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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; |
2316 | holgerb | 70 | signed char NeutralAccZfine = 0; |
1683 | killagreg | 71 | unsigned char ControlHeading = 0;// in 2° |
693 | hbuss | 72 | long IntegralNick = 0,IntegralNick2 = 0; |
73 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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74 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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75 | long Integral_Gier = 0; |
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76 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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77 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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79 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1685 | holgerb | 80 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 81 | volatile long Mess_Integral_Hoch = 0; |
1840 | holgerb | 82 | int KompassValue = -1; |
1837 | holgerb | 83 | int KompassSollWert = 0; |
1941 | holgerb | 84 | //int KompassRichtung = 0; |
1839 | holgerb | 85 | char CalculateCompassTimer = 100; |
86 | unsigned char KompassFusion = 32; |
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87 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 88 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 89 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 90 | unsigned char TrichterFlug = 0; |
395 | hbuss | 91 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 92 | long ErsatzKompass; |
93 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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94 | int GierGyroFehler = 0; |
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1211 | hbuss | 95 | char GyroFaktor,GyroFaktorGier; |
96 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 97 | int DiffNick,DiffRoll; |
1916 | holgerb | 98 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1943 | holgerb | 99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1377 | hbuss | 100 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 101 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 102 | volatile unsigned char SenderOkay = 0; |
1698 | holgerb | 103 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 104 | long HoehenWert = 0; |
105 | long SollHoehe = 0; |
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1942 | holgerb | 106 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 107 | long FromNC_AltitudeSetpoint = 0; |
108 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 109 | unsigned char carefree_old = 50; // to make the Beep when switching |
1942 | holgerb | 110 | signed char WaypointTrimming = 0; |
1840 | holgerb | 111 | int CompassGierSetpoint = 0; |
2009 | holgerb | 112 | unsigned char CalibrationDone = 0; |
2061 | holgerb | 113 | char NeueKompassRichtungMerken = 0; |
1692 | holgerb | 114 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 115 | //float Ki = FAKTOR_I; |
1676 | holgerb | 116 | int Ki = 10300 / 33; |
395 | hbuss | 117 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
118 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 119 | |
120 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 121 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 122 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
123 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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124 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 125 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 126 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 127 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 128 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 129 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
130 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 131 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
132 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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133 | unsigned char Parameter_UserParam1 = 0; |
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134 | unsigned char Parameter_UserParam2 = 0; |
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135 | unsigned char Parameter_UserParam3 = 0; |
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136 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 137 | unsigned char Parameter_UserParam5 = 0; |
138 | unsigned char Parameter_UserParam6 = 0; |
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139 | unsigned char Parameter_UserParam7 = 0; |
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140 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 141 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 142 | unsigned char Parameter_ServoRollControl = 100; |
2296 | holgerb | 143 | unsigned char Parameter_ServoNickComp = 50; |
144 | unsigned char Parameter_ServoRollComp = 85; |
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173 | holgerb | 145 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 146 | unsigned char Parameter_AchsKopplung1 = 90; |
147 | unsigned char Parameter_AchsKopplung2 = 65; |
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148 | unsigned char Parameter_CouplingYawCorrection = 64; |
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149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 150 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
152 | unsigned char Parameter_J16Timing; // for the J16 Output |
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153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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154 | unsigned char Parameter_J17Timing; // for the J17 Output |
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155 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 156 | unsigned char Parameter_NaviGpsGain; |
157 | unsigned char Parameter_NaviGpsP; |
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158 | unsigned char Parameter_NaviGpsI; |
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159 | unsigned char Parameter_NaviGpsD; |
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160 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 161 | unsigned char Parameter_NaviOperatingRadius; |
162 | unsigned char Parameter_NaviWindCorrection; |
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163 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 164 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 165 | unsigned char Parameter_GlobalConfig; |
166 | unsigned char Parameter_ExtraConfig; |
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1966 | holgerb | 167 | unsigned char Parameter_MaximumAltitude; |
1403 | hbuss | 168 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 169 | unsigned char CareFree = 0; |
1876 | holgerb | 170 | 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 | 171 | |
492 | hbuss | 172 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 173 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 174 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 175 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 176 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 177 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 178 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 179 | char VarioCharacter = ' '; |
2028 | holgerb | 180 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
2230 | holgerb | 181 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
2309 | holgerb | 182 | signed int Variance = 0; |
183 | signed int CosAttitude; // for projection of hoover gas |
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184 | unsigned char ACC_AltitudeControl = 0; |
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1591 | holgerb | 185 | |
1639 | holgerb | 186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
187 | // Debugwerte zuordnen |
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188 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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189 | void CopyDebugValues(void) |
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190 | { |
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191 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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192 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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193 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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194 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 195 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
2309 | holgerb | 196 | DebugOut.Analog[5] = HoehenWert/10; |
197 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
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1639 | holgerb | 198 | DebugOut.Analog[8] = KompassValue; |
199 | DebugOut.Analog[9] = UBat; |
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200 | DebugOut.Analog[10] = SenderOkay; |
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1941 | holgerb | 201 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 202 | DebugOut.Analog[12] = Motor[0].SetPoint; |
203 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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204 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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205 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 206 | DebugOut.Analog[20] = ServoNickValue; |
207 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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208 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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2309 | holgerb | 209 | DebugOut.Analog[24] = SollHoehe/10; |
1839 | holgerb | 210 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 211 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 212 | DebugOut.Analog[30] = GPS_Nick; |
213 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 214 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
2316 | holgerb | 215 | //DebugOut.Analog[16] = Variance; |
216 | //DebugOut.Analog[17] = VarioMeter; |
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217 | //DebugOut.Analog[18] = HoehenWertF; |
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218 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
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219 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
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1639 | holgerb | 220 | } |
221 | |||
1760 | holgerb | 222 | |
1232 | hbuss | 223 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 224 | { |
2263 | holgerb | 225 | unsigned int wait = 0; |
1232 | hbuss | 226 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1966 | holgerb | 227 | GRN_OFF; |
1 | ingob | 228 | while(Anzahl--) |
229 | { |
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1232 | hbuss | 230 | beeptime = dauer; |
2263 | holgerb | 231 | wait = dauer; |
232 | while(beeptime || wait) |
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233 | { |
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234 | if(UpdateMotor) |
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235 | { |
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236 | UpdateMotor = 0; |
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237 | if(!beeptime) wait--; |
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238 | LIBFC_Polling(); |
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239 | }; |
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240 | } |
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1 | ingob | 241 | } |
1966 | holgerb | 242 | GRN_ON; |
1 | ingob | 243 | } |
244 | |||
245 | //############################################################################ |
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1622 | killagreg | 246 | // Messwerte beim Ermitteln der Nullage |
