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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | |||
57 | #include "main.h" |
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1320 | hbuss | 58 | #include "mymath.h" |
1330 | killagreg | 59 | #include "isqrt.h" |
1 | ingob | 60 | |
1352 | hbuss | 61 | unsigned char h,m,s; |
62 | unsigned int BaroExpandActive = 0; |
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1153 | hbuss | 63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 64 | int TrimNick, TrimRoll; |
927 | hbuss | 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
1703 | holgerb | 66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
805 | hbuss | 68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1639 | holgerb | 69 | int NeutralAccZ = 0; |
1683 | killagreg | 70 | unsigned char ControlHeading = 0;// in 2° |
693 | hbuss | 71 | long IntegralNick = 0,IntegralNick2 = 0; |
72 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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73 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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74 | long Integral_Gier = 0; |
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75 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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76 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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77 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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78 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1685 | holgerb | 79 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 80 | volatile long Mess_Integral_Hoch = 0; |
1840 | holgerb | 81 | int KompassValue = -1; |
1837 | holgerb | 82 | int KompassSollWert = 0; |
1941 | holgerb | 83 | //int KompassRichtung = 0; |
1839 | holgerb | 84 | char CalculateCompassTimer = 100; |
85 | unsigned char KompassFusion = 32; |
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86 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 87 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 88 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 89 | unsigned char TrichterFlug = 0; |
395 | hbuss | 90 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 91 | long ErsatzKompass; |
92 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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93 | int GierGyroFehler = 0; |
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1211 | hbuss | 94 | char GyroFaktor,GyroFaktorGier; |
95 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 96 | int DiffNick,DiffRoll; |
1916 | holgerb | 97 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1943 | holgerb | 98 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1377 | hbuss | 99 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 100 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 101 | volatile unsigned char SenderOkay = 0; |
1698 | holgerb | 102 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 103 | long HoehenWert = 0; |
104 | long SollHoehe = 0; |
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1942 | holgerb | 105 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 106 | long FromNC_AltitudeSetpoint = 0; |
107 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 108 | unsigned char carefree_old = 50; // to make the Beep when switching |
1942 | holgerb | 109 | signed char WaypointTrimming = 0; |
1840 | holgerb | 110 | int CompassGierSetpoint = 0; |
2009 | holgerb | 111 | unsigned char CalibrationDone = 0; |
1692 | holgerb | 112 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 113 | //float Ki = FAKTOR_I; |
1676 | holgerb | 114 | int Ki = 10300 / 33; |
395 | hbuss | 115 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
116 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 117 | |
118 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 119 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 120 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
121 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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122 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 123 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 124 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 125 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 126 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 127 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
128 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 129 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
130 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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131 | unsigned char Parameter_UserParam1 = 0; |
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132 | unsigned char Parameter_UserParam2 = 0; |
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133 | unsigned char Parameter_UserParam3 = 0; |
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134 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 135 | unsigned char Parameter_UserParam5 = 0; |
136 | unsigned char Parameter_UserParam6 = 0; |
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137 | unsigned char Parameter_UserParam7 = 0; |
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138 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 139 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 140 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 141 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 142 | unsigned char Parameter_AchsKopplung1 = 90; |
143 | unsigned char Parameter_AchsKopplung2 = 65; |
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144 | unsigned char Parameter_CouplingYawCorrection = 64; |
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145 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 146 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 147 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
148 | unsigned char Parameter_J16Timing; // for the J16 Output |
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149 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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150 | unsigned char Parameter_J17Timing; // for the J17 Output |
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151 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 152 | unsigned char Parameter_NaviGpsGain; |
153 | unsigned char Parameter_NaviGpsP; |
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154 | unsigned char Parameter_NaviGpsI; |
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155 | unsigned char Parameter_NaviGpsD; |
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156 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 157 | unsigned char Parameter_NaviOperatingRadius; |
158 | unsigned char Parameter_NaviWindCorrection; |
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159 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 160 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 161 | unsigned char Parameter_GlobalConfig; |
162 | unsigned char Parameter_ExtraConfig; |
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1966 | holgerb | 163 | unsigned char Parameter_MaximumAltitude; |
1403 | hbuss | 164 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 165 | unsigned char CareFree = 0; |
1876 | holgerb | 166 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
1622 | killagreg | 167 | |
492 | hbuss | 168 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 169 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 170 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 171 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 172 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 173 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 174 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 175 | char VarioCharacter = ' '; |
2028 | holgerb | 176 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
1591 | holgerb | 177 | |
1391 | killagreg | 178 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
179 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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180 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 181 | |
1622 | killagreg | 182 | |
1639 | holgerb | 183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
184 | // Debugwerte zuordnen |
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185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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186 | void CopyDebugValues(void) |
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187 | { |
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188 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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189 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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190 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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191 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 192 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 193 | DebugOut.Analog[5] = HoehenWert/5; |
1703 | holgerb | 194 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
1639 | holgerb | 195 | DebugOut.Analog[8] = KompassValue; |
196 | DebugOut.Analog[9] = UBat; |
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197 | DebugOut.Analog[10] = SenderOkay; |
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1941 | holgerb | 198 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 199 | DebugOut.Analog[12] = Motor[0].SetPoint; |
200 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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201 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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202 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 203 | DebugOut.Analog[20] = ServoNickValue; |
204 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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205 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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1879 | holgerb | 206 | DebugOut.Analog[24] = SollHoehe/5; |
1639 | holgerb | 207 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1682 | holgerb | 208 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1839 | holgerb | 209 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 210 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 211 | DebugOut.Analog[30] = GPS_Nick; |
