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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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1 | ingob | 7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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21 | // + eindeutig als Ursprung verlinkt werden |
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22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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24 | // + Benutzung auf eigene Gefahr |
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25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1338 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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35 | // + from this software without specific prior written permission. |
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1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 39 | // + with our written permission |
1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
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1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | |||
56 | #include "main.h" |
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1320 | hbuss | 57 | #include "mymath.h" |
1330 | killagreg | 58 | #include "isqrt.h" |
1 | ingob | 59 | |
1352 | hbuss | 60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
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1153 | hbuss | 62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 63 | int TrimNick, TrimRoll; |
927 | hbuss | 64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
1703 | holgerb | 65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
805 | hbuss | 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1639 | holgerb | 68 | int NeutralAccZ = 0; |
1683 | killagreg | 69 | unsigned char ControlHeading = 0;// in 2° |
693 | hbuss | 70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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73 | long Integral_Gier = 0; |
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74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1685 | holgerb | 78 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 79 | volatile long Mess_Integral_Hoch = 0; |
1840 | holgerb | 80 | int KompassValue = -1; |
1837 | holgerb | 81 | int KompassSollWert = 0; |
1153 | hbuss | 82 | int KompassRichtung = 0; |
1839 | holgerb | 83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
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85 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 86 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 87 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 88 | unsigned char TrichterFlug = 0; |
395 | hbuss | 89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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92 | int GierGyroFehler = 0; |
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1211 | hbuss | 93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 95 | int DiffNick,DiffRoll; |
1916 | holgerb | 96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1377 | hbuss | 97 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 98 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 99 | volatile unsigned char SenderOkay = 0; |
595 | hbuss | 100 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1698 | holgerb | 101 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 102 | long HoehenWert = 0; |
103 | long SollHoehe = 0; |
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1855 | holgerb | 104 | long FromNC_AltitudeSetpoint = 0; |
105 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 106 | unsigned char carefree_old = 50; // to make the Beep when switching |
1855 | holgerb | 107 | |
1840 | holgerb | 108 | int CompassGierSetpoint = 0; |
1692 | holgerb | 109 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 110 | //float Ki = FAKTOR_I; |
1676 | holgerb | 111 | int Ki = 10300 / 33; |
395 | hbuss | 112 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
113 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 114 | |
115 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 116 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 117 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
118 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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119 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 120 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 121 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 122 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 123 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 124 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
125 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 126 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
127 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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128 | unsigned char Parameter_UserParam1 = 0; |
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129 | unsigned char Parameter_UserParam2 = 0; |
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130 | unsigned char Parameter_UserParam3 = 0; |
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131 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 132 | unsigned char Parameter_UserParam5 = 0; |
133 | unsigned char Parameter_UserParam6 = 0; |
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134 | unsigned char Parameter_UserParam7 = 0; |
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135 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 136 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 137 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 138 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 139 | unsigned char Parameter_AchsKopplung1 = 90; |
140 | unsigned char Parameter_AchsKopplung2 = 65; |
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141 | unsigned char Parameter_CouplingYawCorrection = 64; |
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142 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 143 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 144 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
145 | unsigned char Parameter_J16Timing; // for the J16 Output |
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146 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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147 | unsigned char Parameter_J17Timing; // for the J17 Output |
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148 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 149 | unsigned char Parameter_NaviGpsGain; |
150 | unsigned char Parameter_NaviGpsP; |
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151 | unsigned char Parameter_NaviGpsI; |
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152 | unsigned char Parameter_NaviGpsD; |
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153 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 154 | unsigned char Parameter_NaviOperatingRadius; |
155 | unsigned char Parameter_NaviWindCorrection; |
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156 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 157 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 158 | unsigned char Parameter_GlobalConfig; |
159 | unsigned char Parameter_ExtraConfig; |
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1403 | hbuss | 160 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 161 | unsigned char CareFree = 0; |
1876 | holgerb | 162 | 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 | 163 | |
492 | hbuss | 164 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 165 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 166 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 167 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 168 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 169 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 170 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 171 | char VarioCharacter = ' '; |
172 | |||
1391 | killagreg | 173 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
174 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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175 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 176 | |
1622 | killagreg | 177 | |
1639 | holgerb | 178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
179 | // Debugwerte zuordnen |
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180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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181 | void CopyDebugValues(void) |
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182 | { |
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183 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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184 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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185 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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186 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 187 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 188 | DebugOut.Analog[5] = HoehenWert/5; |
1703 | holgerb | 189 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
1639 | holgerb | 190 | DebugOut.Analog[8] = KompassValue; |
191 | DebugOut.Analog[9] = UBat; |
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192 | DebugOut.Analog[10] = SenderOkay; |
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193 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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1702 | holgerb | 194 | DebugOut.Analog[12] = Motor[0].SetPoint; |
195 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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196 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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197 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 198 | DebugOut.Analog[20] = ServoNickValue; |
199 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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200 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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1879 | holgerb | 201 | DebugOut.Analog[24] = SollHoehe/5; |