247 | void CalibrierMittelwert(void) |
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248 | //############################################################################ |
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249 | { |
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250 | unsigned char i; |
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251 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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252 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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253 | ANALOG_OFF; |
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254 | MesswertNick = AdWertNick; |
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255 | MesswertRoll = AdWertRoll; |
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256 | MesswertGier = AdWertGier; |
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1703 | holgerb | 257 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
258 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 259 | // ADC einschalten |
260 | ANALOG_ON; |
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261 | for(i=0;i<8;i++) |
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262 | { |
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263 | int tmp; |
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1876 | holgerb | 264 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 265 | LIMIT_MIN_MAX(tmp, 0, 255); |
266 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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267 | } |
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268 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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269 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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270 | } |
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271 | |||
272 | //############################################################################ |
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1 | ingob | 273 | // Nullwerte ermitteln |
2316 | holgerb | 274 | unsigned char SetNeutral(unsigned char AccAdjustment) // retuns: "sucess" |
1 | ingob | 275 | //############################################################################ |
276 | { |
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2316 | holgerb | 277 | unsigned char i, sucess = 1; |
278 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0; |
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1702 | holgerb | 279 | VersionInfo.HardwareError[0] = 0; |
2146 | holgerb | 280 | // HEF4017Reset_ON; |
1051 | killagreg | 281 | NeutralAccX = 0; |
1 | ingob | 282 | NeutralAccY = 0; |
283 | NeutralAccZ = 0; |
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2316 | holgerb | 284 | NeutralAccZfine = 0; |
1622 | killagreg | 285 | |
1051 | killagreg | 286 | AdNeutralNick = 0; |
287 | AdNeutralRoll = 0; |
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1 | ingob | 288 | AdNeutralGier = 0; |
1622 | killagreg | 289 | |
395 | hbuss | 290 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 291 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 292 | |
1036 | hbuss | 293 | ExpandBaro = 0; |
1622 | killagreg | 294 | |
1051 | killagreg | 295 | CalibrierMittelwert(); |
395 | hbuss | 296 | Delay_ms_Mess(100); |
1622 | killagreg | 297 | |
1 | ingob | 298 | CalibrierMittelwert(); |
1622 | killagreg | 299 | |
1 | ingob | 300 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 301 | { |
1 | ingob | 302 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
303 | } |
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1166 | hbuss | 304 | #define NEUTRAL_FILTER 32 |
305 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 306 | { |
307 | Delay_ms_Mess(10); |
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1216 | killagreg | 308 | gier_neutral += AdWertGier; |
1166 | hbuss | 309 | nick_neutral += AdWertNick; |
310 | roll_neutral += AdWertRoll; |
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2316 | holgerb | 311 | acc_z_neutral += Aktuell_az; |
1111 | hbuss | 312 | } |
2316 | holgerb | 313 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
314 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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315 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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316 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 317 | |
401 | hbuss | 318 | StartNeutralRoll = AdNeutralRoll; |
319 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 320 | |
321 | if(AccAdjustment) |
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322 | { |
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323 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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324 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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325 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 326 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
327 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 328 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 329 | } |
1051 | killagreg | 330 | else |
513 | hbuss | 331 | { |
1622 | killagreg | 332 | // restore from eeprom |
333 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
||
334 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
||
335 | // strange settings? |
||
2316 | holgerb | 336 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
1622 | killagreg | 337 | { |
338 | printf("\n\rACC not calibrated!\r\n"); |
||
339 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
340 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
2316 | holgerb | 341 | sucess = 0; |
1622 | killagreg | 342 | } |
513 | hbuss | 343 | } |
1 | ingob | 344 | MesswertNick = 0; |
345 | MesswertRoll = 0; |
||
346 | MesswertGier = 0; |
||
1111 | hbuss | 347 | Delay_ms_Mess(100); |
1703 | holgerb | 348 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
349 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1173 | hbuss | 350 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
351 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
2072 | holgerb | 352 | Mess_IntegralNick = IntegralNick; |
353 | Mess_IntegralRoll = IntegralRoll; |
||
1173 | hbuss | 354 | Mess_Integral_Gier = 0; |
1 | ingob | 355 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 356 | VarioMeter = 0; |
2309 | holgerb | 357 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
1837 | holgerb | 358 | KompassSollWert = KompassValue; |
1839 | holgerb | 359 | KompassSignalSchlecht = 100; |
1051 | killagreg | 360 | beeptime = 50; |
882 | hbuss | 361 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
362 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 363 | ExternHoehenValue = 0; |
693 | hbuss | 364 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
365 | GierGyroFehler = 0; |
||
921 | hbuss | 366 | LED_Init(); |
1765 | killagreg | 367 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 368 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 369 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 370 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 371 | for(i=0;i<8;i++) |
1377 | hbuss | 372 | { |
1876 | holgerb | 373 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 374 | } |
1171 | hbuss | 375 | SenderOkay = 100; |
1320 | hbuss | 376 | if(ServoActive) |
377 | { |
||
378 | DDRD |=0x80; // enable J7 -> Servo signal |
||
379 | } |
||
2240 | holgerb | 380 | else |
381 | { |
||
2263 | holgerb | 382 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
383 | // else |
||
384 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
||
2240 | holgerb | 385 | } |
1702 | holgerb | 386 | |
2316 | holgerb | 387 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
388 | signed int tilt1, tilt2; |
||
389 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
390 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
391 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
||
392 | CosAttitude = c_cos_8192(tilt1); |
||
393 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
||
394 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
||
395 | if(ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
||
396 | |||
397 | #else |
||
398 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
||
399 | #endif |
||
400 | |||
1765 | killagreg | 401 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
402 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
403 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
404 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
405 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
406 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
2316 | holgerb | 407 | if(VersionInfo.HardwareError[0]) sucess = 0; |
1862 | holgerb | 408 | carefree_old = 70; |
1925 | holgerb | 409 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 410 | LIBFC_HoTT_Clear(); |
2316 | holgerb | 411 | ACC_AltitudeFusion(2); // initalisation |
1925 | holgerb | 412 | #endif |
2316 | holgerb | 413 | return(sucess); |
1 | ingob | 414 | } |
415 | |||
1702 | holgerb | 416 | |
1 | ingob | 417 | //############################################################################ |
395 | hbuss | 418 | // Bearbeitet die Messwerte |
1 | ingob | 419 | void Mittelwert(void) |
420 | //############################################################################ |
||
1051 | killagreg | 421 | { |
1111 | hbuss | 422 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
423 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 424 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 425 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 426 | MesswertNick = (signed int) AdWertNickFilter / 8; |
427 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 428 | RohMesswertNick = MesswertNick; |
429 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 430 | |
395 | hbuss | 431 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 432 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
433 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 434 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
435 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 436 | NaviAccNick += AdWertAccNick; |
437 | NaviAccRoll += AdWertAccRoll; |
||
438 | NaviCntAcc++; |
||
1153 | hbuss | 439 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
440 | |||
1155 | hbuss | 441 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
442 | // ADC einschalten |
||
1171 | hbuss | 443 | ANALOG_ON; |
1155 | hbuss | 444 | AdReady = 0; |
445 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
446 | |||
1216 | killagreg | 447 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
448 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 449 | else winkel_roll = Mess_IntegralRoll; |
450 | |||
1216 | killagreg | 451 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
452 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 453 | else winkel_nick = Mess_IntegralNick; |
454 | |||
1120 | hbuss | 455 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 456 | Mess_Integral_Gier += MesswertGier; |
457 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 458 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 459 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 460 | { |
1153 | hbuss | 461 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 462 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 463 | tmpl3 /= 4096L; |
1153 | hbuss | 464 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 465 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 466 | tmpl4 /= 4096L; |
1153 | hbuss | 467 | KopplungsteilNickRoll = tmpl3; |
468 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 469 | tmpl4 -= tmpl3; |
470 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 471 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 472 | |
