180Nick) |
||
| 370 | { |
||
| 371 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 372 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 373 | } |
||
| 374 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 375 | { |
||
| 376 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
||
| 377 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 378 | } |
||
| 379 | |||
| 380 | Integral_Gier = Mess_Integral_Gier; |
||
| 381 | IntegralNick = Mess_IntegralNick; |
||
| 382 | IntegralRoll = Mess_IntegralRoll; |
||
| 383 | IntegralNick2 = Mess_IntegralNick2; |
||
| 384 | IntegralRoll2 = Mess_IntegralRoll2; |
||
| 385 | |||
| 386 | #define D_LIMIT 128 |
||
| 387 | |||
| 388 | MesswertNick = HiResNick / 8; |
||
| 389 | MesswertRoll = HiResRoll / 8; |
||
| 390 | |||
| 391 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
||
| 392 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 393 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 394 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 395 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 396 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 397 | |||
| 398 | if(Parameter_Gyro_D) |
||
| 399 | { |
||
| 400 | d2Nick = HiResNick - oldNick; |
||
| 401 | oldNick = (oldNick + HiResNick)/2; |
||
| 402 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
||
| 403 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 404 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
| 405 | d2Roll = HiResRoll - oldRoll; |
||
| 406 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 407 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
||
| 408 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 409 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
||
| 410 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 411 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 412 | } |
||
| 413 | |||
| 414 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 415 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 416 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 417 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 418 | |||
| 419 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 420 | { |
||
| 421 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 422 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 423 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 424 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 425 | } |
||
| 426 | |||
| 427 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
||
| 428 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 429 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 430 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 431 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 432 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 433 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 434 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 435 | } |
||
| 436 | |||
| 437 | //############################################################################ |
||
| 438 | // Messwerte beim Ermitteln der Nullage |
||
| 439 | void CalibrierMittelwert(void) |
||
| 440 | //############################################################################ |
||
| 441 | { |
||
| 442 | if(PlatinenVersion == 13) SucheGyroOffset(); |
||
| 443 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
||
| 444 | ANALOG_OFF; |
||
| 445 | MesswertNick = AdWertNick; |
||
| 446 | MesswertRoll = AdWertRoll; |
||
| 447 | MesswertGier = AdWertGier; |
||
| 448 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 449 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 450 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 451 | // ADC einschalten |
||
| 452 | ANALOG_ON; |
||
| 453 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
||
| 454 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 455 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 456 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 457 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 458 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 459 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 460 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 461 | |||
| 462 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 463 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 464 | } |
||
| 465 | |||
| 466 | //############################################################################ |
||
| 467 | // Senden der Motorwerte per I2C-Bus |
||
| 468 | void SendMotorData(void) |
||
| 469 | //############################################################################ |
||
| 470 | { |
||
| 471 | unsigned char i; |
||
| 472 | if(!MotorenEin) |
||
| 1465 | acid | 473 | { |
| 1400 | acid | 474 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| 1465 | acid | 475 | for(i=0;i<MAX_MOTORS;i++) |
| 476 | { |
||
| 477 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 478 | Motor[i] = MotorTest[i]; |
||
| 479 | } |
||
| 480 | if(PC_MotortestActive) PC_MotortestActive--; |
||
| 481 | } |
||
| 482 | else MikroKopterFlags |= FLAG_MOTOR_RUN; |
||
| 1400 | acid | 483 | |
| 1465 | acid | 484 | /* DebugOut.Analog[12] = Motor[0]; |
| 485 | DebugOut.Analog[13] = Motor[1]; |
||
| 486 | DebugOut.Analog[14] = Motor[3]; |
||
| 487 | DebugOut.Analog[15] = Motor[2];*/ |
||
| 1400 | acid | 488 | |
| 1568 | acid | 489 | #if USE_SERVOBOARD |
| 1400 | acid | 490 | //Start I2C Interrupt Mode |
| 491 | twi_state = 0; |
||
| 492 | motor = 0; |
||
| 493 | i2c_start(); |
||
| 1568 | acid | 494 | #endif |
| 1400 | acid | 495 | } |
| 496 | |||
| 497 | |||
| 498 | |||
| 499 | //############################################################################ |
||
| 500 | // Trägt ggf. das Poti als Parameter ein |
||
| 501 | void ParameterZuordnung(void) |
||
| 502 | //############################################################################ |
||
| 503 | { |
||
| 504 | #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;} |
||
| 505 | #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; } |
||
| 506 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
||
| 507 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
||
| 508 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 509 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
||
| 510 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255); |
||
| 511 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
||
| 512 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 513 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
||
| 514 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