1639 | holgerb | 202 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1682 | holgerb | 203 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1839 | holgerb | 204 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 205 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 206 | DebugOut.Analog[30] = GPS_Nick; |
207 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 208 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1639 | holgerb | 209 | } |
210 | |||
1760 | holgerb | 211 | |
212 | |||
1232 | hbuss | 213 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 214 | { |
1232 | hbuss | 215 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 216 | while(Anzahl--) |
217 | { |
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1232 | hbuss | 218 | beeptime = dauer; |
219 | while(beeptime); |
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220 | Delay_ms(dauer * 2); |
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1 | ingob | 221 | } |
222 | } |
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223 | |||
224 | //############################################################################ |
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1622 | killagreg | 225 | // Messwerte beim Ermitteln der Nullage |
226 | void CalibrierMittelwert(void) |
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227 | //############################################################################ |
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228 | { |
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229 | unsigned char i; |
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230 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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231 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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232 | ANALOG_OFF; |
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233 | MesswertNick = AdWertNick; |
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234 | MesswertRoll = AdWertRoll; |
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235 | MesswertGier = AdWertGier; |
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1703 | holgerb | 236 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
237 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 238 | // ADC einschalten |
239 | ANALOG_ON; |
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240 | for(i=0;i<8;i++) |
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241 | { |
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242 | int tmp; |
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1876 | holgerb | 243 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 244 | LIMIT_MIN_MAX(tmp, 0, 255); |
245 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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246 | } |
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247 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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248 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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249 | } |
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250 | |||
251 | //############################################################################ |
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1 | ingob | 252 | // Nullwerte ermitteln |
1622 | killagreg | 253 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 254 | //############################################################################ |
255 | { |
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1622 | killagreg | 256 | unsigned char i; |
257 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 258 | VersionInfo.HardwareError[0] = 0; |
1320 | hbuss | 259 | HEF4017R_ON; |
1051 | killagreg | 260 | NeutralAccX = 0; |
1 | ingob | 261 | NeutralAccY = 0; |
262 | NeutralAccZ = 0; |
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1622 | killagreg | 263 | |
1051 | killagreg | 264 | AdNeutralNick = 0; |
265 | AdNeutralRoll = 0; |
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1 | ingob | 266 | AdNeutralGier = 0; |
1622 | killagreg | 267 | |
395 | hbuss | 268 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 269 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 270 | |
1036 | hbuss | 271 | ExpandBaro = 0; |
1622 | killagreg | 272 | |
1051 | killagreg | 273 | CalibrierMittelwert(); |
395 | hbuss | 274 | Delay_ms_Mess(100); |
1622 | killagreg | 275 | |
1 | ingob | 276 | CalibrierMittelwert(); |
1622 | killagreg | 277 | |
1 | ingob | 278 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 279 | { |
1 | ingob | 280 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
281 | } |
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1166 | hbuss | 282 | #define NEUTRAL_FILTER 32 |
283 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 284 | { |
285 | Delay_ms_Mess(10); |
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1216 | killagreg | 286 | gier_neutral += AdWertGier; |
1166 | hbuss | 287 | nick_neutral += AdWertNick; |
288 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 289 | } |
1173 | hbuss | 290 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
291 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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292 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 293 | |
401 | hbuss | 294 | StartNeutralRoll = AdNeutralRoll; |
295 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 296 | |
297 | if(AccAdjustment) |
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298 | { |
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299 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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300 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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301 | NeutralAccZ = Aktuell_az; |
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302 | |||
303 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 304 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
305 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 306 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 307 | } |
1051 | killagreg | 308 | else |
513 | hbuss | 309 | { |
1622 | killagreg | 310 | // restore from eeprom |
311 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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312 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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313 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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314 | // strange settings? |
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1638 | holgerb | 315 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 316 | { |
317 | printf("\n\rACC not calibrated!\r\n"); |
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318 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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319 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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320 | NeutralAccZ = Aktuell_az; |
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321 | } |
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513 | hbuss | 322 | } |
1051 | killagreg | 323 | |
1 | ingob | 324 | MesswertNick = 0; |
325 | MesswertRoll = 0; |
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326 | MesswertGier = 0; |
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1111 | hbuss | 327 | Delay_ms_Mess(100); |
1703 | holgerb | 328 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
329 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1173 | hbuss | 330 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
331 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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332 | Mess_IntegralNick2 = IntegralNick; |
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333 | Mess_IntegralRoll2 = IntegralRoll; |
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334 | Mess_Integral_Gier = 0; |
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1 | ingob | 335 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 336 | VarioMeter = 0; |
1 | ingob | 337 | Mess_Integral_Hoch = 0; |
1837 | holgerb | 338 | KompassSollWert = KompassValue; |
1839 | holgerb | 339 | KompassSignalSchlecht = 100; |
1051 | killagreg | 340 | beeptime = 50; |
882 | hbuss | 341 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
342 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 343 | ExternHoehenValue = 0; |
693 | hbuss | 344 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
345 | GierGyroFehler = 0; |
||
723 | hbuss | 346 | SendVersionToNavi = 1; |
921 | hbuss | 347 | LED_Init(); |
1765 | killagreg | 348 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 349 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 350 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 351 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 352 | for(i=0;i<8;i++) |
1377 | hbuss | 353 | { |
1876 | holgerb | 354 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 355 | } |
1171 | hbuss | 356 | SenderOkay = 100; |
1320 | hbuss | 357 | if(ServoActive) |
358 | { |
||
359 | HEF4017R_ON; |
||
360 | DDRD |=0x80; // enable J7 -> Servo signal |
||
361 | } |
||
1702 | holgerb | 362 | |
1765 | killagreg | 363 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
364 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
365 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
366 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
367 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
368 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
1862 | holgerb | 369 | carefree_old = 70; |
1 | ingob | 370 | } |
371 | |||
1702 | holgerb | 372 | |
1 | ingob | 373 | //############################################################################ |
395 | hbuss | 374 | // Bearbeitet die Messwerte |
1 | ingob | 375 | void Mittelwert(void) |
376 | //############################################################################ |
||
1051 | killagreg | 377 | { |