1153 | hbuss | 473 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 474 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 475 | tmpl /= 4096L; |
1153 | hbuss | 476 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 477 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 478 | tmpl2 /= 4096L; |
1225 | hbuss | 479 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 480 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 481 | } |
1166 | hbuss | 482 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 483 | TrimRoll = tmpl - tmpl2 / 100L; |
484 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 485 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
486 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
487 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 488 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 489 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
490 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 491 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 492 | { |
882 | hbuss | 493 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 494 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 495 | } |
395 | hbuss | 496 | if(Mess_IntegralRoll <-Umschlag180Roll) |
497 | { |
||
882 | hbuss | 498 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 499 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 500 | } |
395 | hbuss | 501 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 502 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
503 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 504 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 505 | { |
506 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
507 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 508 | } |
509 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 510 | { |
882 | hbuss | 511 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 512 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 513 | } |
1111 | hbuss | 514 | |
1 | ingob | 515 | Integral_Gier = Mess_Integral_Gier; |
516 | IntegralNick = Mess_IntegralNick; |
||
517 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 518 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 519 | IntegralRoll2 = Mess_IntegralRoll2; |
520 | |||
1166 | hbuss | 521 | #define D_LIMIT 128 |
522 | |||
1171 | hbuss | 523 | MesswertNick = HiResNick / 8; |
524 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 525 | |
1167 | hbuss | 526 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
527 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
528 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
529 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
530 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
531 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
532 | |||
1216 | killagreg | 533 | if(Parameter_Gyro_D) |
1111 | hbuss | 534 | { |
1166 | hbuss | 535 | d2Nick = HiResNick - oldNick; |
536 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 537 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
538 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 539 | |
1166 | hbuss | 540 | d2Roll = HiResRoll - oldRoll; |
541 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 542 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
543 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 544 | |
545 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 546 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
547 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
548 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 549 | } |
1111 | hbuss | 550 | |
1166 | hbuss | 551 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
552 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
553 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
554 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 555 | |
1916 | holgerb | 556 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 557 | { |
558 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
559 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
560 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
561 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
562 | } |
||
1 | ingob | 563 | } |
564 | |||
565 | //############################################################################ |
||
566 | // Senden der Motorwerte per I2C-Bus |
||
567 | void SendMotorData(void) |
||
568 | //############################################################################ |
||
1051 | killagreg | 569 | { |
1209 | hbuss | 570 | unsigned char i; |
921 | hbuss | 571 | if(!MotorenEin) |
1 | ingob | 572 | { |
1765 | killagreg | 573 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
2309 | holgerb | 574 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
1216 | killagreg | 575 | for(i=0;i<MAX_MOTORS;i++) |
576 | { |
||
577 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 578 | Motor[i].SetPoint = MotorTest[i]; |
579 | Motor[i].SetPointLowerBits = 0; |
||
580 | /* |
||
1760 | holgerb | 581 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
582 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 583 | */ |
1216 | killagreg | 584 | } |
1212 | hbuss | 585 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 586 | } |
1765 | killagreg | 587 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 588 | |
1765 | killagreg | 589 | if(I2C_TransferActive) |
1744 | holgerb | 590 | { |
1760 | holgerb | 591 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 592 | } |
593 | else |
||
1744 | holgerb | 594 | { |
595 | motor_write = 0; |
||
1760 | holgerb | 596 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 597 | } |
1 | ingob | 598 | } |
599 | |||
600 | |||
601 | |||
602 | //############################################################################ |
||
603 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 604 | void ParameterZuordnung(void) |
1 | ingob | 605 | //############################################################################ |
606 | { |
||
1787 | holgerb | 607 | unsigned char tmp,i; |
608 | for(i=0;i<8;i++) |
||
609 | { |
||
610 | int tmp2; |
||
1933 | holgerb | 611 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
612 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 613 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 614 | |
615 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
616 | else |
||
1787 | holgerb | 617 | if(tmp2 != Poti[i]) |
618 | { |
||
619 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
620 | if(Poti[i] > tmp2) Poti[i]--; |
||
621 | else Poti[i]++; |
||
622 | } |
||
623 | } |
||
921 | hbuss | 624 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
625 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
626 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 627 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
628 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
2012 | holgerb | 629 | |
2040 | holgerb | 630 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
631 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
||
2012 | holgerb | 632 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
633 | |||
2040 | holgerb | 634 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
635 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
||
2012 | holgerb | 636 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
637 | |||
2043 | holgerb | 638 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
1916 | holgerb | 639 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 640 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
641 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
642 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
643 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
644 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
645 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
646 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
647 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
648 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
649 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
650 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
651 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
652 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
653 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
654 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
655 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
656 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
657 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
2296 | holgerb | 658 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
659 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
||
1377 | hbuss | 660 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
1668 | holgerb | 661 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
662 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 663 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 664 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
2034 | holgerb | 665 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
1916 | holgerb | 666 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
667 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 668 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
669 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
670 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 671 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 672 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 673 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 674 | |
1921 | holgerb | 675 | tmp = EE_Parameter.CareFreeModeControl; |
1690 | holgerb | 676 | if(tmp > 50) |
1668 | holgerb | 677 | { |
1682 | holgerb | 678 | CareFree = 1; |
1839 | holgerb | 679 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 680 | if(carefree_old != CareFree) |
681 | { |
||
682 | if(carefree_old < 3) |
||
683 | { |
||
2090 | holgerb | 684 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
685 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
||
686 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
||
687 | #else |
||
2063 | holgerb | 688 | if(CareFree) beeptime = 1500; |
1862 | holgerb | 689 | else beeptime = 200; |
2090 | holgerb | 690 | #endif |
2063 | holgerb | 691 | NeueKompassRichtungMerken = 5; |
1862 | holgerb | 692 | carefree_old = CareFree; |
693 | } else carefree_old--; |
||
694 | } |
||
1937 | holgerb | 695 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 696 | } |
1839 | holgerb | 697 | else |
698 | { |
||
699 | CareFree = 0; |
||
1862 | holgerb | 700 | carefree_old = 10; |
1839 | holgerb | 701 | } |
1668 | holgerb | 702 | |
1691 | holgerb | 703 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 704 | { |
705 | beeptime = 15000; |
||
706 | BeepMuster = 0xA400; |
||
707 | CareFree = 0; |
||
1765 | killagreg | 708 | } |
1861 | holgerb | 709 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 710 | } |
711 | |||
712 | //############################################################################ |
||
713 | // |
||
714 | void MotorRegler(void) |
||
715 | //############################################################################ |
||
716 | { |
||
1330 | killagreg | 717 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 718 | int GierMischanteil,GasMischanteil; |
719 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 720 | static long IntegralFehlerNick = 0; |
721 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 722 | static unsigned int RcLostTimer; |
723 | static unsigned char delay_neutral = 0; |
||
724 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
2146 | holgerb | 725 | static signed char move_safety_switch = 0; |
395 | hbuss | 726 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 727 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 728 | unsigned char i; |
1051 | killagreg | 729 | Mittelwert(); |
730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 731 | // Gaswert ermitteln |