||
| 515 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P,10,255); |
||
| 516 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I,0,255); |
||
| 517 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
||
| 518 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 519 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 520 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 521 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 522 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 523 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 524 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 525 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 526 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
||
| 527 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255); |
||
| 528 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
||
| 529 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
||
| 530 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
||
| 531 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
||
| 532 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 533 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
||
| 534 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 535 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 536 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
| 537 | Ki = 10300 / (Parameter_I_Faktor + 1); |
||
| 538 | MAX_GAS = EE_Parameter.Gas_Max; |
||
| 539 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 540 | } |
||
| 541 | |||
| 1465 | acid | 542 | |
| 1400 | acid | 543 | //############################################################################ |
| 544 | // |
||
| 545 | void MotorRegler(void) |
||
| 546 | //############################################################################ |
||
| 547 | { |
||
| 548 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
||
| 549 | int GierMischanteil,GasMischanteil; |
||
| 550 | static long SummeNick=0,SummeRoll=0; |
||
| 551 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 552 | static long IntegralFehlerNick = 0; |
||
| 553 | static long IntegralFehlerRoll = 0; |
||
| 554 | static unsigned int RcLostTimer; |
||
| 555 | static unsigned char delay_neutral = 0; |
||
| 556 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 557 | static char TimerWerteausgabe = 0; |
||
| 558 | static char NeueKompassRichtungMerken = 0; |
||
| 559 | static long ausgleichNick, ausgleichRoll; |
||
| 560 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
||
| 561 | unsigned char i; |
||
| 562 | if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast |
||
| 563 | Mittelwert(); |
||
| 564 | GRN_ON; |
||
| 565 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 566 | // Gaswert ermitteln |
||
| 567 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 568 | GasMischanteil = StickGas; |
||
| 569 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
||
| 570 | |||
| 571 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 572 | // Empfang schlecht |
||
| 573 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 574 | if(SenderOkay < 100) |
||
| 575 | { |
||
| 576 | if(RcLostTimer) RcLostTimer--; |
||
| 577 | else |
||
| 578 | { |
||
| 579 | MotorenEin = 0; |
||
| 580 | MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
||
| 581 | } |
||
| 582 | ROT_ON; |
||
| 583 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
||
| 584 | { |
||
| 585 | GasMischanteil = EE_Parameter.NotGas; |
||
| 586 | MikroKopterFlags |= FLAG_NOTLANDUNG; |
||
| 587 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 588 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 589 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 590 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 591 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 592 | } |
||
| 593 | else MotorenEin = 0; |
||
| 594 | } |
||
| 595 | else |
||
| 596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 597 | // Emfang gut |
||
| 598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 599 | if(SenderOkay > 140) |
||
| 600 | { |
||
| 601 | MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
||
| 602 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
| 603 | if(GasMischanteil > 40 && MotorenEin) |
||
| 604 | { |
||
| 605 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 606 | } |
||
| 607 | if((modell_fliegt < 256)) |
||
| 608 | { |
||
| 609 | SummeNick = 0; |
||
| 610 | SummeRoll = 0; |
||
| 611 | if(modell_fliegt == 250) |
||
| 612 | { |
||
| 613 | NeueKompassRichtungMerken = 1; |
||
| 614 | sollGier = 0; |
||
| 615 | Mess_Integral_Gier = 0; |
||
| 616 | // Mess_Integral_Gier2 = 0; |
||
| 617 | } |
||
| 618 | } else MikroKopterFlags |= FLAG_FLY; |
||
| 619 | |||
| 620 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
||
| 621 | { |
||
| 622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 623 | // auf Nullwerte kalibrieren |
||
| 624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 625 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
||
| 626 | { |
||
| 627 | if(++delay_neutral > 200) // nicht sofort |
||
| 628 | { |
||
| 629 | GRN_OFF; |
||
| 630 | MotorenEin = 0; |
||
| 631 | delay_neutral = 0; |
||
| 632 | modell_fliegt = 0; |
||
| 633 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 634 | { |
||
| 635 | unsigned char setting=1; |
||
| 636 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
||
| 637 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 638 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 639 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 640 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 641 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
||
| 642 | } |
||
| 643 | // else |
||
| 644 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
||
| 645 | { |
||
| 646 | WinkelOut.CalcState = 1; |
||
| 647 | beeptime = 1000; |
||
| 648 | } |
||
| 649 | else |
||
| 650 | { |
||
| 651 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 652 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 653 | { |
||
| 654 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
| 655 | } |
||
| 656 | SetNeutral(); |
||
| 657 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 658 | Piep(GetActiveParamSetNumber(),120); |
||
| 659 | } |
||
| 660 | } |
||
| 661 | } |
||
| 662 | else |
||
| 663 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
||
| 664 | { |
||
| 665 | if(++delay_neutral > 200) // nicht sofort |
||
| 666 | { |
||
| 667 | GRN_OFF; |
||
| 668 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 669 | MotorenEin = 0; |
||