212 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 213 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1639 | holgerb | 214 | } |
215 | |||
1760 | holgerb | 216 | |
217 | |||
1232 | hbuss | 218 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 219 | { |
1232 | hbuss | 220 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1966 | holgerb | 221 | GRN_OFF; |
1 | ingob | 222 | while(Anzahl--) |
223 | { |
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1232 | hbuss | 224 | beeptime = dauer; |
225 | while(beeptime); |
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226 | Delay_ms(dauer * 2); |
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1 | ingob | 227 | } |
1966 | holgerb | 228 | GRN_ON; |
1 | ingob | 229 | } |
230 | |||
231 | //############################################################################ |
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1622 | killagreg | 232 | // Messwerte beim Ermitteln der Nullage |
233 | void CalibrierMittelwert(void) |
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234 | //############################################################################ |
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235 | { |
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236 | unsigned char i; |
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237 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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238 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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239 | ANALOG_OFF; |
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240 | MesswertNick = AdWertNick; |
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241 | MesswertRoll = AdWertRoll; |
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242 | MesswertGier = AdWertGier; |
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1703 | holgerb | 243 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
244 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 245 | // ADC einschalten |
246 | ANALOG_ON; |
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247 | for(i=0;i<8;i++) |
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248 | { |
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249 | int tmp; |
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1876 | holgerb | 250 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 251 | LIMIT_MIN_MAX(tmp, 0, 255); |
252 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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253 | } |
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254 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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255 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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256 | } |
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257 | |||
258 | //############################################################################ |
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1 | ingob | 259 | // Nullwerte ermitteln |
1622 | killagreg | 260 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 261 | //############################################################################ |
262 | { |
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1622 | killagreg | 263 | unsigned char i; |
264 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 265 | VersionInfo.HardwareError[0] = 0; |
1320 | hbuss | 266 | HEF4017R_ON; |
1051 | killagreg | 267 | NeutralAccX = 0; |
1 | ingob | 268 | NeutralAccY = 0; |
269 | NeutralAccZ = 0; |
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1622 | killagreg | 270 | |
1051 | killagreg | 271 | AdNeutralNick = 0; |
272 | AdNeutralRoll = 0; |
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1 | ingob | 273 | AdNeutralGier = 0; |
1622 | killagreg | 274 | |
395 | hbuss | 275 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 276 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 277 | |
1036 | hbuss | 278 | ExpandBaro = 0; |
1622 | killagreg | 279 | |
1051 | killagreg | 280 | CalibrierMittelwert(); |
395 | hbuss | 281 | Delay_ms_Mess(100); |
1622 | killagreg | 282 | |
1 | ingob | 283 | CalibrierMittelwert(); |
1622 | killagreg | 284 | |
1 | ingob | 285 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 286 | { |
1 | ingob | 287 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
288 | } |
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1166 | hbuss | 289 | #define NEUTRAL_FILTER 32 |
290 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 291 | { |
292 | Delay_ms_Mess(10); |
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1216 | killagreg | 293 | gier_neutral += AdWertGier; |
1166 | hbuss | 294 | nick_neutral += AdWertNick; |
295 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 296 | } |
1173 | hbuss | 297 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
298 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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299 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 300 | |
401 | hbuss | 301 | StartNeutralRoll = AdNeutralRoll; |
302 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 303 | |
304 | if(AccAdjustment) |
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305 | { |
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306 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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307 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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308 | NeutralAccZ = Aktuell_az; |
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309 | |||
310 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 311 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
312 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 313 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 314 | } |
1051 | killagreg | 315 | else |
513 | hbuss | 316 | { |
1622 | killagreg | 317 | // restore from eeprom |
318 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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319 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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320 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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321 | // strange settings? |
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1638 | holgerb | 322 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 323 | { |
324 | printf("\n\rACC not calibrated!\r\n"); |
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325 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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326 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
327 | NeutralAccZ = Aktuell_az; |
||
328 | } |
||
513 | hbuss | 329 | } |
1051 | killagreg | 330 | |
1 | ingob | 331 | MesswertNick = 0; |
332 | MesswertRoll = 0; |
||
333 | MesswertGier = 0; |
||
1111 | hbuss | 334 | Delay_ms_Mess(100); |
1703 | holgerb | 335 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
336 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1173 | hbuss | 337 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
338 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
339 | Mess_IntegralNick2 = IntegralNick; |
||
340 | Mess_IntegralRoll2 = IntegralRoll; |
||
341 | Mess_Integral_Gier = 0; |
||
1 | ingob | 342 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 343 | VarioMeter = 0; |
1 | ingob | 344 | Mess_Integral_Hoch = 0; |
1837 | holgerb | 345 | KompassSollWert = KompassValue; |
1839 | holgerb | 346 | KompassSignalSchlecht = 100; |
1051 | killagreg | 347 | beeptime = 50; |
882 | hbuss | 348 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
349 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 350 | ExternHoehenValue = 0; |
693 | hbuss | 351 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
352 | GierGyroFehler = 0; |
||
921 | hbuss | 353 | LED_Init(); |
1765 | killagreg | 354 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 355 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 356 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 357 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 358 | for(i=0;i<8;i++) |
1377 | hbuss | 359 | { |
1876 | holgerb | 360 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 361 | } |
1171 | hbuss | 362 | SenderOkay = 100; |
1320 | hbuss | 363 | if(ServoActive) |
364 | { |
||
365 | HEF4017R_ON; |
||
366 | DDRD |=0x80; // enable J7 -> Servo signal |
||
367 | } |
||
1702 | holgerb | 368 | |
1765 | killagreg | 369 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
370 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
371 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
372 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
373 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
374 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
1862 | holgerb | 375 | carefree_old = 70; |
1925 | holgerb | 376 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 377 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 378 | #endif |
1 | ingob | 379 | } |
380 | |||
1702 | holgerb | 381 | |
1 | ingob | 382 | //############################################################################ |
395 | hbuss | 383 | // Bearbeitet die Messwerte |
1 | ingob | 384 | void Mittelwert(void) |
385 | //############################################################################ |
||
1051 | killagreg | 386 | { |
1111 | hbuss | 387 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
388 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 389 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 390 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 391 | MesswertNick = (signed int) AdWertNickFilter / 8; |
392 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 393 | RohMesswertNick = MesswertNick; |
394 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 395 | |
395 | hbuss | 396 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 397 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
398 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 399 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
400 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 401 | NaviAccNick += AdWertAccNick; |
402 | NaviAccRoll += AdWertAccRoll; |
||
403 | NaviCntAcc++; |
||
1153 | hbuss | 404 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
405 | |||
1155 | hbuss | 406 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
407 | // ADC einschalten |
||
1171 | hbuss | 408 | ANALOG_ON; |
1155 | hbuss | 409 | AdReady = 0; |
410 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