1051 | killagreg | 732 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2230 | holgerb | 733 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
734 | { |
||
735 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
||
2028 | holgerb | 736 | { |
737 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
738 | { |
||
739 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
740 | } |
||
741 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
742 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
2230 | holgerb | 743 | } |
744 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
||
745 | { |
||
746 | StickGas = 0; // Hold Gas down in that case |
||
747 | HooverGasEmergencyPercent = MIN_GAS; |
||
748 | } |
||
1051 | killagreg | 749 | GasMischanteil = StickGas; |
831 | hbuss | 750 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1051 | killagreg | 751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 752 | // Empfang schlecht |
1051 | killagreg | 753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 754 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 755 | { |
1051 | killagreg | 756 | if(RcLostTimer) RcLostTimer--; |
757 | else |
||
1 | ingob | 758 | { |
759 | MotorenEin = 0; |
||
1954 | holgerb | 760 | modell_fliegt = 0; |
761 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
1051 | killagreg | 762 | } |
1 | ingob | 763 | ROT_ON; |
2008 | holgerb | 764 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 765 | { |
2028 | holgerb | 766 | GasMischanteil = HooverGasEmergencyPercent; |
1765 | killagreg | 767 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 768 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 769 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 770 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
771 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
772 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 773 | } |
1954 | holgerb | 774 | else |
775 | { |
||
776 | MotorenEin = 0; |
||
777 | } |
||
1 | ingob | 778 | } |
1051 | killagreg | 779 | else |
780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 781 | // Emfang gut |
1051 | killagreg | 782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 783 | if(SenderOkay > 140) |
784 | { |
||
1765 | killagreg | 785 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 786 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 787 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 788 | { |
789 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
790 | } |
||
871 | hbuss | 791 | if((modell_fliegt < 256)) |
2309 | holgerb | 792 | { |
1 | ingob | 793 | SummeNick = 0; |
794 | SummeRoll = 0; |
||
1682 | holgerb | 795 | sollGier = 0; |
796 | Mess_Integral_Gier = 0; |
||
2309 | holgerb | 797 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
798 | } |
||
799 | else |
||
800 | { |
||
801 | FC_StatusFlags |= FC_STATUS_FLY; |
||
802 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
||
803 | { |
||
804 | /* |
||
805 | if(Parameter_UserParam3 > 50) |
||
806 | { |
||
807 | FromNC_AltitudeSpeed = 15; |
||
808 | FromNC_AltitudeSetpoint = 500; |
||
809 | } |
||
810 | */ |
||
811 | if(HoehenWert > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
||
812 | { |
||
813 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
||
814 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
815 | SpeakHoTT = SPEAK_RISING; |
||
816 | //SollHoehe = 250; |
||
817 | #endif |
||
818 | beeptime = 5000; |
||
819 | } |
||
820 | SummeNick = 0; |
||
821 | SummeRoll = 0; |
||
822 | Mess_Integral_Gier = 0; |
||
823 | // sollGier = 0; |
||
824 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
||
825 | } |
||
826 | /* |
||
827 | else |
||
828 | if(Parameter_UserParam3 > 150) |
||
829 | { |
||
830 | if(HoehenWert > 2500) FromNC_AltitudeSpeed = 30; |
||
831 | else |
||
832 | if(HoehenWert > 1500) FromNC_AltitudeSpeed = 30; |
||
833 | else |
||
834 | { |
||
835 | FromNC_AltitudeSpeed = 10; |
||
836 | SummeNick -= SummeNick / 4; |
||
837 | SummeRoll -= SummeRoll / 4; |
||
838 | } |
||
839 | FromNC_AltitudeSetpoint = -300; |
||
840 | } |
||
841 | */ |
||
842 | } |
||
595 | hbuss | 843 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 844 | { |
1051 | killagreg | 845 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 846 | // auf Nullwerte kalibrieren |
1051 | killagreg | 847 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 848 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
849 | { |
||
850 | if(++delay_neutral > 200) // nicht sofort |
||
851 | { |
||
852 | delay_neutral = 0; |
||
853 | modell_fliegt = 0; |
||
854 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
855 | { |
||
304 | ingob | 856 | unsigned char setting=1; |
1 | ingob | 857 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
858 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
859 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
860 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
861 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 862 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 863 | } |
1051 | killagreg | 864 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
865 | { |
||
819 | hbuss | 866 | WinkelOut.CalcState = 1; |
2009 | holgerb | 867 | CalibrationDone = 0; |
819 | hbuss | 868 | beeptime = 1000; |
869 | } |
||
870 | else |
||
1 | ingob | 871 | { |
1622 | killagreg | 872 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 873 | LipoDetection(0); |
1626 | killagreg | 874 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 875 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 876 | { |
1 | ingob | 877 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 878 | } |
2146 | holgerb | 879 | // ServoActive = 0; |
2316 | holgerb | 880 | CalibrationDone = SetNeutral(0); |
1232 | hbuss | 881 | ServoActive = 1; |
882 | DDRD |=0x80; // enable J7 -> Servo signal |
||
2263 | holgerb | 883 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2309 | holgerb | 884 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
2316 | holgerb | 885 | else |
886 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
2309 | holgerb | 887 | else SpeakHoTT = SPEAK_CALIBRATE; |
2263 | holgerb | 888 | #endif |
1622 | killagreg | 889 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 890 | } |
1051 | killagreg | 891 | } |
1 | ingob | 892 | } |
1051 | killagreg | 893 | else |
513 | hbuss | 894 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
895 | { |
||
896 | if(++delay_neutral > 200) // nicht sofort |
||
897 | { |
||
898 | MotorenEin = 0; |
||
899 | delay_neutral = 0; |
||
900 | modell_fliegt = 0; |
||
2316 | holgerb | 901 | CalibrationDone = SetNeutral(1); |
2263 | holgerb | 902 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 903 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
904 | else |
||
905 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
906 | else SpeakHoTT = SPEAK_CALIBRATE; |
||
2263 | holgerb | 907 | #endif |
1622 | killagreg | 908 | Piep(GetActiveParamSet(),120); |
1051 | killagreg | 909 | } |
513 | hbuss | 910 | } |
1 | ingob | 911 | else delay_neutral = 0; |
912 | } |
||
1051 | killagreg | 913 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 914 | // Gas ist unten |
1051 | killagreg | 915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 916 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 917 | { |
2146 | holgerb | 918 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
919 | else |
||
920 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
||
1521 | killagreg | 921 | // Motoren Starten |
922 | if(!MotorenEin) |
||
923 | { |
||
2146 | holgerb | 924 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
925 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
||
1521 | killagreg | 926 | { |
1051 | killagreg | 927 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 928 | // Einschalten |
1051 | killagreg | 929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2146 | holgerb | 930 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
2309 | holgerb | 931 | StartLuftdruck = Luftdruck; |
932 | HoehenWertF = 0; |
||
933 | HoehenWert = 0; |
||
934 | SummenHoehe = 0; |
||
2146 | holgerb | 935 | if(++delay_einschalten > 253) |
1521 | killagreg | 936 | { |
937 | delay_einschalten = 0; |
||
2009 | holgerb | 938 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1622 | killagreg | 939 | { |
940 | modell_fliegt = 1; |
||
941 | MotorenEin = 1; |
||
942 | sollGier = 0; |
||
943 | Mess_Integral_Gier = 0; |
||
944 | Mess_Integral_Gier2 = 0; |
||
945 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
946 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
947 | Mess_IntegralNick2 = IntegralNick; |
||
948 | Mess_IntegralRoll2 = IntegralRoll; |
||
949 | SummeNick = 0; |
||
950 | SummeRoll = 0; |
||
1913 | holgerb | 951 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 952 | NeueKompassRichtungMerken = 100; // 2 sekunden |
2090 | holgerb | 953 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
954 | SpeakHoTT = SPEAK_STARTING; |
||
955 | #endif |
||
1622 | killagreg | 956 | } |
957 | else |
||
958 | { |
||
959 | beeptime = 1500; // indicate missing calibration |
||
2090 | holgerb | 960 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2146 | holgerb | 961 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
2090 | holgerb | 962 | #endif |
1622 | killagreg | 963 | } |
1521 | killagreg | 964 | } |
965 | } |
||
966 | else delay_einschalten = 0; |
||
967 | } |
||
1051 | killagreg | 968 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 969 | // Auschalten |
1051 | killagreg | 970 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 971 | else // only if motors are running |
972 | { |
||
2146 | holgerb | 973 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
974 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
||
975 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
||
1521 | killagreg | 976 | { |
2146 | holgerb | 977 | if(++delay_ausschalten > 250) // nicht sofort |
1521 | killagreg | 978 | { |
979 | MotorenEin = 0; |
||
980 | delay_ausschalten = 0; |
||
981 | modell_fliegt = 0; |
||
2090 | holgerb | 982 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
983 | SpeakHoTT = SPEAK_MK_OFF; |
||
984 | #endif |
||
1521 | killagreg | 985 | } |
986 | } |
||
987 | else delay_ausschalten = 0; |
||
988 | } |
||
2230 | holgerb | 989 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
990 | } |
||
2146 | holgerb | 991 | else // gas not at minimum |
2230 | holgerb | 992 | { |
993 | move_safety_switch = 0; |
||
994 | GasIsZeroCnt = 0; |
||
995 | } |
||
1 | ingob | 996 | } |
2230 | holgerb | 997 | else // Empfang zwischen 100 und 140 -> schlecht |
998 | { |
||
999 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
||
1000 | { |
||
1001 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
||
1002 | { |
||
1003 | GasIsZeroCnt = 30000; |
||
1004 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
||
1005 | } |
||
1006 | } |
||
1007 | } |
||
1051 | killagreg | 1008 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1009 | // neue Werte von der Funke |
1051 | killagreg | 1010 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1011 | |
1765 | killagreg | 1012 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 1013 | { |
604 | hbuss | 1014 | static int stick_nick,stick_roll; |
1912 | holgerb | 1015 | unsigned char stick_p; |
1 | ingob | 1016 | ParameterZuordnung(); |
1912 | holgerb | 1017 | stick_p = EE_Parameter.Stick_P; |
1018 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 1019 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 1020 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 1021 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
1022 | |||
1707 | holgerb | 1023 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1024 | // CareFree und freie Wahl der vorderen Richtung |
||
1025 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 1026 | if(CareFree) |
1027 | { |
||
1028 | signed int nick, roll; |
||
1029 | nick = stick_nick / 4; |
||
1030 | roll = stick_roll / 4; |
||