| 670 | delay_neutral = 0; |
||
| 671 | modell_fliegt = 0; |
||
| 672 | SetNeutral(); |
||
| 673 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
| 674 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 675 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 676 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 677 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 678 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 679 | Piep(GetActiveParamSetNumber(),120); |
||
| 680 | } |
||
| 681 | } |
||
| 682 | else delay_neutral = 0; |
||
| 683 | } |
||
| 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 685 | // Gas ist unten |
||
| 686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 687 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
||
| 688 | { |
||
| 689 | // Starten |
||
| 690 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 691 | { |
||
| 692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 693 | // Einschalten |
||
| 694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 695 | if(++delay_einschalten > 200) |
||
| 696 | { |
||
| 1452 | acid | 697 | beeptime = 1000; |
| 1400 | acid | 698 | delay_einschalten = 200; |
| 699 | modell_fliegt = 1; |
||
| 700 | MotorenEin = 1; |
||
| 701 | sollGier = 0; |
||
| 702 | Mess_Integral_Gier = 0; |
||
| 703 | Mess_Integral_Gier2 = 0; |
||
| 704 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 705 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 706 | Mess_IntegralNick2 = IntegralNick; |
||
| 707 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 708 | SummeNick = 0; |
||
| 709 | SummeRoll = 0; |
||
| 710 | MikroKopterFlags |= FLAG_START; |
||
| 711 | } |
||
| 712 | } |
||
| 713 | else delay_einschalten = 0; |
||
| 714 | //Auf Neutralwerte setzen |
||
| 715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 716 | // Auschalten |
||
| 717 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 718 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 719 | { |
||
| 720 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 721 | { |
||
| 1452 | acid | 722 | beeptime = 1000; |
| 1400 | acid | 723 | MotorenEin = 0; |
| 724 | delay_ausschalten = 200; |
||
| 725 | modell_fliegt = 0; |
||
| 726 | } |
||
| 727 | } |
||
| 728 | else delay_ausschalten = 0; |
||
| 729 | } |
||
| 730 | } |
||
| 731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 732 | // neue Werte von der Funke |
||
| 733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 734 | |||
| 735 | if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG)) |
||
| 736 | { |
||
| 737 | static int stick_nick,stick_roll; |
||
| 738 | ParameterZuordnung(); |
||
| 1452 | acid | 739 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 740 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
||
| 1400 | acid | 741 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| 742 | |||
| 1452 | acid | 743 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 744 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 1400 | acid | 745 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| 746 | |||
| 747 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
||
| 748 | if(StickGier > 2) StickGier -= 2; else |
||
| 749 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 750 | |||
| 751 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
||
| 752 | |||
| 753 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
||
| 754 | IntegralFaktor = Parameter_Gyro_I; |
||
| 755 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
||
| 756 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 757 | |||
| 758 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 759 | //+ Analoge Steuerung per Seriell |
||
| 760 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 761 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
||
| 762 | { |
||
| 763 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 764 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 765 | StickGier += ExternControl.Gier; |
||
| 766 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 767 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 768 | } |
||
| 769 | if(StickGas < 0) StickGas = 0; |
||
| 770 | |||
| 771 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
||
| 772 | //if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 773 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 774 | |||
| 775 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
||
| 776 | { |
||
| 777 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
| 778 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
| 779 | } |
||
| 780 | else MaxStickNick--; |
||
| 781 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
||
| 782 | { |
||
| 783 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
| 784 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
| 785 | } |
||
| 786 | else MaxStickRoll--; |
||
| 787 | if(MikroKopterFlags & FLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
||
| 788 | |||
| 789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 790 | // Looping? |
||
| 791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 792 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
||
| 793 | else |
||
| 794 | { |
||
| 795 | { |
||
| 796 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
||
| 797 | } |
||
| 798 | } |
||
| 799 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
||
| 800 | else |
||
| 801 | { |
||
| 802 | if(Looping_Rechts) // Hysterese |
||
| 803 | { |
||
| 804 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 805 | } |
||
| 806 | } |
||
| 807 | |||
| 808 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
||
| 809 | else |
||
| 810 | { |
||
| 811 | if(Looping_Oben) // Hysterese |
||
| 812 | { |
||
| 813 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
||
| 814 | } |
||
| 815 | } |
||
| 816 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
||
| 817 | else |
||
| 818 | { |
||
| 819 | if(Looping_Unten) // Hysterese |
||
| 820 | { |
||
| 821 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 822 | } |
||
| 823 | } |
||
| 824 | |||
| 825 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 826 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
| 827 | } // Ende neue Funken-Werte |
||
| 828 | |||
| 829 | if(Looping_Roll || Looping_Nick) |
||
| 830 | { |
||
| 831 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
||
| 832 | TrichterFlug = 1; |
||
| 833 | } |
||
| 834 | |||
| 835 | |||
| 836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 837 | // Bei Empfangsausfall im Flug |
||
| 838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 839 | if(MikroKopterFlags & FLAG_NOTLANDUNG) |