411 | |||
1216 | killagreg | 412 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
413 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 414 | else winkel_roll = Mess_IntegralRoll; |
415 | |||
1216 | killagreg | 416 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
417 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 418 | else winkel_nick = Mess_IntegralNick; |
419 | |||
1120 | hbuss | 420 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 421 | Mess_Integral_Gier += MesswertGier; |
422 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 423 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 424 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 425 | { |
1153 | hbuss | 426 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 427 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 428 | tmpl3 /= 4096L; |
1153 | hbuss | 429 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 430 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 431 | tmpl4 /= 4096L; |
1153 | hbuss | 432 | KopplungsteilNickRoll = tmpl3; |
433 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 434 | tmpl4 -= tmpl3; |
435 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 436 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 437 | |
1153 | hbuss | 438 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 439 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 440 | tmpl /= 4096L; |
1153 | hbuss | 441 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 442 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 443 | tmpl2 /= 4096L; |
1225 | hbuss | 444 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 445 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 446 | } |
1166 | hbuss | 447 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 448 | TrimRoll = tmpl - tmpl2 / 100L; |
449 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 450 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
451 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
452 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 453 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 454 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
455 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 456 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 457 | { |
882 | hbuss | 458 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 459 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 460 | } |
395 | hbuss | 461 | if(Mess_IntegralRoll <-Umschlag180Roll) |
462 | { |
||
882 | hbuss | 463 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 464 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 465 | } |
395 | hbuss | 466 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 467 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
468 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 469 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 470 | { |
471 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
472 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 473 | } |
474 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 475 | { |
882 | hbuss | 476 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 477 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 478 | } |
1111 | hbuss | 479 | |
1 | ingob | 480 | Integral_Gier = Mess_Integral_Gier; |
481 | IntegralNick = Mess_IntegralNick; |
||
482 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 483 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 484 | IntegralRoll2 = Mess_IntegralRoll2; |
485 | |||
1166 | hbuss | 486 | #define D_LIMIT 128 |
487 | |||
1171 | hbuss | 488 | MesswertNick = HiResNick / 8; |
489 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 490 | |
1167 | hbuss | 491 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
492 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
493 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
494 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
495 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
496 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
497 | |||
1216 | killagreg | 498 | if(Parameter_Gyro_D) |
1111 | hbuss | 499 | { |
1166 | hbuss | 500 | d2Nick = HiResNick - oldNick; |
501 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 502 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
503 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 504 | |
1166 | hbuss | 505 | d2Roll = HiResRoll - oldRoll; |
506 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 507 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
508 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 509 | |
510 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 511 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
512 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
513 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 514 | } |
1111 | hbuss | 515 | |
1166 | hbuss | 516 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
517 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
518 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
519 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 520 | |
1916 | holgerb | 521 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 522 | { |
523 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
524 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
525 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
526 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
527 | } |
||
1 | ingob | 528 | } |
529 | |||
530 | //############################################################################ |
||
531 | // Senden der Motorwerte per I2C-Bus |
||
532 | void SendMotorData(void) |
||
533 | //############################################################################ |
||
1051 | killagreg | 534 | { |
1209 | hbuss | 535 | unsigned char i; |
921 | hbuss | 536 | if(!MotorenEin) |
1 | ingob | 537 | { |
1765 | killagreg | 538 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
1216 | killagreg | 539 | for(i=0;i<MAX_MOTORS;i++) |
540 | { |
||
541 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 542 | Motor[i].SetPoint = MotorTest[i]; |
543 | Motor[i].SetPointLowerBits = 0; |
||
544 | /* |
||
1760 | holgerb | 545 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
546 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 547 | */ |
1216 | killagreg | 548 | } |
1212 | hbuss | 549 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 550 | } |
1765 | killagreg | 551 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 552 | |
1765 | killagreg | 553 | if(I2C_TransferActive) |
1744 | holgerb | 554 | { |
1760 | holgerb | 555 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 556 | } |
557 | else |
||
1744 | holgerb | 558 | { |
559 | motor_write = 0; |
||
1760 | holgerb | 560 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 561 | } |
1 | ingob | 562 | } |
563 | |||
564 | |||
565 | |||
566 | //############################################################################ |
||
567 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 568 | void ParameterZuordnung(void) |
1 | ingob | 569 | //############################################################################ |
570 | { |
||
1787 | holgerb | 571 | unsigned char tmp,i; |
572 | for(i=0;i<8;i++) |
||
573 | { |
||
574 | int tmp2; |
||
1933 | holgerb | 575 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
576 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 577 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 578 | |
579 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
580 | else |
||
1787 | holgerb | 581 | if(tmp2 != Poti[i]) |
582 | { |
||
583 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
584 | if(Poti[i] > tmp2) Poti[i]--; |
||
585 | else Poti[i]++; |
||
586 | } |
||
587 | } |
||
921 | hbuss | 588 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
589 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
590 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 591 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
592 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
2012 | holgerb | 593 | |
2040 | holgerb | 594 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
595 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
||
2012 | holgerb | 596 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
597 | |||
2040 | holgerb | 598 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
599 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
||
2012 | holgerb | 600 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
601 | |||
2043 | holgerb | 602 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
1916 | holgerb | 603 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 604 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
605 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
606 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
607 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
608 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
609 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
610 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
611 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
612 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
613 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
614 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
615 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
616 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
617 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
618 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
619 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
620 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
621 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
622 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 623 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
624 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 625 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 626 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
2034 | holgerb | 627 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
1916 | holgerb | 628 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
629 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 630 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
631 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
632 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 633 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 634 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 635 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 636 | |
1921 | holgerb | 637 | tmp = EE_Parameter.CareFreeModeControl; |