1031 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
1032 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1033 | } |
||
1034 | else |
||
1035 | { |
||
1036 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
1037 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
1038 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
1039 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1040 | } |
||
1662 | killagreg | 1041 | |
1 | ingob | 1042 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 1043 | if(StickGier > 4) StickGier -= 4; else |
1044 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 1045 | |
1945 | holgerb | 1046 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1047 | { |
||
1048 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
1049 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
1050 | } |
||
1912 | holgerb | 1051 | |
1052 | StickNick -= GPS_Nick; |
||
1053 | StickRoll -= GPS_Roll; |
||
1933 | holgerb | 1054 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1330 | killagreg | 1055 | |
1153 | hbuss | 1056 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1057 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 1058 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1059 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 1060 | |
595 | hbuss | 1061 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1062 | //+ Analoge Steuerung per Seriell |
||
1063 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 1064 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 1065 | { |
1066 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
1067 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
1068 | StickGier += ExternControl.Gier; |
||
1069 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1070 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
1071 | } |
||
855 | hbuss | 1072 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 1073 | |
1916 | holgerb | 1074 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 1075 | |
1051 | killagreg | 1076 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 1077 | { |
1051 | killagreg | 1078 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 1079 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 1080 | } |
928 | hbuss | 1081 | else MaxStickNick--; |
1051 | killagreg | 1082 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 1083 | { |
1051 | killagreg | 1084 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 1085 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 1086 | } |
928 | hbuss | 1087 | else MaxStickRoll--; |
1765 | killagreg | 1088 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 1089 | |
1051 | killagreg | 1090 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1091 | // Looping? |
1051 | killagreg | 1092 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 1093 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 1094 | else |
1095 | { |
||
395 | hbuss | 1096 | { |
1051 | killagreg | 1097 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1098 | } |
||
1099 | } |
||
993 | hbuss | 1100 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 1101 | else |
395 | hbuss | 1102 | { |
1103 | if(Looping_Rechts) // Hysterese |
||
1104 | { |
||
1105 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
1106 | } |
||
1051 | killagreg | 1107 | } |
173 | holgerb | 1108 | |
993 | hbuss | 1109 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 1110 | else |
1111 | { |
||
395 | hbuss | 1112 | if(Looping_Oben) // Hysterese |
1113 | { |
||
1051 | killagreg | 1114 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1115 | } |
||
1116 | } |
||
993 | hbuss | 1117 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 1118 | else |
395 | hbuss | 1119 | { |
1120 | if(Looping_Unten) // Hysterese |
||
1121 | { |
||
1122 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
1123 | } |
||
1051 | killagreg | 1124 | } |
395 | hbuss | 1125 | |
1126 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 1127 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 1128 | } // Ende neue Funken-Werte |
1129 | |||
1130 | if(Looping_Roll || Looping_Nick) |
||
1131 | { |
||
173 | holgerb | 1132 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 1133 | TrichterFlug = 1; |
173 | holgerb | 1134 | } |
1135 | |||
1051 | killagreg | 1136 | |
1137 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1138 | // Bei Empfangsausfall im Flug |
||
1139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 1140 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1141 | { |
||
1142 | StickNick = -GPS_Nick; |
||
1143 | StickRoll = -GPS_Roll; |
||
2230 | holgerb | 1144 | StickGas = StickGasHover; |
1916 | holgerb | 1145 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1146 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1147 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1148 | Parameter_HoehenSchalter = 200; // switch on |
||
1149 | } |
||
1150 | else |
||
1765 | killagreg | 1151 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 1152 | { |
1153 | StickGier = 0; |
||
1154 | StickNick = 0; |
||
1155 | StickRoll = 0; |
||
1211 | hbuss | 1156 | GyroFaktor = 90; |
1157 | IntegralFaktor = 120; |
||
1158 | GyroFaktorGier = 90; |
||
1159 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1160 | Looping_Roll = 0; |
1161 | Looping_Nick = 0; |
||
1051 | killagreg | 1162 | } |
395 | hbuss | 1163 | |
1051 | killagreg | 1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1165 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1167 | #define ABGLEICH_ANZAHL 256L |
1168 | |||
1169 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1170 | MittelIntegralRoll += IntegralRoll; |
||
1171 | MittelIntegralNick2 += IntegralNick2; |
||
1172 | MittelIntegralRoll2 += IntegralRoll2; |
||
1173 | |||
1174 | if(Looping_Nick || Looping_Roll) |
||
1175 | { |
||
1176 | IntegralAccNick = 0; |
||
1177 | IntegralAccRoll = 0; |
||
1178 | MittelIntegralNick = 0; |
||
1179 | MittelIntegralRoll = 0; |
||
1180 | MittelIntegralNick2 = 0; |
||
1181 | MittelIntegralRoll2 = 0; |
||
1182 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1183 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1184 | ZaehlMessungen = 0; |
||
498 | hbuss | 1185 | LageKorrekturNick = 0; |
1186 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1187 | } |
1188 | |||
1051 | killagreg | 1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1190 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1191 | { |
1192 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1193 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1194 | { |
1944 | holgerb | 1195 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1196 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1197 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1198 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1199 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1200 | { |
||
1201 | tmp_long /= 2; |
||
1202 | tmp_long2 /= 2; |
||
1203 | } |
||
2309 | holgerb | 1204 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1944 | holgerb | 1205 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1206 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1207 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | hbuss | 1208 | } |
1051 | killagreg | 1209 | else |
992 | hbuss | 1210 | { |
1944 | holgerb | 1211 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1212 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1213 | tmp_long /= 16; |
||
1214 | tmp_long2 /= 16; |
||
1215 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1216 | { |
||
1217 | tmp_long /= 3; |
||
1218 | tmp_long2 /= 3; |
||
1219 | } |
||
1220 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1221 | { |
||
1222 | tmp_long /= 3; |
||
1223 | tmp_long2 /= 3; |
||
1224 | } |
||
1225 | KompassFusion = 25; |
||
1155 | hbuss | 1226 | #define AUSGLEICH 32 |
1944 | holgerb | 1227 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1228 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1229 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1230 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
992 | hbuss | 1231 | } |
1166 | hbuss | 1232 | |
1111 | hbuss | 1233 | Mess_IntegralNick -= tmp_long; |
1234 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1235 | } |
1051 | killagreg | 1236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1237 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1238 | { |
||
1239 | static int cnt = 0; |
||
1240 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1241 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1242 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1243 | { |
395 | hbuss | 1244 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1245 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1246 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1247 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1248 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1249 | #define MAX_I 0 |
395 | hbuss | 1250 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1251 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1252 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1253 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1254 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1255 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1256 | |
1257 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1258 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1259 | |
992 | hbuss | 1260 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1261 | { |
1262 | LageKorrekturNick /= 2; |
||
720 | ingob | 1263 | LageKorrekturRoll /= 2; |
614 | hbuss | 1264 | } |
498 | hbuss | 1265 | |
1051 | killagreg | 1266 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1267 | // Gyro-Drift ermitteln |
1051 | killagreg | 1268 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1269 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1270 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1271 | tmp_long = IntegralNick2 - IntegralNick; |
1272 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1273 | |
1274 | IntegralFehlerNick = tmp_long; |
||
1275 | IntegralFehlerRoll = tmp_long2; |
||
1276 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1277 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1278 | |||
1111 | hbuss | 1279 | if(EE_Parameter.Driftkomp) |
1280 | { |
||
1622 | killagreg | 1281 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1282 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1283 | } |
693 | hbuss | 1284 | GierGyroFehler = 0; |
720 | ingob | 1285 | |
1243 | killagreg | 1286 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1287 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1288 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1289 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1290 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1291 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1292 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1293 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1294 | { |
1051 | killagreg | 1295 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1296 | { |
1051 | killagreg | 1297 | if(last_n_p) |
395 | hbuss | 1298 | { |
1173 | hbuss | 1299 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1300 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1301 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1302 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1303 | } |
395 | hbuss | 1304 | else last_n_p = 1; |
1305 | } else last_n_p = 0; |
||
1051 | killagreg | 1306 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1307 | { |
1308 | if(last_n_n) |
||
1051 | killagreg | 1309 | { |
1173 | hbuss | 1310 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1311 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1312 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1313 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1314 | } |
395 | hbuss | 1315 | else last_n_n = 1; |
1316 | } else last_n_n = 0; |