||
| 840 | { |
||
| 841 | StickGier = 0; |
||
| 842 | StickNick = 0; |
||
| 843 | StickRoll = 0; |
||
| 844 | GyroFaktor = 90; |
||
| 845 | IntegralFaktor = 120; |
||
| 846 | GyroFaktorGier = 90; |
||
| 847 | IntegralFaktorGier = 120; |
||
| 848 | Looping_Roll = 0; |
||
| 849 | Looping_Nick = 0; |
||
| 850 | } |
||
| 851 | |||
| 852 | |||
| 853 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 854 | // Integrale auf ACC-Signal abgleichen |
||
| 855 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 856 | #define ABGLEICH_ANZAHL 256L |
||
| 857 | |||
| 858 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 859 | MittelIntegralRoll += IntegralRoll; |
||
| 860 | MittelIntegralNick2 += IntegralNick2; |
||
| 861 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 862 | |||
| 863 | if(Looping_Nick || Looping_Roll) |
||
| 864 | { |
||
| 865 | IntegralAccNick = 0; |
||
| 866 | IntegralAccRoll = 0; |
||
| 867 | MittelIntegralNick = 0; |
||
| 868 | MittelIntegralRoll = 0; |
||
| 869 | MittelIntegralNick2 = 0; |
||
| 870 | MittelIntegralRoll2 = 0; |
||
| 871 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 872 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 873 | ZaehlMessungen = 0; |
||
| 874 | LageKorrekturNick = 0; |
||
| 875 | LageKorrekturRoll = 0; |
||
| 876 | } |
||
| 877 | |||
| 878 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 879 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
||
| 880 | { |
||
| 881 | long tmp_long, tmp_long2; |
||
| 882 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
||
| 883 | { |
||
| 884 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 885 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 886 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 887 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 888 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 889 | { |
||
| 890 | tmp_long /= 2; |
||
| 891 | tmp_long2 /= 2; |
||
| 892 | } |
||
| 893 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 894 | { |
||
| 895 | tmp_long /= 3; |
||
| 896 | tmp_long2 /= 3; |
||
| 897 | } |
||
| 898 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 899 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 900 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 901 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 902 | } |
||
| 903 | else |
||
| 904 | { |
||
| 905 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 906 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 907 | tmp_long /= 16; |
||
| 908 | tmp_long2 /= 16; |
||
| 909 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 910 | { |
||
| 911 | tmp_long /= 3; |
||
| 912 | tmp_long2 /= 3; |
||
| 913 | } |
||
| 914 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 915 | { |
||
| 916 | tmp_long /= 3; |
||
| 917 | tmp_long2 /= 3; |
||
| 918 | } |
||
| 919 | |||
| 920 | #define AUSGLEICH 32 |
||
| 921 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
||
| 922 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 923 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 924 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 925 | } |
||
| 926 | |||
| 927 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 928 | Mess_IntegralNick -= tmp_long; |
||
| 929 | Mess_IntegralRoll -= tmp_long2; |
||
| 930 | } |
||
| 931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 932 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
||
| 933 | { |
||
| 934 | static int cnt = 0; |
||
| 935 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 936 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 937 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
||
| 938 | { |
||
| 939 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
||
| 940 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 941 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 942 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 943 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 944 | #define MAX_I 0//(Poti2/10) |
||
| 945 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 946 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 947 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 948 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 949 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 950 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
||
| 951 | |||
| 952 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 953 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 954 | |||
| 955 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
||
| 956 | { |
||
| 957 | LageKorrekturNick /= 2; |
||
| 958 | LageKorrekturRoll /= 2; |
||
| 959 | } |
||
| 960 | |||
| 961 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 962 | // Gyro-Drift ermitteln |
||
| 963 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 964 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
||
| 965 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 966 | tmp_long = IntegralNick2 - IntegralNick; |
||
| 967 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 968 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
||
| 969 | |||
| 970 | IntegralFehlerNick = tmp_long; |
||
| 971 | IntegralFehlerRoll = tmp_long2; |
||
| 972 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 973 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 974 | |||
| 975 | if(EE_Parameter.Driftkomp) |
||
| 976 | { |
||
| 977 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
||
| 978 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 979 | } |
||
| 980 | GierGyroFehler = 0; |
||
| 981 | |||
| 982 | |||
| 983 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
||
| 984 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 985 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
||
| 986 | #define BEWEGUNGS_LIMIT 20000 |
||
| 987 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 988 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 989 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
||
| 990 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
||
| 991 | { |
||
| 992 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
||
| 993 | { |
||
| 994 | if(last_n_p) |
||
| 995 | { |
||
| 996 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
||
| 997 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 998 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
||
| 999 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 1000 | } |
||
| 1001 | else last_n_p = 1; |
||
| 1002 | } else last_n_p = 0; |
||
| 1003 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