1690 | holgerb | 638 | if(tmp > 50) |
1668 | holgerb | 639 | { |
1682 | holgerb | 640 | CareFree = 1; |
1839 | holgerb | 641 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 642 | if(carefree_old != CareFree) |
643 | { |
||
644 | if(carefree_old < 3) |
||
645 | { |
||
646 | if(CareFree) beeptime = 1500; |
||
647 | else beeptime = 200; |
||
648 | carefree_old = CareFree; |
||
649 | } else carefree_old--; |
||
650 | } |
||
1937 | holgerb | 651 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 652 | } |
1839 | holgerb | 653 | else |
654 | { |
||
655 | CareFree = 0; |
||
1862 | holgerb | 656 | carefree_old = 10; |
1839 | holgerb | 657 | } |
1668 | holgerb | 658 | |
1691 | holgerb | 659 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 660 | { |
661 | beeptime = 15000; |
||
662 | BeepMuster = 0xA400; |
||
663 | CareFree = 0; |
||
1765 | killagreg | 664 | } |
1861 | holgerb | 665 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 666 | } |
667 | |||
668 | //############################################################################ |
||
669 | // |
||
670 | void MotorRegler(void) |
||
671 | //############################################################################ |
||
672 | { |
||
1330 | killagreg | 673 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 674 | int GierMischanteil,GasMischanteil; |
675 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 676 | static long IntegralFehlerNick = 0; |
677 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 678 | static unsigned int RcLostTimer; |
679 | static unsigned char delay_neutral = 0; |
||
680 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
681 | static char NeueKompassRichtungMerken = 0; |
||
395 | hbuss | 682 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 683 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 684 | unsigned char i; |
1051 | killagreg | 685 | Mittelwert(); |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 687 | // Gaswert ermitteln |
1051 | killagreg | 688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2028 | holgerb | 689 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
690 | { |
||
691 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
692 | { |
||
693 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
694 | } |
||
695 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
696 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
697 | |||
1051 | killagreg | 698 | GasMischanteil = StickGas; |
831 | hbuss | 699 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1051 | killagreg | 700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 701 | // Empfang schlecht |
1051 | killagreg | 702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 703 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 704 | { |
1051 | killagreg | 705 | if(RcLostTimer) RcLostTimer--; |
706 | else |
||
1 | ingob | 707 | { |
708 | MotorenEin = 0; |
||
1954 | holgerb | 709 | modell_fliegt = 0; |
710 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
1051 | killagreg | 711 | } |
1 | ingob | 712 | ROT_ON; |
2008 | holgerb | 713 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 714 | { |
2028 | holgerb | 715 | GasMischanteil = HooverGasEmergencyPercent; |
1765 | killagreg | 716 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 717 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 718 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 719 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
720 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
721 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 722 | } |
1954 | holgerb | 723 | else |
724 | { |
||
725 | MotorenEin = 0; |
||
726 | } |
||
1 | ingob | 727 | } |
1051 | killagreg | 728 | else |
729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 730 | // Emfang gut |
1051 | killagreg | 731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 732 | if(SenderOkay > 140) |
733 | { |
||
1765 | killagreg | 734 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 735 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 736 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 737 | { |
738 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
739 | } |
||
871 | hbuss | 740 | if((modell_fliegt < 256)) |
1 | ingob | 741 | { |
742 | SummeNick = 0; |
||
743 | SummeRoll = 0; |
||
1682 | holgerb | 744 | sollGier = 0; |
745 | Mess_Integral_Gier = 0; |
||
1765 | killagreg | 746 | } else FC_StatusFlags |= FC_STATUS_FLY; |
1051 | killagreg | 747 | |
595 | hbuss | 748 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 749 | { |
1051 | killagreg | 750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 751 | // auf Nullwerte kalibrieren |
1051 | killagreg | 752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 753 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
754 | { |
||
755 | if(++delay_neutral > 200) // nicht sofort |
||
756 | { |
||
757 | MotorenEin = 0; |
||
758 | delay_neutral = 0; |
||
759 | modell_fliegt = 0; |
||
760 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
761 | { |
||
304 | ingob | 762 | unsigned char setting=1; |
1 | ingob | 763 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
764 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
765 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
766 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
767 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 768 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 769 | } |
1051 | killagreg | 770 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
771 | { |
||
819 | hbuss | 772 | WinkelOut.CalcState = 1; |
2009 | holgerb | 773 | CalibrationDone = 0; |
819 | hbuss | 774 | beeptime = 1000; |
775 | } |
||
776 | else |
||
1 | ingob | 777 | { |
1622 | killagreg | 778 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 779 | LipoDetection(0); |
1626 | killagreg | 780 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 781 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 782 | { |
1 | ingob | 783 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 784 | } |
1330 | killagreg | 785 | ServoActive = 0; |
1622 | killagreg | 786 | SetNeutral(0); |
2009 | holgerb | 787 | CalibrationDone = 1; |
1232 | hbuss | 788 | ServoActive = 1; |
789 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 790 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 791 | } |
1051 | killagreg | 792 | } |
1 | ingob | 793 | } |
1051 | killagreg | 794 | else |
513 | hbuss | 795 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
796 | { |
||
797 | if(++delay_neutral > 200) // nicht sofort |
||
798 | { |
||
799 | MotorenEin = 0; |
||
800 | delay_neutral = 0; |
||
801 | modell_fliegt = 0; |
||
1622 | killagreg | 802 | SetNeutral(1); |
2009 | holgerb | 803 | CalibrationDone = 1; |
1622 | killagreg | 804 | Piep(GetActiveParamSet(),120); |
1051 | killagreg | 805 | } |
513 | hbuss | 806 | } |
1 | ingob | 807 | else delay_neutral = 0; |
808 | } |
||
1051 | killagreg | 809 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 810 | // Gas ist unten |
1051 | killagreg | 811 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | holgerb | 812 | |
595 | hbuss | 813 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 814 | { |
1521 | killagreg | 815 | // Motoren Starten |
816 | if(!MotorenEin) |
||
817 | { |
||
1760 | holgerb | 818 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 819 | { |
1051 | killagreg | 820 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 821 | // Einschalten |
1051 | killagreg | 822 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 823 | if(++delay_einschalten > 200) |
824 | { |
||
825 | delay_einschalten = 0; |
||
2009 | holgerb | 826 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1622 | killagreg | 827 | { |
828 | modell_fliegt = 1; |
||
829 | MotorenEin = 1; |
||
830 | sollGier = 0; |
||
831 | Mess_Integral_Gier = 0; |
||
832 | Mess_Integral_Gier2 = 0; |
||
833 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
834 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
835 | Mess_IntegralNick2 = IntegralNick; |
||
836 | Mess_IntegralRoll2 = IntegralRoll; |
||
837 | SummeNick = 0; |
||
838 | SummeRoll = 0; |
||
1765 | killagreg | 839 | FC_StatusFlags |= FC_STATUS_START; |
1913 | holgerb | 840 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 841 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1622 | killagreg | 842 | } |
843 | else |
||
844 | { |
||
845 | beeptime = 1500; // indicate missing calibration |
||
846 | } |
||
1521 | killagreg | 847 | } |
848 | } |
||
849 | else delay_einschalten = 0; |
||
850 | } |
||
1051 | killagreg | 851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 852 | // Auschalten |
1051 | killagreg | 853 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 854 | else // only if motors are running |
855 | { |
||
1760 | holgerb | 856 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 857 | { |
858 | if(++delay_ausschalten > 200) // nicht sofort |
||
859 | { |
||
860 | MotorenEin = 0; |
||
861 | delay_ausschalten = 0; |
||
862 | modell_fliegt = 0; |
||
863 | } |
||
864 | } |
||
865 | else delay_ausschalten = 0; |
||
866 | } |
||
1 | ingob | 867 | } |
868 | } |
||
1051 | killagreg | 869 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 870 | // neue Werte von der Funke |
1051 | killagreg | 871 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 872 | |
1765 | killagreg | 873 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 874 | { |
604 | hbuss | 875 | static int stick_nick,stick_roll; |
1912 | holgerb | 876 | unsigned char stick_p; |
1 | ingob | 877 | ParameterZuordnung(); |
1912 | holgerb | 878 | stick_p = EE_Parameter.Stick_P; |
879 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 880 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 881 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 882 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
883 | |||
1707 | holgerb | 884 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | // CareFree und freie Wahl der vorderen Richtung |
||
886 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 887 | if(CareFree) |
888 | { |
||
889 | signed int nick, roll; |
||
890 | nick = stick_nick / 4; |
||
891 | roll = stick_roll / 4; |
||
892 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
893 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
894 | } |
||
895 | else |
||
896 | { |
||
897 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
898 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
899 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
900 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
901 | } |