||
1051 | killagreg | 1317 | } |
1318 | else |
||
847 | hbuss | 1319 | { |
1320 | cnt = 0; |
||
1839 | holgerb | 1321 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1322 | } |
499 | hbuss | 1323 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1324 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1325 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1326 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1327 | |
395 | hbuss | 1328 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1329 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1330 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1331 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1332 | { |
1051 | killagreg | 1333 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1334 | { |
1051 | killagreg | 1335 | if(last_r_p) |
395 | hbuss | 1336 | { |
1173 | hbuss | 1337 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1338 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1339 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1340 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1341 | } |
395 | hbuss | 1342 | else last_r_p = 1; |
1343 | } else last_r_p = 0; |
||
1051 | killagreg | 1344 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1345 | { |
1051 | killagreg | 1346 | if(last_r_n) |
395 | hbuss | 1347 | { |
1173 | hbuss | 1348 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1349 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1350 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1351 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1352 | } |
1353 | else last_r_n = 1; |
||
1354 | } else last_r_n = 0; |
||
1051 | killagreg | 1355 | } else |
492 | hbuss | 1356 | { |
1357 | cnt = 0; |
||
1839 | holgerb | 1358 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1359 | } |
499 | hbuss | 1360 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1361 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1362 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1363 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1364 | } |
1051 | killagreg | 1365 | else |
498 | hbuss | 1366 | { |
1367 | LageKorrekturRoll = 0; |
||
1368 | LageKorrekturNick = 0; |
||
880 | hbuss | 1369 | TrichterFlug = 0; |
498 | hbuss | 1370 | } |
1051 | killagreg | 1371 | |
498 | hbuss | 1372 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1373 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1375 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1376 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1377 | IntegralAccNick = 0; |
1378 | IntegralAccRoll = 0; |
||
1379 | IntegralAccZ = 0; |
||
1380 | MittelIntegralNick = 0; |
||
1381 | MittelIntegralRoll = 0; |
||
1382 | MittelIntegralNick2 = 0; |
||
1383 | MittelIntegralRoll2 = 0; |
||
1384 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1385 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1386 | |
1051 | killagreg | 1387 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1388 | // Gieren |
1051 | killagreg | 1389 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1390 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1391 | { |
1839 | holgerb | 1392 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1393 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1394 | { |
1840 | holgerb | 1395 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1396 | }; |
1 | ingob | 1397 | } |
1944 | holgerb | 1398 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1399 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
2309 | holgerb | 1400 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
1840 | holgerb | 1401 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1402 | sollGier = tmp_int; |
1051 | killagreg | 1403 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1404 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1405 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1406 | |
1407 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1408 | // Kompass |
1051 | killagreg | 1409 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1410 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1411 | { |
1839 | holgerb | 1412 | if(CalculateCompassTimer-- == 1) |
1413 | { |
||
1414 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1415 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1416 | // max. Korrekturwert schätzen |
1 | ingob | 1417 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1418 | v = abs(IntegralRoll /512); |
||
1419 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1972 | holgerb | 1420 | // korrektur = w / 4 + 1; |
1421 | korrektur = w / 8 + 2; |
||
1941 | holgerb | 1422 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1423 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1424 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1425 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1426 | // Kompasswert einloggen |
||
1427 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1428 | else |
||
1429 | if(w < 25) |
||
921 | hbuss | 1430 | { |
1431 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1432 | if(NeueKompassRichtungMerken) |
1433 | { |
||
1839 | holgerb | 1434 | if(--NeueKompassRichtungMerken == 0) |
1435 | { |
||
1941 | holgerb | 1436 | KompassSollWert = ErsatzKompassInGrad; |
1839 | holgerb | 1437 | } |
921 | hbuss | 1438 | } |
1 | ingob | 1439 | } |
1840 | holgerb | 1440 | // Kompass fusionieren |
1839 | holgerb | 1441 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1941 | holgerb | 1442 | // MK Gieren |
1443 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1444 | { |
1941 | holgerb | 1445 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1446 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1447 | CompassGierSetpoint = v / 16; |
1448 | } |
||
1865 | holgerb | 1449 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1450 | } // CalculateCompassTimer |
1051 | killagreg | 1451 | } |
1840 | holgerb | 1452 | else CompassGierSetpoint = 0; |
1972 | holgerb | 1453 | |
1454 | //DebugOut.Analog[16] = KompassFusion; |
||
1051 | killagreg | 1455 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1456 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1457 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1458 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1459 | |
1171 | hbuss | 1460 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1461 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1462 | |
1167 | hbuss | 1463 | #define TRIM_MAX 200 |
1166 | hbuss | 1464 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1465 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1466 | |
1166 | hbuss | 1467 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1468 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1469 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1470 | |
1 | ingob | 1471 | // Maximalwerte abfangen |
1685 | holgerb | 1472 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1473 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1474 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1475 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1476 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1477 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1478 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1479 | |||
1051 | killagreg | 1480 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1481 | // Höhenregelung |
1482 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1483 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1484 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1485 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1486 | // if height control is activated |
1916 | holgerb | 1487 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1488 | { |
1698 | holgerb | 1489 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1490 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1491 | |
1492 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1493 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1494 | #else |
1638 | holgerb | 1495 | #define OPA_OFFSET_STEP 10 |
1496 | #endif |
||
2309 | holgerb | 1497 | int HCGas, GasReduction = 0; |
1309 | hbuss | 1498 | static int HeightTrimming = 0; // rate for change of height setpoint |
2309 | holgerb | 1499 | static int HeightDeviation = 0, FilterHCGas = 0; |
1587 | killagreg | 1500 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1501 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1330 | killagreg | 1502 | |
1309 | hbuss | 1503 | // get the current hooverpoint |
1587 | killagreg | 1504 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1505 | |
1322 | hbuss | 1506 | // Expand the measurement |
1507 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1508 | if(!BaroExpandActive) |
||
1509 | { |
||
1510 | if(MessLuftdruck > 920) |
||
1511 | { // increase offset |
||
1330 | killagreg | 1512 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1513 | { |
1514 | ExpandBaro -= 1; |
||
1515 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1516 | beeptime = 300; |
||
1352 | hbuss | 1517 | BaroExpandActive = 350; |
1330 | killagreg | 1518 | } |
1519 | else |
||
1322 | hbuss | 1520 | { |
1521 | BaroAtLowerLimit = 1; |
||
1522 | } |
||
1523 | } |
||
1524 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1525 | else |
1322 | hbuss | 1526 | if(MessLuftdruck < 100) |
1527 | { // decrease offset |
||
1330 | killagreg | 1528 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1529 | { |
1530 | ExpandBaro += 1; |
||
1531 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1532 | beeptime = 300; |
||
1352 | hbuss | 1533 | BaroExpandActive = 350; |
1330 | killagreg | 1534 | } |
1535 | else |
||
1322 | hbuss | 1536 | { |
1537 | BaroAtUpperLimit = 1; |
||
1538 | } |
||
1539 | } |
||
1330 | killagreg | 1540 | else |
1322 | hbuss | 1541 | { |
1542 | BaroAtUpperLimit = 0; |
||
1543 | BaroAtLowerLimit = 0; |
||
1544 | } |
||
1545 | } |
||
1546 | else // delay, because of expanding the Baro-Range |
||
1547 | { |
||
1548 | // now clear the D-values |
||
2316 | holgerb | 1549 | VarioMeter = 0; |
2309 | holgerb | 1550 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1551 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
2309 | holgerb | 1552 | else SummenHoehe = HoehenWert * SM_FILTER; |
1553 | #else |
||
1554 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1555 | #endif |
||
1322 | hbuss | 1556 | BaroExpandActive--; |
1557 | } |
||
1328 | hbuss | 1558 | // if height control is activated by an rc channel |
1916 | holgerb | 1559 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1560 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1561 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1562 | { //height control not active |
1563 | if(!delay--) |
||
1564 | { |
||
2090 | holgerb | 1565 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1566 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
2090 | holgerb | 1567 | #endif |
1328 | hbuss | 1568 | HoehenReglerAktiv = 0; // disable height control |
1569 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1570 | delay = 1; |
||
1571 | } |
||
1572 | } |
||
1573 | else |
||
2090 | holgerb | 1574 | if(Parameter_HoehenSchalter > 70) |
1328 | hbuss | 1575 | { //height control is activated |
2090 | holgerb | 1576 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1577 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
2090 | holgerb | 1578 | #endif |
2263 | holgerb | 1579 | delay = 200; |
1328 | hbuss | 1580 | HoehenReglerAktiv = 1; // enable height control |
1581 | } |
||
1051 | killagreg | 1582 | } |
1309 | hbuss | 1583 | else // no switchable height control |
1584 | { |
||
1916 | holgerb | 1585 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1586 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1587 | } |