1111 | hbuss | 378 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
379 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 380 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 381 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 382 | MesswertNick = (signed int) AdWertNickFilter / 8; |
383 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 384 | RohMesswertNick = MesswertNick; |
385 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 386 | |
395 | hbuss | 387 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 388 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
389 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 390 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
391 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 392 | NaviAccNick += AdWertAccNick; |
393 | NaviAccRoll += AdWertAccRoll; |
||
394 | NaviCntAcc++; |
||
1153 | hbuss | 395 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
396 | |||
1155 | hbuss | 397 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
398 | // ADC einschalten |
||
1171 | hbuss | 399 | ANALOG_ON; |
1155 | hbuss | 400 | AdReady = 0; |
401 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
402 | |||
1216 | killagreg | 403 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
404 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 405 | else winkel_roll = Mess_IntegralRoll; |
406 | |||
1216 | killagreg | 407 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
408 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 409 | else winkel_nick = Mess_IntegralNick; |
410 | |||
1120 | hbuss | 411 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 412 | Mess_Integral_Gier += MesswertGier; |
413 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 414 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 415 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 416 | { |
1153 | hbuss | 417 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 418 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 419 | tmpl3 /= 4096L; |
1153 | hbuss | 420 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 421 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 422 | tmpl4 /= 4096L; |
1153 | hbuss | 423 | KopplungsteilNickRoll = tmpl3; |
424 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 425 | tmpl4 -= tmpl3; |
426 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 427 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 428 | |
1153 | hbuss | 429 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 430 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 431 | tmpl /= 4096L; |
1153 | hbuss | 432 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 433 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 434 | tmpl2 /= 4096L; |
1225 | hbuss | 435 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 436 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 437 | } |
1166 | hbuss | 438 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 439 | TrimRoll = tmpl - tmpl2 / 100L; |
440 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 441 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
442 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
443 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 444 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 445 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
446 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 447 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 448 | { |
882 | hbuss | 449 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 450 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 451 | } |
395 | hbuss | 452 | if(Mess_IntegralRoll <-Umschlag180Roll) |
453 | { |
||
882 | hbuss | 454 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 455 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 456 | } |
395 | hbuss | 457 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 458 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
459 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 460 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 461 | { |
462 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
463 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 464 | } |
465 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 466 | { |
882 | hbuss | 467 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 468 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 469 | } |
1111 | hbuss | 470 | |
1 | ingob | 471 | Integral_Gier = Mess_Integral_Gier; |
472 | IntegralNick = Mess_IntegralNick; |
||
473 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 474 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 475 | IntegralRoll2 = Mess_IntegralRoll2; |
476 | |||
1166 | hbuss | 477 | #define D_LIMIT 128 |
478 | |||
1171 | hbuss | 479 | MesswertNick = HiResNick / 8; |
480 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 481 | |
1167 | hbuss | 482 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
483 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
484 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
485 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
486 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
487 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
488 | |||
1216 | killagreg | 489 | if(Parameter_Gyro_D) |
1111 | hbuss | 490 | { |
1166 | hbuss | 491 | d2Nick = HiResNick - oldNick; |
492 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 493 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
494 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 495 | |
1166 | hbuss | 496 | d2Roll = HiResRoll - oldRoll; |
497 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 498 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
499 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 500 | |
501 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 502 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
503 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
504 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 505 | } |
1111 | hbuss | 506 | |
1166 | hbuss | 507 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
508 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
509 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
510 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 511 | |
1916 | holgerb | 512 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 513 | { |
514 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
515 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
516 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
517 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
518 | } |
||
1 | ingob | 519 | } |
520 | |||
521 | //############################################################################ |
||
522 | // Senden der Motorwerte per I2C-Bus |
||
523 | void SendMotorData(void) |
||
524 | //############################################################################ |
||
1051 | killagreg | 525 | { |
1209 | hbuss | 526 | unsigned char i; |
921 | hbuss | 527 | if(!MotorenEin) |
1 | ingob | 528 | { |
1765 | killagreg | 529 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
1216 | killagreg | 530 | for(i=0;i<MAX_MOTORS;i++) |
531 | { |
||
532 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 533 | Motor[i].SetPoint = MotorTest[i]; |
534 | Motor[i].SetPointLowerBits = 0; |
||
535 | /* |
||
1760 | holgerb | 536 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
537 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 538 | */ |
1216 | killagreg | 539 | } |
1212 | hbuss | 540 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 541 | } |
1765 | killagreg | 542 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 543 | |
1765 | killagreg | 544 | if(I2C_TransferActive) |
1744 | holgerb | 545 | { |
1760 | holgerb | 546 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 547 | } |
548 | else |
||
1744 | holgerb | 549 | { |
550 | motor_write = 0; |
||
1760 | holgerb | 551 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 552 | } |
1 | ingob | 553 | } |
554 | |||
555 | |||
556 | |||
557 | //############################################################################ |
||
558 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 559 | void ParameterZuordnung(void) |
1 | ingob | 560 | //############################################################################ |
561 | { |
||
1787 | holgerb | 562 | unsigned char tmp,i; |
1391 | killagreg | 563 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
564 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
1787 | holgerb | 565 | for(i=0;i<8;i++) |
566 | { |
||
567 | int tmp2; |
||
1876 | holgerb | 568 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1787 | holgerb | 569 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
570 | if(tmp2 != Poti[i]) |
||
571 | { |
||
572 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
573 | if(Poti[i] > tmp2) Poti[i]--; |
||
574 | else Poti[i]++; |
||
575 | } |
||
576 | } |
||
921 | hbuss | 577 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
578 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
579 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
580 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
581 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
1403 | hbuss | 582 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
583 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
584 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1916 | holgerb | 585 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1916 | holgerb | 608 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
609 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 610 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
611 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
612 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 613 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 614 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 615 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 616 | |
617 | tmp = EE_Parameter.OrientationModeControl; |
||
1690 | holgerb | 618 | if(tmp > 50) |
1668 | holgerb | 619 | { |
1682 | holgerb | 620 | #ifdef SWITCH_LEARNS_CAREFREE |
1913 | holgerb | 621 | // if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1682 | holgerb | 622 | #endif |