||
1662 | killagreg | 902 | |
1 | ingob | 903 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 904 | if(StickGier > 4) StickGier -= 4; else |
905 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 906 | |
1945 | holgerb | 907 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
908 | { |
||
909 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
910 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
911 | } |
||
1912 | holgerb | 912 | |
913 | StickNick -= GPS_Nick; |
||
914 | StickRoll -= GPS_Roll; |
||
1933 | holgerb | 915 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1330 | killagreg | 916 | |
1153 | hbuss | 917 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
918 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 919 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
920 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 921 | |
595 | hbuss | 922 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
923 | //+ Analoge Steuerung per Seriell |
||
924 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 925 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 926 | { |
927 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
928 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
929 | StickGier += ExternControl.Gier; |
||
930 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
931 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
932 | } |
||
855 | hbuss | 933 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 934 | |
1916 | holgerb | 935 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 936 | |
1051 | killagreg | 937 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 938 | { |
1051 | killagreg | 939 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 940 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 941 | } |
928 | hbuss | 942 | else MaxStickNick--; |
1051 | killagreg | 943 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 944 | { |
1051 | killagreg | 945 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 946 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 947 | } |
928 | hbuss | 948 | else MaxStickRoll--; |
1765 | killagreg | 949 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 950 | |
1051 | killagreg | 951 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 952 | // Looping? |
1051 | killagreg | 953 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 954 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 955 | else |
956 | { |
||
395 | hbuss | 957 | { |
1051 | killagreg | 958 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
959 | } |
||
960 | } |
||
993 | hbuss | 961 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 962 | else |
395 | hbuss | 963 | { |
964 | if(Looping_Rechts) // Hysterese |
||
965 | { |
||
966 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
967 | } |
||
1051 | killagreg | 968 | } |
173 | holgerb | 969 | |
993 | hbuss | 970 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 971 | else |
972 | { |
||
395 | hbuss | 973 | if(Looping_Oben) // Hysterese |
974 | { |
||
1051 | killagreg | 975 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
976 | } |
||
977 | } |
||
993 | hbuss | 978 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 979 | else |
395 | hbuss | 980 | { |
981 | if(Looping_Unten) // Hysterese |
||
982 | { |
||
983 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
984 | } |
||
1051 | killagreg | 985 | } |
395 | hbuss | 986 | |
987 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 988 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 989 | } // Ende neue Funken-Werte |
990 | |||
991 | if(Looping_Roll || Looping_Nick) |
||
992 | { |
||
173 | holgerb | 993 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 994 | TrichterFlug = 1; |
173 | holgerb | 995 | } |
996 | |||
1051 | killagreg | 997 | |
998 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
999 | // Bei Empfangsausfall im Flug |
||
1000 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 1001 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1002 | { |
||
1003 | StickNick = -GPS_Nick; |
||
1004 | StickRoll = -GPS_Roll; |
||
1005 | StickGas = StickGasHover; |
||
1006 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
||
1007 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1008 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1009 | Parameter_HoehenSchalter = 200; // switch on |
||
1010 | } |
||
1011 | else |
||
1765 | killagreg | 1012 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 1013 | { |
1014 | StickGier = 0; |
||
1015 | StickNick = 0; |
||
1016 | StickRoll = 0; |
||
1211 | hbuss | 1017 | GyroFaktor = 90; |
1018 | IntegralFaktor = 120; |
||
1019 | GyroFaktorGier = 90; |
||
1020 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1021 | Looping_Roll = 0; |
1022 | Looping_Nick = 0; |
||
1051 | killagreg | 1023 | } |
395 | hbuss | 1024 | |
1025 | |||
1051 | killagreg | 1026 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1027 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1028 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1029 | #define ABGLEICH_ANZAHL 256L |
1030 | |||
1031 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1032 | MittelIntegralRoll += IntegralRoll; |
||
1033 | MittelIntegralNick2 += IntegralNick2; |
||
1034 | MittelIntegralRoll2 += IntegralRoll2; |
||
1035 | |||
1036 | if(Looping_Nick || Looping_Roll) |
||
1037 | { |
||
1038 | IntegralAccNick = 0; |
||
1039 | IntegralAccRoll = 0; |
||
1040 | MittelIntegralNick = 0; |
||
1041 | MittelIntegralRoll = 0; |
||
1042 | MittelIntegralNick2 = 0; |
||
1043 | MittelIntegralRoll2 = 0; |
||
1044 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1045 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1046 | ZaehlMessungen = 0; |
||
498 | hbuss | 1047 | LageKorrekturNick = 0; |
1048 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1049 | } |
1050 | |||
1051 | killagreg | 1051 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1052 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1053 | { |
1054 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1055 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1056 | { |
1944 | holgerb | 1057 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1058 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1059 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1060 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1061 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1062 | { |
||
1063 | tmp_long /= 2; |
||
1064 | tmp_long2 /= 2; |
||
1065 | } |
||
1066 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1067 | { |
||
1068 | tmp_long /= 3; |
||
1069 | tmp_long2 /= 3; |
||
1070 | } |
||
1071 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1072 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1073 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1074 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | hbuss | 1075 | } |
1051 | killagreg | 1076 | else |
992 | hbuss | 1077 | { |
1944 | holgerb | 1078 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1079 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1080 | tmp_long /= 16; |
||
1081 | tmp_long2 /= 16; |
||
1082 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1083 | { |
||
1084 | tmp_long /= 3; |
||
1085 | tmp_long2 /= 3; |
||
1086 | } |
||
1087 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1088 | { |
||
1089 | tmp_long /= 3; |
||
1090 | tmp_long2 /= 3; |
||
1091 | } |
||
1092 | KompassFusion = 25; |
||
1155 | hbuss | 1093 | #define AUSGLEICH 32 |
1944 | holgerb | 1094 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1095 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1096 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1097 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
992 | hbuss | 1098 | } |
1166 | hbuss | 1099 | |
1111 | hbuss | 1100 | Mess_IntegralNick -= tmp_long; |
1101 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1102 | } |
1051 | killagreg | 1103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1104 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1105 | { |
||
1106 | static int cnt = 0; |
||
1107 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1108 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1109 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1110 | { |
395 | hbuss | 1111 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1112 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1113 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1114 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1115 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1116 | #define MAX_I 0 |
395 | hbuss | 1117 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1118 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1119 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1120 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1121 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1122 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1123 | |
1124 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1125 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1126 | |
992 | hbuss | 1127 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1128 | { |
1129 | LageKorrekturNick /= 2; |
||
720 | ingob | 1130 | LageKorrekturRoll /= 2; |
614 | hbuss | 1131 | } |
498 | hbuss | 1132 | |
1051 | killagreg | 1133 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1134 | // Gyro-Drift ermitteln |
1051 | killagreg | 1135 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1136 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1137 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1138 | tmp_long = IntegralNick2 - IntegralNick; |
1139 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1140 | |
1141 | IntegralFehlerNick = tmp_long; |
||
1142 | IntegralFehlerRoll = tmp_long2; |
||
1143 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1144 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1145 | |||
1111 | hbuss | 1146 | if(EE_Parameter.Driftkomp) |
1147 | { |
||
1622 | killagreg | 1148 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1149 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1150 | } |
693 | hbuss | 1151 | GierGyroFehler = 0; |
720 | ingob | 1152 | |
1243 | killagreg | 1153 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1154 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1155 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1156 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1157 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1158 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1159 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1160 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1161 | { |