1320 | hbuss | 1588 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1589 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1590 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1591 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1592 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1593 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1594 | VarioCharacter = ' '; |
1942 | holgerb | 1595 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1596 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1597 | { |
1330 | killagreg | 1598 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1599 | // Holger original version |
1600 | // start of height control algorithm |
||
1601 | // the height control is only an attenuation of the actual gas stick. |
||
1602 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1603 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1604 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1605 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1606 | { // old version |
1309 | hbuss | 1607 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1608 | HeightTrimming = 0; |
||
1942 | holgerb | 1609 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1610 | // set both flags to indicate no vario mode |
1611 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1612 | } |
1314 | killagreg | 1613 | else |
1309 | hbuss | 1614 | { |
1615 | // alternative height control |
||
1616 | // PD-Control with respect to hoover point |
||
1617 | // the thrust loss out of horizontal attitude is compensated |
||
1618 | // the setpoint will be fine adjusted with the gas stick position |
||
1943 | holgerb | 1619 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1620 | { // gas stick is above hoover point |
1587 | killagreg | 1621 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1622 | { |
2309 | holgerb | 1623 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
1767 | killagreg | 1624 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1625 | { |
1767 | killagreg | 1626 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
2309 | holgerb | 1627 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1628 | } |
1767 | killagreg | 1629 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1966 | holgerb | 1630 | // Limit the maximum Altitude |
1631 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
||
1632 | else |
||
1633 | { |
||
1634 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
1635 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1942 | holgerb | 1636 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1637 | VarioCharacter = '+'; |
1966 | holgerb | 1638 | } |
1865 | holgerb | 1639 | WaypointTrimming = 0; |
1309 | hbuss | 1640 | } // gas stick is below hoover point |
1587 | killagreg | 1641 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1642 | { |
1767 | killagreg | 1643 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1644 | { |
1767 | killagreg | 1645 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
2309 | holgerb | 1646 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1647 | } |
1767 | killagreg | 1648 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1649 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1650 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1591 | holgerb | 1651 | VarioCharacter = '-'; |
1865 | holgerb | 1652 | WaypointTrimming = 0; |
1309 | hbuss | 1653 | } |
1587 | killagreg | 1654 | else // Gas Stick in Hover Range |
1309 | hbuss | 1655 | { |
1855 | holgerb | 1656 | VarioCharacter = '='; |
1857 | holgerb | 1657 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1658 | { |
1659 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1660 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1661 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1662 | WaypointTrimming = 10; |
1663 | VarioCharacter = '^'; |
||
1865 | holgerb | 1664 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1665 | { |
||
1666 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
2309 | holgerb | 1667 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1668 | } |
1855 | holgerb | 1669 | } |
1670 | else |
||
1857 | holgerb | 1671 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1672 | { |
1673 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1674 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1675 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1676 | WaypointTrimming = -10; |
1677 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1678 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1679 | { |
||
1680 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
2309 | holgerb | 1681 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1682 | } |
1855 | holgerb | 1683 | } |
1684 | else |
||
1767 | killagreg | 1685 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1686 | { |
2309 | holgerb | 1687 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1933 | holgerb | 1688 | else WaypointTrimming = 0; |
1767 | killagreg | 1689 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1690 | HeightTrimming = 0; |
1916 | holgerb | 1691 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1692 | if(!StartTrigger && HoehenWert > 50) |
1693 | { |
||
1694 | StartTrigger = 1; |
||
1765 | killagreg | 1695 | } |
1309 | hbuss | 1696 | } |
1697 | } |
||
1698 | // Trim height set point |
||
1942 | holgerb | 1699 | HeightTrimming += AltitudeSetpointTrimming; |
1700 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1701 | { |
1857 | holgerb | 1702 | if(WaypointTrimming) |
1703 | { |
||
1704 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1705 | else SollHoehe += WaypointTrimming; |
||
1706 | } |
||
1707 | else |
||
1966 | holgerb | 1708 | { |
1709 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1710 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1711 | } |
||
1309 | hbuss | 1712 | HeightTrimming = 0; |
1932 | holgerb | 1713 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1916 | holgerb | 1714 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1715 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1716 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1717 | { |
1587 | killagreg | 1718 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1719 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1720 | if(StickGasHover < 70) StickGasHover = 70; |
||
1721 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1722 | } |
1309 | hbuss | 1723 | } |
2309 | holgerb | 1724 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1725 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1726 | else |
1727 | { |
||
1322 | hbuss | 1728 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1729 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1730 | else StickGasHover = 120; |
||
1698 | holgerb | 1731 | HoverGas = GasMischanteil; |
1972 | holgerb | 1732 | VarioCharacter = '.'; |
1320 | hbuss | 1733 | } |
1590 | killagreg | 1734 | HCGas = HoverGas; // take hover gas (neutral point) |
1735 | } |
||
2309 | holgerb | 1736 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1737 | { |
2316 | holgerb | 1738 | if(!ACC_AltitudeControl) |
1739 | { |
||
1590 | killagreg | 1740 | // from this point the Heigth Control Algorithm is identical for both versions |
1741 | if(BaroExpandActive) // baro range expanding active |
||
1742 | { |
||
1743 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1744 | HeightDeviation = 0; |
||
1745 | } // EOF // baro range expanding active |
||
1746 | else // valid data from air pressure sensor |
||
1747 | { |
||
1748 | // ------------------------- P-Part ---------------------------- |
||
2309 | holgerb | 1749 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1590 | killagreg | 1750 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1751 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1752 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1753 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1754 | GasReduction = tmp_long; |
||
1590 | killagreg | 1755 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1756 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1757 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1758 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1759 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1760 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1761 | else |
1916 | holgerb | 1762 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1763 | GasReduction += tmp_int; |
1590 | killagreg | 1764 | } // EOF no baro range expanding |
1309 | hbuss | 1765 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1766 | if(Parameter_Hoehe_ACC_Wirkung) |
1767 | { |
||
1768 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1769 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1770 | GasReduction += tmp_long; |
||
1765 | killagreg | 1771 | } |
1587 | killagreg | 1772 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1773 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1774 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1775 | GasReduction += tmp_int; |
1701 | holgerb | 1776 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
2309 | holgerb | 1777 | |
1701 | holgerb | 1778 | // ------------------------ ---------------------------------- |
1779 | HCGas -= GasReduction; |
||
1309 | hbuss | 1780 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1781 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1782 | { |
1765 | killagreg | 1783 | unsigned int tmp; |
1705 | holgerb | 1784 | tmp = abs(HeightDeviation); |
1785 | if(tmp <= 60) |
||
1786 | { |
||
1787 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1788 | } |
||
1789 | else |
||
1765 | killagreg | 1790 | { |
1705 | holgerb | 1791 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1792 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1793 | if(HeightDeviation > 0) |
1693 | holgerb | 1794 | { |
1705 | holgerb | 1795 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1796 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1797 | } |
1705 | holgerb | 1798 | else |
1799 | { |
||
1800 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1801 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1802 | } |
||
1803 | } |
||
1309 | hbuss | 1804 | } |
1322 | hbuss | 1805 | // strech control output by inverse attitude projection 1/cos |
1806 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1807 | tmp_long2 = (int32_t)HCGas; |
1808 | tmp_long2 *= 8192L; |
||
1809 | tmp_long2 /= CosAttitude; |
||
1810 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1811 | // update height control gas averaging |
1812 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1813 | // limit height control gas pd-control output |
||
1814 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1815 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1816 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1817 | { // old version |
1818 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1819 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1820 | } |
1719 | holgerb | 1821 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
2316 | holgerb | 1822 | } |
1823 | else // ACC-Altitude control |
||
1824 | { |
||
2309 | holgerb | 1825 | // from this point the Heigth Control Algorithm is identical for both versions |
1826 | if(BaroExpandActive) // baro range expanding active |
||
1827 | { |
||
1828 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1829 | HeightDeviation = 0; |
||
1830 | } // EOF // baro range expanding active |
||
1831 | else // valid data from air pressure sensor |
||
1832 | { |
||
1833 | // ------------------------- P-Part ---------------------------- |
||
1834 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
||
1835 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1836 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1837 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
||
1838 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
||
1839 | GasReduction = tmp_long; |
||
1840 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
||
2316 | holgerb | 1841 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