||
| 1004 | { |
||
| 1005 | if(last_n_n) |
||
| 1006 | { |
||
| 1007 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
||
| 1008 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 1009 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
||
| 1010 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 1011 | } |
||
| 1012 | else last_n_n = 1; |
||
| 1013 | } else last_n_n = 0; |
||
| 1014 | } |
||
| 1015 | else |
||
| 1016 | { |
||
| 1017 | cnt = 0; |
||
| 1018 | KompassSignalSchlecht = 1000; |
||
| 1019 | } |
||
| 1020 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1021 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1022 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
||
| 1023 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 1024 | |||
| 1025 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1026 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1027 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
||
| 1028 | ausgleichRoll = 0; |
||
| 1029 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
||
| 1030 | { |
||
| 1031 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
||
| 1032 | { |
||
| 1033 | if(last_r_p) |
||
| 1034 | { |
||
| 1035 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
||
| 1036 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1037 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
||
| 1038 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1039 | } |
||
| 1040 | else last_r_p = 1; |
||
| 1041 | } else last_r_p = 0; |
||
| 1042 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
||
| 1043 | { |
||
| 1044 | if(last_r_n) |
||
| 1045 | { |
||
| 1046 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
||
| 1047 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1048 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
||
| 1049 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1050 | } |
||
| 1051 | else last_r_n = 1; |
||
| 1052 | } else last_r_n = 0; |
||
| 1053 | } else |
||
| 1054 | { |
||
| 1055 | cnt = 0; |
||
| 1056 | KompassSignalSchlecht = 1000; |
||
| 1057 | } |
||
| 1058 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1059 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1060 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
||
| 1061 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 1062 | } |
||
| 1063 | else |
||
| 1064 | { |
||
| 1065 | LageKorrekturRoll = 0; |
||
| 1066 | LageKorrekturNick = 0; |
||
| 1067 | TrichterFlug = 0; |
||
| 1068 | } |
||
| 1069 | |||
| 1070 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
||
| 1071 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1072 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1073 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1075 | IntegralAccNick = 0; |
||
| 1076 | IntegralAccRoll = 0; |
||
| 1077 | IntegralAccZ = 0; |
||
| 1078 | MittelIntegralNick = 0; |
||
| 1079 | MittelIntegralRoll = 0; |
||
| 1080 | MittelIntegralNick2 = 0; |
||
| 1081 | MittelIntegralRoll2 = 0; |
||
| 1082 | ZaehlMessungen = 0; |
||
| 1083 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
||
| 1084 | |||
| 1085 | |||
| 1086 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1087 | // Gieren |
||
| 1088 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1089 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
||
| 1090 | if(abs(StickGier) > 15) // war 35 |
||
| 1091 | { |
||
| 1092 | KompassSignalSchlecht = 1000; |
||
| 1093 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
||
| 1094 | { |
||
| 1095 | NeueKompassRichtungMerken = 1; |
||
| 1096 | }; |
||
| 1097 | } |
||
| 1098 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
||
| 1099 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
||
| 1100 | sollGier = tmp_int; |
||
| 1101 | Mess_Integral_Gier -= tmp_int; |
||
| 1102 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
||
| 1103 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1104 | |||
| 1105 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1106 | // Kompass |
||
| 1107 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1108 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
||
| 1109 | |||
| 1110 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
| 1111 | { |
||
| 1112 | int w,v,r,fehler,korrektur; |
||
| 1113 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
||
| 1114 | v = abs(IntegralRoll /512); |
||
| 1115 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1116 | korrektur = w / 8 + 1; |
||
| 1117 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
| 1118 | if(abs(MesswertGier) > 128) |
||
| 1119 | { |
||
| 1120 | fehler = 0; |
||
| 1121 | } |
||
| 1122 | if(!KompassSignalSchlecht && w < 25) |
||
| 1123 | { |
||
| 1124 | GierGyroFehler += fehler; |
||
| 1125 | if(NeueKompassRichtungMerken) |
||
| 1126 | { |
||
| 1127 | // beeptime = 200; |
||
| 1128 | // KompassStartwert = KompassValue; |
||
| 1129 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
| 1130 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
| 1131 | NeueKompassRichtungMerken = 0; |
||
| 1132 | } |
||
| 1133 | } |
||
| 1134 | ErsatzKompass += (fehler * 8) / korrektur; |
||
| 1135 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
||
| 1136 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
||
| 1137 | if(w >= 0) |
||
| 1138 | { |
||
| 1139 | if(!KompassSignalSchlecht) |
||
| 1140 | { |
||
| 1141 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
||
| 1142 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
||
| 1143 | // r = KompassRichtung; |
||
| 1144 | v = (r * w) / v; // nach Kompass ausrichten |
||
| 1145 | w = 3 * Parameter_KompassWirkung; |
||
| 1146 | if(v > w) v = w; // Begrenzen |
||
| 1147 | else |
||
| 1148 | if(v < -w) v = -w; |
||
| 1149 | Mess_Integral_Gier += v; |
||
| 1150 | } |
||
| 1151 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
| 1152 | } |
||
| 1153 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
||
| 1154 | } |
||
| 1155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1156 | |||
| 1157 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1158 | // Debugwerte zuordnen |
||
| 1159 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1160 | if(!TimerWerteausgabe--) |
||
| 1161 | { |
||
| 1162 | TimerWerteausgabe = 24; |
||
| 1163 | |||
| 1164 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1165 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1166 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
| 1167 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
| 1168 | DebugOut.Analog[4] = MesswertGier; |
||
| 1169 | DebugOut.Analog[5] = HoehenWert/5; |