1051 | killagreg | 1162 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1163 | { |
1051 | killagreg | 1164 | if(last_n_p) |
395 | hbuss | 1165 | { |
1173 | hbuss | 1166 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1167 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1168 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1169 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1170 | } |
395 | hbuss | 1171 | else last_n_p = 1; |
1172 | } else last_n_p = 0; |
||
1051 | killagreg | 1173 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1174 | { |
1175 | if(last_n_n) |
||
1051 | killagreg | 1176 | { |
1173 | hbuss | 1177 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1178 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1179 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1180 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1181 | } |
395 | hbuss | 1182 | else last_n_n = 1; |
1183 | } else last_n_n = 0; |
||
1051 | killagreg | 1184 | } |
1185 | else |
||
847 | hbuss | 1186 | { |
1187 | cnt = 0; |
||
1839 | holgerb | 1188 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1189 | } |
499 | hbuss | 1190 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1191 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1192 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1193 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1194 | |
395 | hbuss | 1195 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1196 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1197 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1198 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1199 | { |
1051 | killagreg | 1200 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1201 | { |
1051 | killagreg | 1202 | if(last_r_p) |
395 | hbuss | 1203 | { |
1173 | hbuss | 1204 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1205 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1206 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1207 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1208 | } |
395 | hbuss | 1209 | else last_r_p = 1; |
1210 | } else last_r_p = 0; |
||
1051 | killagreg | 1211 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1212 | { |
1051 | killagreg | 1213 | if(last_r_n) |
395 | hbuss | 1214 | { |
1173 | hbuss | 1215 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1216 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1217 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1218 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1219 | } |
1220 | else last_r_n = 1; |
||
1221 | } else last_r_n = 0; |
||
1051 | killagreg | 1222 | } else |
492 | hbuss | 1223 | { |
1224 | cnt = 0; |
||
1839 | holgerb | 1225 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1226 | } |
499 | hbuss | 1227 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1228 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1229 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1230 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1231 | } |
1051 | killagreg | 1232 | else |
498 | hbuss | 1233 | { |
1234 | LageKorrekturRoll = 0; |
||
1235 | LageKorrekturNick = 0; |
||
880 | hbuss | 1236 | TrichterFlug = 0; |
498 | hbuss | 1237 | } |
1051 | killagreg | 1238 | |
498 | hbuss | 1239 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1240 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1242 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1244 | IntegralAccNick = 0; |
1245 | IntegralAccRoll = 0; |
||
1246 | IntegralAccZ = 0; |
||
1247 | MittelIntegralNick = 0; |
||
1248 | MittelIntegralRoll = 0; |
||
1249 | MittelIntegralNick2 = 0; |
||
1250 | MittelIntegralRoll2 = 0; |
||
1251 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1252 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1253 | |
1051 | killagreg | 1254 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1255 | // Gieren |
1051 | killagreg | 1256 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1257 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1258 | { |
1839 | holgerb | 1259 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1260 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1261 | { |
1840 | holgerb | 1262 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1263 | }; |
1 | ingob | 1264 | } |
1944 | holgerb | 1265 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1266 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
1840 | holgerb | 1267 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1268 | sollGier = tmp_int; |
1051 | killagreg | 1269 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1270 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1271 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1272 | |
1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1274 | // Kompass |
1051 | killagreg | 1275 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1276 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1277 | { |
1839 | holgerb | 1278 | if(CalculateCompassTimer-- == 1) |
1279 | { |
||
1280 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1281 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1282 | // max. Korrekturwert schätzen |
1 | ingob | 1283 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1284 | v = abs(IntegralRoll /512); |
||
1285 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1972 | holgerb | 1286 | // korrektur = w / 4 + 1; |
1287 | korrektur = w / 8 + 2; |
||
1941 | holgerb | 1288 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1289 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1290 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1291 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1292 | // Kompasswert einloggen |
||
1293 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1294 | else |
||
1295 | if(w < 25) |
||
921 | hbuss | 1296 | { |
1297 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1298 | if(NeueKompassRichtungMerken) |
1299 | { |
||
1839 | holgerb | 1300 | if(--NeueKompassRichtungMerken == 0) |
1301 | { |
||
1941 | holgerb | 1302 | KompassSollWert = ErsatzKompassInGrad; |
1839 | holgerb | 1303 | } |
921 | hbuss | 1304 | } |
1 | ingob | 1305 | } |
1840 | holgerb | 1306 | // Kompass fusionieren |
1839 | holgerb | 1307 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1941 | holgerb | 1308 | // MK Gieren |
1309 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1310 | { |
1941 | holgerb | 1311 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1312 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1313 | CompassGierSetpoint = v / 16; |
1314 | } |
||
1865 | holgerb | 1315 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1316 | } // CalculateCompassTimer |
1051 | killagreg | 1317 | } |
1840 | holgerb | 1318 | else CompassGierSetpoint = 0; |
1972 | holgerb | 1319 | |
1320 | //DebugOut.Analog[16] = KompassFusion; |
||
1051 | killagreg | 1321 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1322 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1323 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1324 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1325 | |
1171 | hbuss | 1326 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1327 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1328 | |
1167 | hbuss | 1329 | #define TRIM_MAX 200 |
1166 | hbuss | 1330 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1331 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1332 | |
1166 | hbuss | 1333 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1334 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1335 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1336 | |
1 | ingob | 1337 | // Maximalwerte abfangen |
1685 | holgerb | 1338 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1339 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1340 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1341 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1342 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1343 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1344 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1345 | |||
1051 | killagreg | 1346 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1347 | // Höhenregelung |
1348 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1349 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1350 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1351 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1352 | // if height control is activated |
1916 | holgerb | 1353 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1354 | { |
1698 | holgerb | 1355 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1356 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1357 | |
1358 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1359 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1360 | #else |
1638 | holgerb | 1361 | #define OPA_OFFSET_STEP 10 |
1362 | #endif |
||
1697 | holgerb | 1363 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1364 | static int HeightTrimming = 0; // rate for change of height setpoint |
1365 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1366 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1367 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1368 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1369 | |
1309 | hbuss | 1370 | // get the current hooverpoint |
1587 | killagreg | 1371 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1372 | |
1322 | hbuss | 1373 | // Expand the measurement |
1374 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1375 | if(!BaroExpandActive) |
||
1376 | { |
||
1377 | if(MessLuftdruck > 920) |
||
1378 | { // increase offset |
||
1330 | killagreg | 1379 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1380 | { |
1381 | ExpandBaro -= 1; |
||
1382 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1383 | beeptime = 300; |
||
1352 | hbuss | 1384 | BaroExpandActive = 350; |
1330 | killagreg | 1385 | } |
1386 | else |
||
1322 | hbuss | 1387 | { |
1388 | BaroAtLowerLimit = 1; |
||
1389 | } |
||
1390 | } |
||
1391 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1392 | else |
1322 | hbuss | 1393 | if(MessLuftdruck < 100) |
1394 | { // decrease offset |
||
1330 | killagreg | 1395 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1396 | { |
1397 | ExpandBaro += 1; |
||
1398 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1399 | beeptime = 300; |
||
1352 | hbuss | 1400 | BaroExpandActive = 350; |
1330 | killagreg | 1401 | } |
1402 | else |
||
1322 | hbuss | 1403 | { |