2309 | holgerb | 1842 | // ------------------------- D-Part: Vario Meter ---------------------------- |
1843 | if(WaypointTrimming) { |
||
1844 | Variance = AltitudeSetpointTrimming * 8; |
||
1845 | } else { |
||
1846 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
||
1847 | } |
||
1848 | tmp_long -= (long)Variance; |
||
1849 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
||
1850 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
||
1851 | GasReduction += tmp_long; |
||
1852 | } // EOF no baro range expanding |
||
1853 | HCGas -= GasReduction; |
||
1854 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
||
1855 | // strech control output by inverse attitude projection 1/cos |
||
1856 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1857 | tmp_long2 = (int32_t)HCGas; |
||
1858 | tmp_long2 *= 8192L; |
||
1859 | tmp_long2 /= CosAttitude; |
||
1860 | HCGas = (int16_t)tmp_long2; |
||
1861 | // update height control gas averaging |
||
1862 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1863 | // limit height control gas pd-control output |
||
1864 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1865 | // set GasMischanteil to HeightControlGasFilter |
||
1866 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
1867 | { // old version |
||
1868 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1869 | GasMischanteil = FilterHCGas; |
||
1870 | } |
||
2316 | holgerb | 1871 | else GasMischanteil = FilterHCGas; |
1872 | } // end of ACC-Altitude control |
||
1314 | killagreg | 1873 | } |
1309 | hbuss | 1874 | }// EOF height control active |
1320 | hbuss | 1875 | else // HC not active |
1876 | { |
||
1877 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1878 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1879 | { |
||
1880 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1881 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1882 | } |
1587 | killagreg | 1883 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1884 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1885 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1886 | // set both flags to indicate no vario mode |
1887 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1888 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1889 | } |
1587 | killagreg | 1890 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1891 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1892 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1893 | { |
2316 | holgerb | 1894 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1895 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // Qopter: geändert |
||
1698 | holgerb | 1896 | if(StartTrigger == 1) StartTrigger = 2; |
1330 | killagreg | 1897 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1898 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1899 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1900 | // average vertical projected thrust |
1698 | holgerb | 1901 | if(modell_fliegt < 4000) // the first 8 seconds |
1902 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1903 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1904 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1905 | } |
1698 | holgerb | 1906 | if(modell_fliegt < 8000) // the first 16 seconds |
1907 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1908 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1909 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1910 | } |
1698 | holgerb | 1911 | else //later |
2316 | holgerb | 1912 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1913 | { |
1590 | killagreg | 1914 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1915 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1916 | } |
1590 | killagreg | 1917 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1918 | if(EE_Parameter.Hoehe_HoverBand) |
1919 | { |
||
1920 | int16_t band; |
||
1587 | killagreg | 1921 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1922 | HoverGasMin = HoverGas - band; |
||
1923 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1924 | } |
1925 | else |
||
1926 | { // no limit |
||
1587 | killagreg | 1927 | HoverGasMin = 0; |
1928 | HoverGasMax = 1023; |
||
1309 | hbuss | 1929 | } |
1765 | killagreg | 1930 | } |
1931 | else |
||
1698 | holgerb | 1932 | { |
1933 | StartTrigger = 0; |
||
1934 | HoverGasFilter = 0; |
||
1935 | HoverGas = 0; |
||
1765 | killagreg | 1936 | } |
1916 | holgerb | 1937 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1938 | else |
1939 | { |
||
1940 | // set undefined state to indicate vario off |
||
1941 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1942 | } // EOF no height control |
||
1943 | |||
2309 | holgerb | 1944 | // Limits the maximum gas in case of "Out of Range emergency landing" |
2009 | holgerb | 1945 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1946 | { |
||
2028 | holgerb | 1947 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2309 | holgerb | 1948 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2009 | holgerb | 1949 | beeptime = 15000; |
1950 | BeepMuster = 0x0E00; |
||
1951 | } |
||
2028 | holgerb | 1952 | // limit gas to parameter setting |
1320 | hbuss | 1953 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1954 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1955 | |
1051 | killagreg | 1956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1957 | // all BL-Ctrl connected? |
1958 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1944 | holgerb | 1959 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1931 | holgerb | 1960 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1320 | hbuss | 1961 | { |
1962 | modell_fliegt = 1; |
||
1675 | holgerb | 1963 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1964 | } |
1965 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1966 | // + Mischer und PI-Regler |
1051 | killagreg | 1967 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1968 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1969 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1970 | // Gier-Anteil |
1051 | killagreg | 1971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1972 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1973 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1974 | if(GasMischanteil > MIN_GIERGAS) |
1975 | { |
||
1051 | killagreg | 1976 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1977 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1978 | } |
1051 | killagreg | 1979 | else |
693 | hbuss | 1980 | { |
1051 | killagreg | 1981 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1982 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1983 | } |
855 | hbuss | 1984 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1985 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1986 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1987 | |
1051 | killagreg | 1988 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1989 | // Nick-Achse |
1051 | killagreg | 1990 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1991 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1992 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1993 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1994 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1995 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1996 | |
1997 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1998 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1999 | pd_ergebnis_nick += SummeNick / Ki; |
||
2000 | |||
1676 | holgerb | 2001 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2002 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
2003 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 2004 | |
1153 | hbuss | 2005 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2006 | // Roll-Achse |
||
2007 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2008 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
2009 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
2010 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
2011 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
2012 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2013 | |
2014 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
2015 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
2016 | pd_ergebnis_roll += SummeRoll / Ki; |
||
2017 | |||
1676 | holgerb | 2018 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2019 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2020 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
2021 | |||
2022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 2023 | // Universal Mixer |
1155 | hbuss | 2024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 2025 | for(i=0; i<MAX_MOTORS; i++) |
2026 | { |
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2027 | signed int tmp_int; |
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2028 | if(Mixer.Motor[i][0] > 0) |
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2029 | { |
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1652 | holgerb | 2030 | // Gas |
1676 | holgerb | 2031 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 2032 | // Nick |
2033 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
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2034 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
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2035 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
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2036 | // Roll |
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2037 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
2038 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
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2039 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
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2040 | // Gier |
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1676 | holgerb | 2041 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2042 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
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2043 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
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1675 | holgerb | 2044 | |
1913 | holgerb | 2045 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
2046 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
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2047 | else |
||
2048 | { |
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2049 | if(EE_Parameter.MotorSmooth == 0) |
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2050 | { |
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1931 | holgerb | 2051 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 2052 | } |
2053 | else // 1 means tmp_int = tmp_int; |
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2054 | if(EE_Parameter.MotorSmooth > 1) |
||
2055 | { |
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2056 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
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1925 | holgerb | 2057 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1913 | holgerb | 2058 | } |
2059 | } |
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1931 | holgerb | 2060 | |
1760 | holgerb | 2061 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 2062 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 2063 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 2064 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 2065 | } |
2066 | else |
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2067 | { |
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2068 | Motor[i].SetPoint = 0; |
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2069 | Motor[i].SetPointLowerBits = 0; |
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2070 | } |
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2071 | } |
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1111 | hbuss | 2072 | } |
2090 | holgerb | 2073 | //DebugOut.Analog[16] |