623 | CareFree = 1; |
||
1839 | holgerb | 624 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 625 | if(carefree_old != CareFree) |
626 | { |
||
627 | if(carefree_old < 3) |
||
628 | { |
||
629 | if(CareFree) beeptime = 1500; |
||
630 | else beeptime = 200; |
||
631 | carefree_old = CareFree; |
||
632 | } else carefree_old--; |
||
633 | } |
||
1839 | holgerb | 634 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 635 | } |
1839 | holgerb | 636 | else |
637 | { |
||
638 | CareFree = 0; |
||
1862 | holgerb | 639 | carefree_old = 10; |
1839 | holgerb | 640 | } |
1668 | holgerb | 641 | |
1691 | holgerb | 642 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 643 | { |
644 | beeptime = 15000; |
||
645 | BeepMuster = 0xA400; |
||
646 | CareFree = 0; |
||
1765 | killagreg | 647 | } |
1861 | holgerb | 648 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 649 | } |
650 | |||
651 | //############################################################################ |
||
652 | // |
||
653 | void MotorRegler(void) |
||
654 | //############################################################################ |
||
655 | { |
||
1330 | killagreg | 656 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 657 | int GierMischanteil,GasMischanteil; |
658 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 659 | static long IntegralFehlerNick = 0; |
660 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 661 | static unsigned int RcLostTimer; |
662 | static unsigned char delay_neutral = 0; |
||
663 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 664 | static unsigned char calibration_done = 0; |
1 | ingob | 665 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 666 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 667 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 668 | unsigned char i; |
1051 | killagreg | 669 | Mittelwert(); |
1 | ingob | 670 | GRN_ON; |
1051 | killagreg | 671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 672 | // Gaswert ermitteln |
1051 | killagreg | 673 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
674 | GasMischanteil = StickGas; |
||
831 | hbuss | 675 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 676 | |
1051 | killagreg | 677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 678 | // Empfang schlecht |
1051 | killagreg | 679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 680 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 681 | { |
1051 | killagreg | 682 | if(RcLostTimer) RcLostTimer--; |
683 | else |
||
1 | ingob | 684 | { |
685 | MotorenEin = 0; |
||
1765 | killagreg | 686 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1051 | killagreg | 687 | } |
1 | ingob | 688 | ROT_ON; |
693 | hbuss | 689 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 690 | { |
691 | GasMischanteil = EE_Parameter.NotGas; |
||
1765 | killagreg | 692 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 693 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 694 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 695 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
696 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
697 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 698 | } |
1 | ingob | 699 | else MotorenEin = 0; |
700 | } |
||
1051 | killagreg | 701 | else |
702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 703 | // Emfang gut |
1051 | killagreg | 704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 705 | if(SenderOkay > 140) |
706 | { |
||
1765 | killagreg | 707 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 708 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 709 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 710 | { |
711 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
712 | } |
||
871 | hbuss | 713 | if((modell_fliegt < 256)) |
1 | ingob | 714 | { |
715 | SummeNick = 0; |
||
716 | SummeRoll = 0; |
||
1682 | holgerb | 717 | sollGier = 0; |
718 | Mess_Integral_Gier = 0; |
||
1765 | killagreg | 719 | } else FC_StatusFlags |= FC_STATUS_FLY; |
1051 | killagreg | 720 | |
595 | hbuss | 721 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 722 | { |
1051 | killagreg | 723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 724 | // auf Nullwerte kalibrieren |
1051 | killagreg | 725 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 726 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
727 | { |
||
728 | if(++delay_neutral > 200) // nicht sofort |
||
729 | { |
||
730 | GRN_OFF; |
||
731 | MotorenEin = 0; |
||
732 | delay_neutral = 0; |
||
733 | modell_fliegt = 0; |
||
734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
735 | { |
||
304 | ingob | 736 | unsigned char setting=1; |
1 | ingob | 737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
741 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 742 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 743 | } |
1051 | killagreg | 744 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
745 | { |
||
819 | hbuss | 746 | WinkelOut.CalcState = 1; |
747 | beeptime = 1000; |
||
748 | } |
||
749 | else |
||
1 | ingob | 750 | { |
1622 | killagreg | 751 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 752 | LipoDetection(0); |
1626 | killagreg | 753 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 754 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 755 | { |
1 | ingob | 756 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 757 | } |
1330 | killagreg | 758 | ServoActive = 0; |
1622 | killagreg | 759 | SetNeutral(0); |
1765 | killagreg | 760 | calibration_done = 1; |
1232 | hbuss | 761 | ServoActive = 1; |
762 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 763 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 764 | } |
1051 | killagreg | 765 | } |
1 | ingob | 766 | } |
1051 | killagreg | 767 | else |
513 | hbuss | 768 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
769 | { |
||
770 | if(++delay_neutral > 200) // nicht sofort |
||
771 | { |
||
772 | GRN_OFF; |
||
773 | MotorenEin = 0; |
||
774 | delay_neutral = 0; |
||
775 | modell_fliegt = 0; |
||
1622 | killagreg | 776 | SetNeutral(1); |
777 | calibration_done = 1; |
||
778 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 779 | } |
513 | hbuss | 780 | } |
1 | ingob | 781 | else delay_neutral = 0; |
782 | } |
||
1051 | killagreg | 783 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 784 | // Gas ist unten |
1051 | killagreg | 785 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | holgerb | 786 | |
595 | hbuss | 787 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 788 | { |
1521 | killagreg | 789 | // Motoren Starten |
790 | if(!MotorenEin) |
||
791 | { |
||
1760 | holgerb | 792 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 793 | { |
1051 | killagreg | 794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 795 | // Einschalten |
1051 | killagreg | 796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 797 | if(++delay_einschalten > 200) |
798 | { |
||
799 | delay_einschalten = 0; |
||
1834 | holgerb | 800 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
1622 | killagreg | 801 | { |
802 | modell_fliegt = 1; |
||
803 | MotorenEin = 1; |
||
804 | sollGier = 0; |
||
805 | Mess_Integral_Gier = 0; |
||
806 | Mess_Integral_Gier2 = 0; |
||
807 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
808 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
809 | Mess_IntegralNick2 = IntegralNick; |
||
810 | Mess_IntegralRoll2 = IntegralRoll; |
||
811 | SummeNick = 0; |
||
812 | SummeRoll = 0; |
||
1765 | killagreg | 813 | FC_StatusFlags |= FC_STATUS_START; |
1913 | holgerb | 814 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 815 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1622 | killagreg | 816 | } |
817 | else |
||
818 | { |
||
819 | beeptime = 1500; // indicate missing calibration |
||
820 | } |
||
1521 | killagreg | 821 | } |
822 | } |
||
823 | else delay_einschalten = 0; |
||
824 | } |
||
1051 | killagreg | 825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 826 | // Auschalten |
1051 | killagreg | 827 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 828 | else // only if motors are running |
829 | { |
||
1760 | holgerb | 830 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 831 | { |
832 | if(++delay_ausschalten > 200) // nicht sofort |
||
833 | { |
||
834 | MotorenEin = 0; |
||
835 | delay_ausschalten = 0; |
||
836 | modell_fliegt = 0; |
||
837 | } |
||
838 | } |
||
839 | else delay_ausschalten = 0; |
||
840 | } |
||
1 | ingob | 841 | } |
842 | } |
||
1051 | killagreg | 843 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 844 | // neue Werte von der Funke |
1051 | killagreg | 845 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 846 | |
1765 | killagreg | 847 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 848 | { |
604 | hbuss | 849 | static int stick_nick,stick_roll; |
1912 | holgerb | 850 | unsigned char stick_p; |
1 | ingob | 851 | ParameterZuordnung(); |
1912 | holgerb | 852 | stick_p = EE_Parameter.Stick_P; |
853 | |||
854 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 855 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 856 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 857 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
858 | |||
1707 | holgerb | 859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
860 | // CareFree und freie Wahl der vorderen Richtung |
||
861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 862 | if(CareFree) |
863 | { |
||
864 | signed int nick, roll; |
||
865 | nick = stick_nick / 4; |
||
866 | roll = stick_roll / 4; |
||
867 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
868 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
869 | } |
||
870 | else |
||
871 | { |
||
872 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
873 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
874 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
875 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
876 | } |
||
1662 | killagreg | 877 | |
1 | ingob | 878 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 879 | if(StickGier > 4) StickGier -= 4; else |
880 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 881 | |
1912 | holgerb | 882 | if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
883 | |||