||
| 1478 | acid | 1170 | //DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| 1400 | acid | 1171 | DebugOut.Analog[8] = KompassValue; |
| 1172 | DebugOut.Analog[9] = UBat; |
||
| 1173 | DebugOut.Analog[10] = SenderOkay; |
||
| 1174 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
||
| 1175 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
||
| 1176 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
||
| 1177 | DebugOut.Analog[18] = VarioMeter; |
||
| 1178 | DebugOut.Analog[19] = WinkelOut.CalcState; |
||
| 1179 | DebugOut.Analog[20] = ServoNickValue; |
||
| 1180 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
||
| 1181 | // DebugOut.Analog[24] = MesswertNick/2; |
||
| 1182 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
| 1183 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1184 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1185 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1186 | //DebugOut.Analog[28] = I2CError; |
||
| 1187 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
||
| 1188 | DebugOut.Analog[30] = GPS_Nick; |
||
| 1189 | DebugOut.Analog[31] = GPS_Roll; |
||
| 1190 | } |
||
| 1191 | |||
| 1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1193 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
||
| 1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1195 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
||
| 1196 | |||
| 1197 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
||
| 1198 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1199 | |||
| 1200 | #define TRIM_MAX 200 |
||
| 1201 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
||
| 1202 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1203 | |||
| 1204 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
||
| 1205 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1206 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
||
| 1207 | |||
| 1208 | // Maximalwerte abfangen |
||
| 1209 | // #define MAX_SENSOR (4096*STICK_GAIN) |
||
| 1210 | #define MAX_SENSOR (4096*4) |
||
| 1211 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
| 1212 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
| 1213 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1214 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1215 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1216 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1217 | |||
| 1218 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1219 | // Höhenregelung |
||
| 1220 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1222 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
||
| 1223 | GasMischanteil *= STICK_GAIN; |
||
| 1224 | |||
| 1225 | // if height control is activated |
||
| 1226 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
||
| 1227 | { |
||
| 1228 | #define HOOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
||
| 1229 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
||
| 1230 | #define OPA_OFFSET_STEP 10 |
||
| 1231 | int HCGas, HeightDeviation; |
||
| 1232 | static int HeightTrimming = 0; // rate for change of height setpoint |
||
| 1233 | static int FilterHCGas = 0; |
||
| 1234 | static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023; |
||
| 1235 | static unsigned long HooverGasFilter = 0; |
||
| 1236 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
||
| 1237 | int CosAttitude; // for projection of hoover gas |
||
| 1238 | |||
| 1239 | // get the current hooverpoint |
||
| 1240 | // if(LoadHandler == 1) |
||
| 1241 | { |
||
| 1242 | DebugOut.Analog[21] = HooverGas; |
||
| 1243 | DebugOut.Analog[18] = VarioMeter; |
||
| 1244 | |||
| 1245 | // Expand the measurement |
||
| 1246 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1247 | if(!BaroExpandActive) |
||
| 1248 | { |
||
| 1249 | if(MessLuftdruck > 920) |
||
| 1250 | { // increase offset |
||
| 1251 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
||
| 1252 | { |
||
| 1253 | ExpandBaro -= 1; |
||
| 1254 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1255 | beeptime = 300; |
||
| 1256 | BaroExpandActive = 350; |
||
| 1257 | } |
||
| 1258 | else |
||
| 1259 | { |
||
| 1260 | BaroAtLowerLimit = 1; |
||
| 1261 | } |
||
| 1262 | } |
||
| 1263 | // measurement of air pressure close to lower limit and |
||
| 1264 | else |
||
| 1265 | if(MessLuftdruck < 100) |
||
| 1266 | { // decrease offset |
||
| 1267 | if(OCR0A > OPA_OFFSET_STEP) |
||
| 1268 | { |
||
| 1269 | ExpandBaro += 1; |
||
| 1270 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1271 | beeptime = 300; |
||
| 1272 | BaroExpandActive = 350; |
||
| 1273 | } |
||
| 1274 | else |
||
| 1275 | { |
||
| 1276 | BaroAtUpperLimit = 1; |
||
| 1277 | } |
||
| 1278 | } |
||
| 1279 | else |
||
| 1280 | { |
||
| 1281 | BaroAtUpperLimit = 0; |
||
| 1282 | BaroAtLowerLimit = 0; |
||
| 1283 | } |
||
| 1284 | } |
||
| 1285 | else // delay, because of expanding the Baro-Range |
||
| 1286 | { |
||
| 1287 | // now clear the D-values |
||
| 1288 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1289 | VarioMeter = 0; |
||
| 1290 | BaroExpandActive--; |
||
| 1291 | } |
||
| 1292 | |||
| 1293 | // if height control is activated by an rc channel |
||
| 1294 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1295 | { // check if parameter is less than activation threshold |
||
| 1296 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1297 | { //height control not active |
||
| 1298 | if(!delay--) |
||
| 1299 | { |
||
| 1300 | HoehenReglerAktiv = 0; // disable height control |
||
| 1301 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1302 | delay = 1; |
||
| 1303 | } |
||
| 1304 | } |
||
| 1305 | else |
||
| 1306 | { //height control is activated |
||
| 1307 | HoehenReglerAktiv = 1; // enable height control |
||
| 1308 | delay = 200; |
||
| 1309 | } |
||
| 1310 | } |
||
| 1311 | else // no switchable height control |
||
| 1312 | { |
||
| 1313 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1314 | HoehenReglerAktiv = 1; |
||
| 1315 | } |
||
| 1316 | |||
| 1317 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
||
| 1318 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
| 1319 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1320 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1321 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
||
| 1322 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1323 | if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG)) |
||
| 1324 | { |
||
| 1325 | #define HEIGHT_TRIM_UP 0x01 |
||
| 1326 | #define HEIGHT_TRIM_DOWN 0x02 |
||
| 1327 | static unsigned char HeightTrimmingFlag = 0x00; |