1404 | BaroAtUpperLimit = 1; |
||
1405 | } |
||
1406 | } |
||
1330 | killagreg | 1407 | else |
1322 | hbuss | 1408 | { |
1409 | BaroAtUpperLimit = 0; |
||
1410 | BaroAtLowerLimit = 0; |
||
1411 | } |
||
1412 | } |
||
1413 | else // delay, because of expanding the Baro-Range |
||
1414 | { |
||
1415 | // now clear the D-values |
||
1416 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1417 | VarioMeter = 0; |
||
1418 | BaroExpandActive--; |
||
1419 | } |
||
1328 | hbuss | 1420 | |
1421 | // if height control is activated by an rc channel |
||
1916 | holgerb | 1422 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1423 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1424 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1425 | { //height control not active |
1426 | if(!delay--) |
||
1427 | { |
||
1428 | HoehenReglerAktiv = 0; // disable height control |
||
1429 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1430 | delay = 1; |
||
1431 | } |
||
1432 | } |
||
1433 | else |
||
1434 | { //height control is activated |
||
1435 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1436 | delay = 200; |
1328 | hbuss | 1437 | } |
1051 | killagreg | 1438 | } |
1309 | hbuss | 1439 | else // no switchable height control |
1440 | { |
||
1916 | holgerb | 1441 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1442 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1443 | } |
1322 | hbuss | 1444 | |
1320 | hbuss | 1445 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1446 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1447 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1448 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1449 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1450 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1451 | VarioCharacter = ' '; |
1942 | holgerb | 1452 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1453 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1454 | { |
1330 | killagreg | 1455 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1456 | // Holger original version |
1457 | // start of height control algorithm |
||
1458 | // the height control is only an attenuation of the actual gas stick. |
||
1459 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1460 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1461 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1462 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1463 | { // old version |
1309 | hbuss | 1464 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1465 | HeightTrimming = 0; |
||
1942 | holgerb | 1466 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1467 | // set both flags to indicate no vario mode |
1468 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1469 | } |
1314 | killagreg | 1470 | else |
1309 | hbuss | 1471 | { |
1472 | // alternative height control |
||
1473 | // PD-Control with respect to hoover point |
||
1474 | // the thrust loss out of horizontal attitude is compensated |
||
1475 | // the setpoint will be fine adjusted with the gas stick position |
||
1943 | holgerb | 1476 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1477 | { // gas stick is above hoover point |
1587 | killagreg | 1478 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1479 | { |
1767 | killagreg | 1480 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1481 | { |
1767 | killagreg | 1482 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1309 | hbuss | 1483 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1484 | } |
||
1767 | killagreg | 1485 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1966 | holgerb | 1486 | // Limit the maximum Altitude |
1487 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
||
1488 | else |
||
1489 | { |
||
1490 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
1491 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1942 | holgerb | 1492 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1493 | VarioCharacter = '+'; |
1966 | holgerb | 1494 | } |
1865 | holgerb | 1495 | WaypointTrimming = 0; |
1309 | hbuss | 1496 | } // gas stick is below hoover point |
1587 | killagreg | 1497 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1498 | { |
1767 | killagreg | 1499 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1500 | { |
1767 | killagreg | 1501 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1309 | hbuss | 1502 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1503 | } |
||
1767 | killagreg | 1504 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1505 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1506 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1591 | holgerb | 1507 | VarioCharacter = '-'; |
1865 | holgerb | 1508 | WaypointTrimming = 0; |
1309 | hbuss | 1509 | } |
1587 | killagreg | 1510 | else // Gas Stick in Hover Range |
1309 | hbuss | 1511 | { |
1855 | holgerb | 1512 | VarioCharacter = '='; |
1857 | holgerb | 1513 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1514 | { |
1515 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1516 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1517 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1518 | WaypointTrimming = 10; |
1519 | VarioCharacter = '^'; |
||
1865 | holgerb | 1520 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1521 | { |
||
1522 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1523 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1524 | } |
||
1855 | holgerb | 1525 | } |
1526 | else |
||
1857 | holgerb | 1527 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1528 | { |
1529 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1530 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1531 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1532 | WaypointTrimming = -10; |
1533 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1534 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1535 | { |
||
1536 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1537 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1538 | } |
||
1855 | holgerb | 1539 | } |
1540 | else |
||
1767 | killagreg | 1541 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1542 | { |
1933 | holgerb | 1543 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1544 | else WaypointTrimming = 0; |
||
1767 | killagreg | 1545 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1546 | HeightTrimming = 0; |
1916 | holgerb | 1547 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1548 | if(!StartTrigger && HoehenWert > 50) |
1549 | { |
||
1550 | StartTrigger = 1; |
||
1765 | killagreg | 1551 | } |
1309 | hbuss | 1552 | } |
1553 | } |
||
1554 | // Trim height set point |
||
1942 | holgerb | 1555 | HeightTrimming += AltitudeSetpointTrimming; |
1556 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1557 | { |
1857 | holgerb | 1558 | if(WaypointTrimming) |
1559 | { |
||
1560 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1561 | else SollHoehe += WaypointTrimming; |
||
1562 | } |
||
1563 | else |
||
1966 | holgerb | 1564 | { |
1565 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1566 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1567 | } |
||
1309 | hbuss | 1568 | HeightTrimming = 0; |
1932 | holgerb | 1569 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1916 | holgerb | 1570 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1571 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1572 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1573 | { |
1587 | killagreg | 1574 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1575 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1576 | if(StickGasHover < 70) StickGasHover = 70; |
||
1577 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1578 | } |
1309 | hbuss | 1579 | } |
1352 | hbuss | 1580 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1581 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1582 | else |
1583 | { |
||
1322 | hbuss | 1584 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1585 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1586 | else StickGasHover = 120; |
||
1698 | holgerb | 1587 | HoverGas = GasMischanteil; |
1972 | holgerb | 1588 | VarioCharacter = '.'; |
1320 | hbuss | 1589 | } |
1590 | killagreg | 1590 | HCGas = HoverGas; // take hover gas (neutral point) |
1591 | } |
||
1916 | holgerb | 1592 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1593 | { |
1590 | killagreg | 1594 | // from this point the Heigth Control Algorithm is identical for both versions |
1595 | if(BaroExpandActive) // baro range expanding active |
||
1596 | { |
||
1597 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1598 | HeightDeviation = 0; |
||
1599 | } // EOF // baro range expanding active |
||
1600 | else // valid data from air pressure sensor |
||
1601 | { |
||
1602 | // ------------------------- P-Part ---------------------------- |
||
1603 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1604 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1605 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1606 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1607 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1608 | GasReduction = tmp_long; |
||
1590 | killagreg | 1609 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1610 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1611 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1612 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1613 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1614 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1615 | else |
1916 | holgerb | 1616 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1617 | GasReduction += tmp_int; |
1590 | killagreg | 1618 | } // EOF no baro range expanding |
1309 | hbuss | 1619 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1620 | if(Parameter_Hoehe_ACC_Wirkung) |
1621 | { |
||
1622 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1623 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1624 | GasReduction += tmp_long; |
||
1765 | killagreg | 1625 | } |
1587 | killagreg | 1626 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1627 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1628 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1629 | GasReduction += tmp_int; |
1701 | holgerb | 1630 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1631 | // ------------------------ ---------------------------------- |
||
1632 | HCGas -= GasReduction; |
||
1309 | hbuss | 1633 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1634 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1635 | { |