884 | StickNick -= GPS_Nick; |
||
885 | StickRoll -= GPS_Roll; |
||
1350 | hbuss | 886 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
1330 | killagreg | 887 | |
1153 | hbuss | 888 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
889 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 890 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
891 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 892 | |
595 | hbuss | 893 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
894 | //+ Analoge Steuerung per Seriell |
||
895 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 896 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 897 | { |
898 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
899 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
900 | StickGier += ExternControl.Gier; |
||
901 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
902 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
903 | } |
||
855 | hbuss | 904 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 905 | |
1916 | holgerb | 906 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 907 | |
1051 | killagreg | 908 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 909 | { |
1051 | killagreg | 910 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 911 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 912 | } |
928 | hbuss | 913 | else MaxStickNick--; |
1051 | killagreg | 914 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 915 | { |
1051 | killagreg | 916 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 917 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 918 | } |
928 | hbuss | 919 | else MaxStickRoll--; |
1765 | killagreg | 920 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 921 | |
1051 | killagreg | 922 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 923 | // Looping? |
1051 | killagreg | 924 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 925 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 926 | else |
927 | { |
||
395 | hbuss | 928 | { |
1051 | killagreg | 929 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
930 | } |
||
931 | } |
||
993 | hbuss | 932 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 933 | else |
395 | hbuss | 934 | { |
935 | if(Looping_Rechts) // Hysterese |
||
936 | { |
||
937 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
938 | } |
||
1051 | killagreg | 939 | } |
173 | holgerb | 940 | |
993 | hbuss | 941 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 942 | else |
943 | { |
||
395 | hbuss | 944 | if(Looping_Oben) // Hysterese |
945 | { |
||
1051 | killagreg | 946 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
947 | } |
||
948 | } |
||
993 | hbuss | 949 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 950 | else |
395 | hbuss | 951 | { |
952 | if(Looping_Unten) // Hysterese |
||
953 | { |
||
954 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
955 | } |
||
1051 | killagreg | 956 | } |
395 | hbuss | 957 | |
958 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 959 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 960 | } // Ende neue Funken-Werte |
961 | |||
962 | if(Looping_Roll || Looping_Nick) |
||
963 | { |
||
173 | holgerb | 964 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 965 | TrichterFlug = 1; |
173 | holgerb | 966 | } |
967 | |||
1051 | killagreg | 968 | |
969 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
970 | // Bei Empfangsausfall im Flug |
||
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 972 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
973 | { |
||
974 | StickNick = -GPS_Nick; |
||
975 | StickRoll = -GPS_Roll; |
||
976 | StickGas = StickGasHover; |
||
977 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
||
978 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
979 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
980 | Parameter_HoehenSchalter = 200; // switch on |
||
981 | } |
||
982 | else |
||
1765 | killagreg | 983 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 984 | { |
985 | StickGier = 0; |
||
986 | StickNick = 0; |
||
987 | StickRoll = 0; |
||
1211 | hbuss | 988 | GyroFaktor = 90; |
989 | IntegralFaktor = 120; |
||
990 | GyroFaktorGier = 90; |
||
991 | IntegralFaktorGier = 120; |
||
173 | holgerb | 992 | Looping_Roll = 0; |
993 | Looping_Nick = 0; |
||
1051 | killagreg | 994 | } |
395 | hbuss | 995 | |
996 | |||
1051 | killagreg | 997 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 998 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1000 | #define ABGLEICH_ANZAHL 256L |
1001 | |||
1002 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1003 | MittelIntegralRoll += IntegralRoll; |
||
1004 | MittelIntegralNick2 += IntegralNick2; |
||
1005 | MittelIntegralRoll2 += IntegralRoll2; |
||
1006 | |||
1007 | if(Looping_Nick || Looping_Roll) |
||
1008 | { |
||
1009 | IntegralAccNick = 0; |
||
1010 | IntegralAccRoll = 0; |
||
1011 | MittelIntegralNick = 0; |
||
1012 | MittelIntegralRoll = 0; |
||
1013 | MittelIntegralNick2 = 0; |
||
1014 | MittelIntegralRoll2 = 0; |
||
1015 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1016 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1017 | ZaehlMessungen = 0; |
||
498 | hbuss | 1018 | LageKorrekturNick = 0; |
1019 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1020 | } |
1021 | |||
1051 | killagreg | 1022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1023 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1024 | { |
1025 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1026 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1027 | { |
1028 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1029 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1030 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1031 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1839 | holgerb | 1032 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
992 | hbuss | 1033 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1034 | { |
||
1035 | tmp_long /= 2; |
||
1036 | tmp_long2 /= 2; |
||
1037 | } |
||
1038 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1039 | { |
||
1040 | tmp_long /= 3; |
||
1041 | tmp_long2 /= 3; |
||
1042 | } |
||
1043 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1044 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1045 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1046 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1047 | } |
||
1051 | killagreg | 1048 | else |
992 | hbuss | 1049 | { |
1050 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1051 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 1052 | tmp_long /= 16; |
1053 | tmp_long2 /= 16; |
||
1054 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1055 | { |
||
1056 | tmp_long /= 3; |
||
1057 | tmp_long2 /= 3; |
||
1216 | killagreg | 1058 | } |
1059 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1060 | { |
1061 | tmp_long /= 3; |
||
1062 | tmp_long2 /= 3; |
||
1063 | } |
||
1839 | holgerb | 1064 | KompassFusion = 25; |
1155 | hbuss | 1065 | #define AUSGLEICH 32 |
992 | hbuss | 1066 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1067 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1068 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1069 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1070 | } |
||
1166 | hbuss | 1071 | |
1111 | hbuss | 1072 | Mess_IntegralNick -= tmp_long; |
1073 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1074 | } |
1051 | killagreg | 1075 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1076 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1077 | { |
||
1078 | static int cnt = 0; |
||
1079 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1080 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1081 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1082 | { |
395 | hbuss | 1083 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1084 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1085 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1086 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1087 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1088 | #define MAX_I 0 |
395 | hbuss | 1089 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1090 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1091 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1092 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1093 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1094 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1095 | |
1096 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1097 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1098 | |
992 | hbuss | 1099 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1100 | { |
1101 | LageKorrekturNick /= 2; |
||
720 | ingob | 1102 | LageKorrekturRoll /= 2; |
614 | hbuss | 1103 | } |
498 | hbuss | 1104 | |
1051 | killagreg | 1105 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1106 | // Gyro-Drift ermitteln |
1051 | killagreg | 1107 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1108 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1109 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1110 | tmp_long = IntegralNick2 - IntegralNick; |
1111 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1112 | |
1113 | IntegralFehlerNick = tmp_long; |
||
1114 | IntegralFehlerRoll = tmp_long2; |
||
1115 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1116 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1117 | |||
1111 | hbuss | 1118 | if(EE_Parameter.Driftkomp) |
1119 | { |
||
1622 | killagreg | 1120 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1121 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1122 | } |
693 | hbuss | 1123 | GierGyroFehler = 0; |
720 | ingob | 1124 | |
1243 | killagreg | 1125 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1126 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1127 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1128 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1129 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1130 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1131 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1132 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1133 | { |