||
| 1328 | |||
| 1329 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
||
| 1330 | // Holger original version |
||
| 1331 | // start of height control algorithm |
||
| 1332 | // the height control is only an attenuation of the actual gas stick. |
||
| 1333 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1334 | // and the hover height will be allways larger than height setpoint. |
||
| 1335 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
||
| 1336 | { // old version |
||
| 1337 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
||
| 1338 | HeightTrimming = 0; |
||
| 1339 | } |
||
| 1340 | else |
||
| 1341 | { |
||
| 1342 | // alternative height control |
||
| 1343 | // PD-Control with respect to hoover point |
||
| 1344 | // the thrust loss out of horizontal attitude is compensated |
||
| 1345 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1346 | if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying |
||
| 1347 | { // gas stick is above hoover point |
||
| 1348 | if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
||
| 1349 | { |
||
| 1350 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
| 1351 | { |
||
| 1352 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
| 1353 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1354 | } |
||
| 1355 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
| 1356 | HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
| 1357 | } // gas stick is below hoover point |
||
| 1358 | else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
||
| 1359 | { |
||
| 1360 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
| 1361 | { |
||
| 1362 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
| 1363 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1364 | } |
||
| 1365 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
| 1366 | HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
| 1367 | } |
||
| 1368 | else // Gas Stick in Hoover Range |
||
| 1369 | { |
||
| 1370 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
||
| 1371 | { |
||
| 1372 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
||
| 1373 | HeightTrimming = 0; |
||
| 1374 | SollHoehe = HoehenWert; // update setpoint to current height |
||
| 1375 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1376 | } |
||
| 1377 | } |
||
| 1378 | // Trim height set point |
||
| 1379 | if(abs(HeightTrimming) > 512) |
||
| 1380 | { |
||
| 1381 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
||
| 1382 | HeightTrimming = 0; |
||
| 1383 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
||
| 1384 | //update hoover gas stick value when setpoint is shifted |
||
| 1385 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
| 1386 | { |
||
| 1387 | StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value |
||
| 1388 | StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
||
| 1389 | if(StickGasHoover < 70) StickGasHoover = 70; |
||
| 1390 | else if(StickGasHoover > 150) StickGasHoover = 150; |
||
| 1391 | } |
||
| 1392 | } |
||
| 1393 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
||
| 1394 | } //if MikroKopterFlags & MKFLAG_FLY |
||
| 1395 | else |
||
| 1396 | { |
||
| 1397 | SollHoehe = HoehenWert - 400; |
||
| 1398 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
| 1399 | else StickGasHoover = 120; |
||
| 1400 | } |
||
| 1401 | HCGas = HooverGas; // take hoover gas (neutral point) |
||
| 1402 | } |
||
| 1403 | |||
| 1404 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
||
| 1405 | { |
||
| 1406 | // ------------------------- P-Part ---------------------------- |
||
| 1407 | HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high |
||
| 1408 | tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part |
||
| 1409 | HCGas -= tmp_int; |
||
| 1410 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
| 1411 | tmp_int = VarioMeter / 8; |
||
| 1412 | if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction |
||
| 1413 | if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4; |
||
| 1414 | else tmp_int = VarioMeter - (tmp_int * tmp_int) / 4; |
||
| 1415 | tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter |
||
| 1416 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
||
| 1417 | HCGas -= tmp_int; |
||
| 1418 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
||
| 1419 | tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
||
| 1420 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
||
| 1421 | HCGas -= tmp_int; |
||
| 1422 | |||
| 1423 | // limit deviation from hoover point within the target region |
||
| 1424 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero |
||
| 1425 | { |
||
| 1426 | LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point |
||
| 1427 | } |
||
| 1428 | |||
| 1429 | if(BaroExpandActive) HCGas = HooverGas; |
||
| 1430 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
| 1431 | tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L; |
||
| 1432 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
||
| 1433 | HCGas -= tmp_int; |
||
| 1434 | |||
| 1435 | // strech control output by inverse attitude projection 1/cos |
||
| 1436 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1437 | tmp_long2 = (int32_t)HCGas; |
||
| 1438 | tmp_long2 *= 8192L; |
||
| 1439 | tmp_long2 /= CosAttitude; |
||
| 1440 | HCGas = (int16_t)tmp_long2; |
||
| 1441 | // update height control gas averaging |
||
| 1442 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1443 | // limit height control gas pd-control output |
||
| 1444 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1445 | // set GasMischanteil to HeightControlGasFilter |
||
| 1446 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
| 1447 | { // old version |
||
| 1448 | if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas |
||
| 1449 | } |
||
| 1450 | GasMischanteil = FilterHCGas; |
||
| 1451 | } |
||
| 1452 | }// EOF height control active |
||
| 1453 | else // HC not active |
||
| 1454 | { |
||
| 1455 | //update hoover gas stick value when HC is not active |
||
| 1456 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
| 1457 | { |
||
| 1458 | StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value |
||
| 1459 | StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
||
| 1460 | } |
||
| 1461 | else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
| 1462 | if(StickGasHoover < 70) StickGasHoover = 70; |
||
| 1463 | else if(StickGasHoover > 150) StickGasHoover = 150; |
||
| 1464 | FilterHCGas = GasMischanteil; |
||
| 1465 | } |
||
| 1466 | |||
| 1467 | // Hoover gas estimation by averaging gas control output on small z-velocities |