1765 | killagreg | 1636 | unsigned int tmp; |
1705 | holgerb | 1637 | tmp = abs(HeightDeviation); |
1638 | if(tmp <= 60) |
||
1639 | { |
||
1640 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1641 | } |
||
1642 | else |
||
1765 | killagreg | 1643 | { |
1705 | holgerb | 1644 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1645 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1646 | if(HeightDeviation > 0) |
1693 | holgerb | 1647 | { |
1705 | holgerb | 1648 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1649 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1650 | } |
1705 | holgerb | 1651 | else |
1652 | { |
||
1653 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1654 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1655 | } |
||
1656 | } |
||
1309 | hbuss | 1657 | } |
1322 | hbuss | 1658 | // strech control output by inverse attitude projection 1/cos |
1659 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1660 | tmp_long2 = (int32_t)HCGas; |
1661 | tmp_long2 *= 8192L; |
||
1662 | tmp_long2 /= CosAttitude; |
||
1663 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1664 | // update height control gas averaging |
1665 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1666 | // limit height control gas pd-control output |
||
1667 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1668 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1669 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1670 | { // old version |
1671 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1672 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1673 | } |
1719 | holgerb | 1674 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1314 | killagreg | 1675 | } |
1309 | hbuss | 1676 | }// EOF height control active |
1320 | hbuss | 1677 | else // HC not active |
1678 | { |
||
1679 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1680 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1681 | { |
||
1682 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1683 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1684 | } |
1587 | killagreg | 1685 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1686 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1687 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1688 | // set both flags to indicate no vario mode |
1689 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1690 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1691 | } |
1587 | killagreg | 1692 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1693 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1694 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1695 | { |
1698 | holgerb | 1696 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1697 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1698 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1699 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1700 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1701 | // average vertical projected thrust |
1698 | holgerb | 1702 | if(modell_fliegt < 4000) // the first 8 seconds |
1703 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1704 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1705 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1706 | } |
1698 | holgerb | 1707 | if(modell_fliegt < 8000) // the first 16 seconds |
1708 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1709 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1710 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1711 | } |
1698 | holgerb | 1712 | else //later |
1865 | holgerb | 1713 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1714 | { |
1590 | killagreg | 1715 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1716 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1717 | } |
1590 | killagreg | 1718 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1719 | if(EE_Parameter.Hoehe_HoverBand) |
1720 | { |
||
1721 | int16_t band; |
||
1587 | killagreg | 1722 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1723 | HoverGasMin = HoverGas - band; |
||
1724 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1725 | } |
1726 | else |
||
1727 | { // no limit |
||
1587 | killagreg | 1728 | HoverGasMin = 0; |
1729 | HoverGasMax = 1023; |
||
1309 | hbuss | 1730 | } |
1765 | killagreg | 1731 | } |
1732 | else |
||
1698 | holgerb | 1733 | { |
1734 | StartTrigger = 0; |
||
1735 | HoverGasFilter = 0; |
||
1736 | HoverGas = 0; |
||
1765 | killagreg | 1737 | } |
1916 | holgerb | 1738 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1739 | else |
1740 | { |
||
1741 | // set undefined state to indicate vario off |
||
1742 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1743 | } // EOF no height control |
||
1744 | |||
2028 | holgerb | 1745 | // Linits the maximum gas in case of "Out of Range emergency landing" |
2009 | holgerb | 1746 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1747 | { |
||
2028 | holgerb | 1748 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2034 | holgerb | 1749 | SollHoehe = HoehenWert; // update setpoint to current heigth |
2009 | holgerb | 1750 | beeptime = 15000; |
1751 | BeepMuster = 0x0E00; |
||
1752 | } |
||
2028 | holgerb | 1753 | // limit gas to parameter setting |
1320 | hbuss | 1754 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1755 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1756 | |
1051 | killagreg | 1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1758 | // all BL-Ctrl connected? |
1759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1944 | holgerb | 1760 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1931 | holgerb | 1761 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1320 | hbuss | 1762 | { |
1763 | modell_fliegt = 1; |
||
1675 | holgerb | 1764 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1765 | } |
1766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1767 | // + Mischer und PI-Regler |
1051 | killagreg | 1768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1769 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1770 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1771 | // Gier-Anteil |
1051 | killagreg | 1772 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1773 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1774 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1775 | if(GasMischanteil > MIN_GIERGAS) |
1776 | { |
||
1051 | killagreg | 1777 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1778 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1779 | } |
1051 | killagreg | 1780 | else |
693 | hbuss | 1781 | { |
1051 | killagreg | 1782 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1783 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1784 | } |
855 | hbuss | 1785 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1786 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1787 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1788 | |
1051 | killagreg | 1789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1790 | // Nick-Achse |
1051 | killagreg | 1791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1792 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1793 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1794 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1795 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1796 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1797 | |
1798 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1799 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1800 | pd_ergebnis_nick += SummeNick / Ki; |
||
1801 | |||
1676 | holgerb | 1802 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1803 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1804 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1805 | |
1153 | hbuss | 1806 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1807 | // Roll-Achse |
||
1808 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1809 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1810 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1811 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1812 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1813 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1814 | |
1815 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
1816 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
1817 | pd_ergebnis_roll += SummeRoll / Ki; |
||
1818 | |||
1676 | holgerb | 1819 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1820 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1821 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1822 | |||
1823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1824 | // Universal Mixer |
1155 | hbuss | 1825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1826 | for(i=0; i<MAX_MOTORS; i++) |
1827 | { |
||
1828 | signed int tmp_int; |
||
1829 | if(Mixer.Motor[i][0] > 0) |
||
1830 | { |
||
1652 | holgerb | 1831 | // Gas |
1676 | holgerb | 1832 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1833 | // Nick |
1834 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1835 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1836 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1837 | // Roll |
||
1838 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1839 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1840 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1841 | // Gier |
||
1676 | holgerb | 1842 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1843 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1844 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1845 | |
1913 | holgerb | 1846 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1847 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
1848 | else |
||
1849 | { |
||
1850 | if(EE_Parameter.MotorSmooth == 0) |
||
1851 | { |
||
1931 | holgerb | 1852 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 1853 | } |
1854 | else // 1 means tmp_int = tmp_int; |
||
1855 | if(EE_Parameter.MotorSmooth > 1) |
||
1856 | { |
||
1857 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
1925 | holgerb | 1858 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1913 | holgerb | 1859 | } |
1860 | } |
||
1931 | holgerb | 1861 | |
1760 | holgerb | 1862 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 1863 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1864 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1865 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1866 | } |
1867 | else |
||
1868 | { |
||
1869 | Motor[i].SetPoint = 0; |
||
1870 | Motor[i].SetPointLowerBits = 0; |
||
1871 | } |
||
1872 | } |
||
1111 | hbuss | 1873 | } |