1051 | killagreg | 1134 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1135 | { |
1051 | killagreg | 1136 | if(last_n_p) |
395 | hbuss | 1137 | { |
1173 | hbuss | 1138 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1139 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1140 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1141 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1142 | } |
395 | hbuss | 1143 | else last_n_p = 1; |
1144 | } else last_n_p = 0; |
||
1051 | killagreg | 1145 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1146 | { |
1147 | if(last_n_n) |
||
1051 | killagreg | 1148 | { |
1173 | hbuss | 1149 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1150 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1151 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1152 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1153 | } |
395 | hbuss | 1154 | else last_n_n = 1; |
1155 | } else last_n_n = 0; |
||
1051 | killagreg | 1156 | } |
1157 | else |
||
847 | hbuss | 1158 | { |
1159 | cnt = 0; |
||
1839 | holgerb | 1160 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1161 | } |
499 | hbuss | 1162 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1163 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1164 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1165 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1166 | |
395 | hbuss | 1167 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1168 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1169 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1170 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1171 | { |
1051 | killagreg | 1172 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1173 | { |
1051 | killagreg | 1174 | if(last_r_p) |
395 | hbuss | 1175 | { |
1173 | hbuss | 1176 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1177 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1178 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1179 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1180 | } |
395 | hbuss | 1181 | else last_r_p = 1; |
1182 | } else last_r_p = 0; |
||
1051 | killagreg | 1183 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1184 | { |
1051 | killagreg | 1185 | if(last_r_n) |
395 | hbuss | 1186 | { |
1173 | hbuss | 1187 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1188 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1189 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1190 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1191 | } |
1192 | else last_r_n = 1; |
||
1193 | } else last_r_n = 0; |
||
1051 | killagreg | 1194 | } else |
492 | hbuss | 1195 | { |
1196 | cnt = 0; |
||
1839 | holgerb | 1197 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1198 | } |
499 | hbuss | 1199 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1200 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1201 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1202 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1203 | } |
1051 | killagreg | 1204 | else |
498 | hbuss | 1205 | { |
1206 | LageKorrekturRoll = 0; |
||
1207 | LageKorrekturNick = 0; |
||
880 | hbuss | 1208 | TrichterFlug = 0; |
498 | hbuss | 1209 | } |
1051 | killagreg | 1210 | |
498 | hbuss | 1211 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1212 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1213 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1214 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1215 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1216 | IntegralAccNick = 0; |
1217 | IntegralAccRoll = 0; |
||
1218 | IntegralAccZ = 0; |
||
1219 | MittelIntegralNick = 0; |
||
1220 | MittelIntegralRoll = 0; |
||
1221 | MittelIntegralNick2 = 0; |
||
1222 | MittelIntegralRoll2 = 0; |
||
1223 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1224 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1225 | |
1051 | killagreg | 1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1227 | // Gieren |
1051 | killagreg | 1228 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1229 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1230 | { |
1839 | holgerb | 1231 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1232 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1233 | { |
1840 | holgerb | 1234 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1235 | }; |
1 | ingob | 1236 | } |
395 | hbuss | 1237 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1238 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1840 | holgerb | 1239 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1240 | sollGier = tmp_int; |
1051 | killagreg | 1241 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1242 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1243 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1244 | |
1245 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1246 | // Kompass |
1051 | killagreg | 1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1248 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1249 | { |
1839 | holgerb | 1250 | if(CalculateCompassTimer-- == 1) |
1251 | { |
||
1252 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1253 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1254 | // max. Korrekturwert schätzen |
1 | ingob | 1255 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1256 | v = abs(IntegralRoll /512); |
||
1257 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1839 | holgerb | 1258 | korrektur = w / 4 + 1; |
1840 | holgerb | 1259 | // Kompassfehlerwert bestimmen |
1260 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
1261 | // GIER_GRAD_FAKTOR ist ca. 1200 |
||
1865 | holgerb | 1262 | |
1840 | holgerb | 1263 | // Kompasswert einloggen |
1264 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1265 | else |
||
1266 | if(w < 25) |
||
921 | hbuss | 1267 | { |
1268 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1269 | if(NeueKompassRichtungMerken) |
1270 | { |
||
1839 | holgerb | 1271 | if(--NeueKompassRichtungMerken == 0) |
1272 | { |
||
1273 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
1274 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
1275 | } |
||
921 | hbuss | 1276 | } |
1 | ingob | 1277 | } |
1840 | holgerb | 1278 | // Kompass fusionieren |
1839 | holgerb | 1279 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1280 | |||
1840 | holgerb | 1281 | // MK Gieren |
1839 | holgerb | 1282 | if(!NeueKompassRichtungMerken) |
1283 | { |
||
1840 | holgerb | 1284 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1839 | holgerb | 1285 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1286 | CompassGierSetpoint = v / 16; |
1287 | } |
||
1865 | holgerb | 1288 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1289 | } // CalculateCompassTimer |
1051 | killagreg | 1290 | } |
1840 | holgerb | 1291 | else CompassGierSetpoint = 0; |
1051 | killagreg | 1292 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1293 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1295 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1296 | |
1171 | hbuss | 1297 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1298 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1299 | |
1167 | hbuss | 1300 | #define TRIM_MAX 200 |
1166 | hbuss | 1301 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1302 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1303 | |
1166 | hbuss | 1304 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1305 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1306 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1307 | |
1 | ingob | 1308 | // Maximalwerte abfangen |
1153 | hbuss | 1309 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1685 | holgerb | 1310 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1311 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1312 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1313 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1314 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1315 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1316 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1317 | |||
1051 | killagreg | 1318 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1319 | // Höhenregelung |
1320 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1321 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1322 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1323 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1324 | // if height control is activated |
1916 | holgerb | 1325 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1326 | { |
1698 | holgerb | 1327 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1328 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1329 | |
1330 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1331 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1332 | #else |
1638 | holgerb | 1333 | #define OPA_OFFSET_STEP 10 |
1334 | #endif |
||
1697 | holgerb | 1335 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1336 | static int HeightTrimming = 0; // rate for change of height setpoint |
1337 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1338 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1339 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1857 | holgerb | 1340 | static signed char WaypointTrimming = 0; |
1320 | hbuss | 1341 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1342 | |
1309 | hbuss | 1343 | // get the current hooverpoint |
1587 | killagreg | 1344 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1345 | |
1322 | hbuss | 1346 | // Expand the measurement |
1347 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1348 | if(!BaroExpandActive) |
||
1349 | { |
||
1350 | if(MessLuftdruck > 920) |
||
1351 | { // increase offset |
||
1330 | killagreg | 1352 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1353 | { |
1354 | ExpandBaro -= 1; |
||
1355 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1356 | beeptime = 300; |
||
1352 | hbuss | 1357 | BaroExpandActive = 350; |
1330 | killagreg | 1358 | } |
1359 | else |
||
1322 | hbuss | 1360 | { |
1361 | BaroAtLowerLimit = 1; |
||
1362 | } |
||
1363 | } |
||
1364 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1365 | else |
1322 | hbuss | 1366 | if(MessLuftdruck < 100) |