||
| 1468 | // this is done only if height contol option is selected in global config and aircraft is flying |
||
| 1469 | if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG)) |
||
| 1470 | { |
||
| 1471 | if(HooverGasFilter == 0) HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
||
| 1472 | if(abs(VarioMeter) < 100) // only on small vertical speed |
||
| 1473 | { |
||
| 1474 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
||
| 1475 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1476 | tmp_long2 /= 8192; |
||
| 1477 | |||
| 1478 | // average vertical projected thrust |
||
| 1479 | if(modell_fliegt < 2000) // the first 4 seconds |
||
| 1480 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
| 1481 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L); |
||
| 1482 | HooverGasFilter += 8L * tmp_long2; |
||
| 1483 | } |
||
| 1484 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
| 1485 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1486 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L); |
||
| 1487 | HooverGasFilter += 4L * tmp_long2; |
||
| 1488 | } |
||
| 1489 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
| 1490 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1491 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L); |
||
| 1492 | HooverGasFilter += 2L * tmp_long2; |
||
| 1493 | } |
||
| 1494 | else //later |
||
| 1495 | { |
||
| 1496 | HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE; |
||
| 1497 | HooverGasFilter += tmp_long2; |
||
| 1498 | } |
||
| 1499 | HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE); |
||
| 1500 | if(EE_Parameter.Hoehe_HoverBand) |
||
| 1501 | { |
||
| 1502 | int16_t band; |
||
| 1503 | band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
||
| 1504 | HooverGasMin = HooverGas - band; |
||
| 1505 | HooverGasMax = HooverGas + band; |
||
| 1506 | } |
||
| 1507 | else |
||
| 1508 | { // no limit |
||
| 1509 | HooverGasMin = 0; |
||
| 1510 | HooverGasMax = 1023; |
||
| 1511 | } |
||
| 1512 | } |
||
| 1513 | } |
||
| 1514 | } |
||
| 1515 | //DebugOut.Analog[26] = HooverGasMax; |
||
| 1516 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
||
| 1517 | |||
| 1518 | // limit gas to parameter setting |
||
| 1519 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
||
| 1520 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
||
| 1521 | |||
| 1522 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1523 | // all BL-Ctrl connected? |
||
| 1524 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1525 | if(MissingMotor) |
||
| 1526 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
||
| 1527 | { |
||
| 1528 | modell_fliegt = 1; |
||
| 1529 | GasMischanteil = MIN_GAS; |
||
| 1530 | } |
||
| 1465 | acid | 1531 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1400 | acid | 1532 | // + Mischer und PI-Regler |
| 1533 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1478 | acid | 1534 | //DebugOut.Analog[7] = GasMischanteil; |
| 1400 | acid | 1535 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1536 | // Gier-Anteil |
||
| 1537 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1538 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
||
| 1539 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 1540 | if(GasMischanteil > MIN_GIERGAS) |
||
| 1541 | { |
||
| 1542 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
||
| 1543 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 1544 | } |
||
| 1545 | else |
||
| 1546 | { |
||
| 1547 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
||
| 1548 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 1549 | } |
||
| 1550 | tmp_int = MAX_GAS*STICK_GAIN; |
||
| 1551 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
||
| 1552 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
||
| 1553 | |||
| 1554 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1555 | // Nick-Achse |
||
| 1556 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1557 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
||
| 1558 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
||
| 1559 | else SummeNick += DiffNick; // I-Anteil bei HH |
||
| 1560 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
||
| 1561 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1562 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
||
| 1563 | // Motor Vorn |
||
| 1564 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1565 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
||
| 1566 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 1567 | |||
| 1568 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1569 | // Roll-Achse |
||
| 1570 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1571 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1572 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1573 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1574 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1575 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1576 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
| 1577 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1578 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 1465 | acid | 1579 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| 1400 | acid | 1580 | |
| 1581 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1465 | acid | 1582 | // Universal Mixer |
| 1400 | acid | 1583 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1465 | acid | 1584 | #if 1 |
| 1452 | acid | 1585 | |
| 1465 | acid | 1586 | #include "helimixer.inc"; |
| 1453 | acid | 1587 | |
| 1465 | acid | 1588 | #else |
| 1452 | acid | 1589 | |
| 1465 | acid | 1590 | for(i=0; i<MAX_MOTORS; i++) |
| 1591 | { |
||
| 1592 | signed int tmp_int; |
||
| 1593 | if(Mixer.Motor[i][0] > 0) |
||
| 1594 | { |
||
| 1595 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
| 1596 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1597 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1598 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1599 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
| 1600 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
||
| 1601 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
||
| 1602 | Motor[i] = tmp_int; |
||
| 1603 | } |
||
| 1604 | else Motor[i] = 0; |
||
| 1605 | } |
||
| 1606 | /* |
||
| 1607 | if(Poti1 > 20) Motor1 = 0; |
||
| 1608 | if(Poti1 > 90) Motor6 = 0; |
||
| 1609 | if(Poti1 > 140) Motor2 = 0; |
||
| 1610 | //if(Poti1 > 200) Motor7 = 0; |
||
| 1611 | */ |
||
| 1612 | #endif |
||
| 1452 | acid | 1613 | |
| 1400 | acid | 1614 | } |