1367 | { // decrease offset |
||
1330 | killagreg | 1368 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1369 | { |
1370 | ExpandBaro += 1; |
||
1371 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1372 | beeptime = 300; |
||
1352 | hbuss | 1373 | BaroExpandActive = 350; |
1330 | killagreg | 1374 | } |
1375 | else |
||
1322 | hbuss | 1376 | { |
1377 | BaroAtUpperLimit = 1; |
||
1378 | } |
||
1379 | } |
||
1330 | killagreg | 1380 | else |
1322 | hbuss | 1381 | { |
1382 | BaroAtUpperLimit = 0; |
||
1383 | BaroAtLowerLimit = 0; |
||
1384 | } |
||
1385 | } |
||
1386 | else // delay, because of expanding the Baro-Range |
||
1387 | { |
||
1388 | // now clear the D-values |
||
1389 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1390 | VarioMeter = 0; |
||
1391 | BaroExpandActive--; |
||
1392 | } |
||
1328 | hbuss | 1393 | |
1394 | // if height control is activated by an rc channel |
||
1916 | holgerb | 1395 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1396 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1397 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1398 | { //height control not active |
1399 | if(!delay--) |
||
1400 | { |
||
1401 | HoehenReglerAktiv = 0; // disable height control |
||
1402 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1403 | delay = 1; |
||
1404 | } |
||
1405 | } |
||
1406 | else |
||
1407 | { //height control is activated |
||
1408 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1409 | delay = 200; |
1328 | hbuss | 1410 | } |
1051 | killagreg | 1411 | } |
1309 | hbuss | 1412 | else // no switchable height control |
1413 | { |
||
1916 | holgerb | 1414 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1415 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1416 | } |
1322 | hbuss | 1417 | |
1320 | hbuss | 1418 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1419 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1420 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1421 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1422 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1423 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1424 | VarioCharacter = ' '; |
1765 | killagreg | 1425 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1426 | { |
1330 | killagreg | 1427 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1428 | // Holger original version |
1429 | // start of height control algorithm |
||
1430 | // the height control is only an attenuation of the actual gas stick. |
||
1431 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1432 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1433 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1434 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1435 | { // old version |
1309 | hbuss | 1436 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1437 | HeightTrimming = 0; |
||
1773 | killagreg | 1438 | // set both flags to indicate no vario mode |
1439 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1440 | } |
1314 | killagreg | 1441 | else |
1309 | hbuss | 1442 | { |
1443 | // alternative height control |
||
1444 | // PD-Control with respect to hoover point |
||
1445 | // the thrust loss out of horizontal attitude is compensated |
||
1446 | // the setpoint will be fine adjusted with the gas stick position |
||
1765 | killagreg | 1447 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1448 | { // gas stick is above hoover point |
1587 | killagreg | 1449 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1450 | { |
1767 | killagreg | 1451 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1452 | { |
1767 | killagreg | 1453 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1309 | hbuss | 1454 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1455 | } |
||
1767 | killagreg | 1456 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1587 | killagreg | 1457 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1458 | VarioCharacter = '+'; |
1865 | holgerb | 1459 | WaypointTrimming = 0; |
1309 | hbuss | 1460 | } // gas stick is below hoover point |
1587 | killagreg | 1461 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1462 | { |
1767 | killagreg | 1463 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1464 | { |
1767 | killagreg | 1465 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1309 | hbuss | 1466 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1467 | } |
||
1767 | killagreg | 1468 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1587 | killagreg | 1469 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1470 | VarioCharacter = '-'; |
1865 | holgerb | 1471 | WaypointTrimming = 0; |
1309 | hbuss | 1472 | } |
1587 | killagreg | 1473 | else // Gas Stick in Hover Range |
1309 | hbuss | 1474 | { |
1855 | holgerb | 1475 | VarioCharacter = '='; |
1857 | holgerb | 1476 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1477 | { |
1478 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1479 | HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1480 | WaypointTrimming = 10; |
1481 | VarioCharacter = '^'; |
||
1865 | holgerb | 1482 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1483 | { |
||
1484 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1485 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1486 | } |
||
1855 | holgerb | 1487 | } |
1488 | else |
||
1857 | holgerb | 1489 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1490 | { |
1491 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1492 | HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1493 | WaypointTrimming = -10; |
1494 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1495 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1496 | { |
||
1497 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1498 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1499 | } |
||
1855 | holgerb | 1500 | } |
1501 | else |
||
1767 | killagreg | 1502 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1503 | { |
1913 | holgerb | 1504 | //if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
1505 | //else |
||
1914 | holgerb | 1506 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1913 | holgerb | 1507 | else WaypointTrimming = 0; |
1767 | killagreg | 1508 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1509 | HeightTrimming = 0; |
1916 | holgerb | 1510 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1511 | if(!StartTrigger && HoehenWert > 50) |
1512 | { |
||
1513 | StartTrigger = 1; |
||
1765 | killagreg | 1514 | } |
1309 | hbuss | 1515 | } |
1516 | } |
||
1517 | // Trim height set point |
||
1334 | killagreg | 1518 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1519 | { |
1857 | holgerb | 1520 | if(WaypointTrimming) |
1521 | { |
||
1522 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1523 | else SollHoehe += WaypointTrimming; |
||
1524 | } |
||
1525 | else |
||
1332 | hbuss | 1526 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1527 | HeightTrimming = 0; |
1916 | holgerb | 1528 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-512), (HoehenWert+512)); // max. 5m Unterschied |
1529 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
||
1320 | hbuss | 1530 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1531 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1532 | { |
1587 | killagreg | 1533 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1534 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1535 | if(StickGasHover < 70) StickGasHover = 70; |
||
1536 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1537 | } |
1309 | hbuss | 1538 | } |
1352 | hbuss | 1539 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1540 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1541 | else |
1542 | { |
||
1322 | hbuss | 1543 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1544 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1545 | else StickGasHover = 120; |
||
1698 | holgerb | 1546 | HoverGas = GasMischanteil; |
1320 | hbuss | 1547 | } |
1590 | killagreg | 1548 | HCGas = HoverGas; // take hover gas (neutral point) |
1549 | } |
||
1916 | holgerb | 1550 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1551 | { |
1590 | killagreg | 1552 | // from this point the Heigth Control Algorithm is identical for both versions |
1553 | if(BaroExpandActive) // baro range expanding active |
||
1554 | { |
||
1555 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1556 | HeightDeviation = 0; |
||
1557 | } // EOF // baro range expanding active |
||
1558 | else // valid data from air pressure sensor |
||
1559 | { |
||
1560 | // ------------------------- P-Part ---------------------------- |
||
1561 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1562 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1563 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1564 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1565 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1566 | GasReduction = tmp_long; |
||
1590 | killagreg | 1567 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1568 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1569 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1570 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1571 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1572 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1573 | else |
1916 | holgerb | 1574 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1575 | GasReduction += tmp_int; |
1590 | killagreg | 1576 | } // EOF no baro range expanding |
1309 | hbuss | 1577 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1578 | if(Parameter_Hoehe_ACC_Wirkung) |
1579 | { |
||
1580 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1581 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1582 | GasReduction += tmp_long; |
||
1765 | killagreg | 1583 | } |
1587 | killagreg | 1584 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1585 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1586 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1587 | GasReduction += tmp_int; |
1701 | holgerb | 1588 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1589 | // ------------------------ ---------------------------------- |
||
1590 | HCGas -= GasReduction; |
||
1309 | hbuss | 1591 | // limit deviation from hoover point within the target region |
1692 | holgerb | 1592 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1593 | { |
1765 | killagreg | 1594 | unsigned int tmp; |
1705 | holgerb | 1595 | tmp = abs(HeightDeviation); |
1596 | if(tmp <= 60) |
||
1597 | { |
||
1598 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1599 | } |
||
1600 | else |
||
1765 | killagreg | 1601 | { |
1705 | holgerb | 1602 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1603 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1604 | if(HeightDeviation > 0) |
1693 | holgerb | 1605 | { |
1705 | holgerb | 1606 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1607 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1608 | } |
1705 | holgerb | 1609 | else |
1610 | { |
||
1611 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1612 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1613 | } |
||
1614 | } |
||
1309 | hbuss | 1615 | } |
1322 | hbuss | 1616 | // strech control output by inverse attitude projection 1/cos |
1617 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1618 | tmp_long2 = (int32_t)HCGas; |
1619 | tmp_long2 *= 8192L; |
||
1620 | tmp_long2 /= CosAttitude; |
||
1621 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1622 | // update height control gas averaging |
1623 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1624 | // limit height control gas pd-control output |
||
1625 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1626 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1627 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1628 | { // old version |
1629 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1630 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1631 | } |
1719 | holgerb | 1632 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1314 | killagreg | 1633 | } |
1309 | hbuss | 1634 | }// EOF height control active |
1320 | hbuss | 1635 | else // HC not active |
1636 | { |
||
1637 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1638 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1639 | { |
||
1640 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1641 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1642 | } |
1587 | killagreg | 1643 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1644 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1645 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1646 | // set both flags to indicate no vario mode |
1647 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1648 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1649 | } |
1587 | killagreg | 1650 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1651 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1652 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1653 | { |
1698 | holgerb | 1654 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1655 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1656 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1657 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1658 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1659 | // average vertical projected thrust |
1698 | holgerb | 1660 | if(modell_fliegt < 4000) // the first 8 seconds |
1661 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1662 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1663 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1664 | } |
1698 | holgerb | 1665 | if(modell_fliegt < 8000) // the first 16 seconds |
1666 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1667 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1668 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1669 | } |
1698 | holgerb | 1670 | else //later |
1865 | holgerb | 1671 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1672 | { |
1590 | killagreg | 1673 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1674 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1675 | } |
1590 | killagreg | 1676 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1677 | if(EE_Parameter.Hoehe_HoverBand) |
1678 | { |
||
1679 | int16_t band; |
||
1587 | killagreg | 1680 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1681 | HoverGasMin = HoverGas - band; |
||
1682 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1683 | } |
1684 | else |
||
1685 | { // no limit |
||
1587 | killagreg | 1686 | HoverGasMin = 0; |
1687 | HoverGasMax = 1023; |
||
1309 | hbuss | 1688 | } |
1765 | killagreg | 1689 | } |
1690 | else |
||
1698 | holgerb | 1691 | { |
1692 | StartTrigger = 0; |
||
1693 | HoverGasFilter = 0; |
||
1694 | HoverGas = 0; |
||
1765 | killagreg | 1695 | } |
1916 | holgerb | 1696 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1697 | else |
1698 | { |
||
1699 | // set undefined state to indicate vario off |
||
1700 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1701 | } // EOF no height control |
||
1702 | |||
1309 | hbuss | 1703 | // limit gas to parameter setting |
1320 | hbuss | 1704 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1705 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1706 | |
1051 | killagreg | 1707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1708 | // all BL-Ctrl connected? |
1709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1675 | holgerb | 1710 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1320 | hbuss | 1711 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1712 | { |
||
1713 | modell_fliegt = 1; |
||
1675 | holgerb | 1714 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1715 | } |
1716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1717 | // + Mischer und PI-Regler |
1051 | killagreg | 1718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1719 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1721 | // Gier-Anteil |
1051 | killagreg | 1722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1723 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1724 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1725 | if(GasMischanteil > MIN_GIERGAS) |
1726 | { |
||
1051 | killagreg | 1727 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1728 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1729 | } |
1051 | killagreg | 1730 | else |
693 | hbuss | 1731 | { |
1051 | killagreg | 1732 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1733 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1734 | } |
855 | hbuss | 1735 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1736 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1737 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1738 | |
1051 | killagreg | 1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1740 | // Nick-Achse |
1051 | killagreg | 1741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1742 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1743 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1744 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1745 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1746 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1747 | |
1748 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1749 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1750 | pd_ergebnis_nick += SummeNick / Ki; |
||
1751 | |||
1676 | holgerb | 1752 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1753 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1754 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1755 | |
1153 | hbuss | 1756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1757 | // Roll-Achse |
||
1758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1759 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1760 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1761 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1762 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1763 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1764 | |
1765 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
1766 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
1767 | pd_ergebnis_roll += SummeRoll / Ki; |
||
1768 | |||
1676 | holgerb | 1769 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1770 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1771 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1772 | |||
1773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1774 | // Universal Mixer |
1155 | hbuss | 1775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1776 | for(i=0; i<MAX_MOTORS; i++) |
1777 | { |
||
1778 | signed int tmp_int; |
||
1779 | if(Mixer.Motor[i][0] > 0) |
||
1780 | { |
||
1652 | holgerb | 1781 | // Gas |
1676 | holgerb | 1782 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1783 | // Nick |
1784 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1785 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1786 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1787 | // Roll |
||
1788 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1789 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1790 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1791 | // Gier |
||
1676 | holgerb | 1792 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1793 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1794 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1795 | |
1680 | holgerb | 1796 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1797 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
1693 | holgerb | 1798 | |
1913 | holgerb | 1799 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1800 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
1801 | else |
||
1802 | { |
||
1803 | if(EE_Parameter.MotorSmooth == 0) |
||
1804 | { |
||
1805 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; |
||
1806 | } |
||
1807 | else // 1 means tmp_int = tmp_int; |
||
1808 | if(EE_Parameter.MotorSmooth > 1) |
||
1809 | { |
||
1810 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
1811 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
||
1812 | } |
||
1813 | } |
||
1760 | holgerb | 1814 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 1815 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1816 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1817 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1818 | } |
1819 | else |
||
1820 | { |
||
1821 | Motor[i].SetPoint = 0; |
||
1822 | Motor[i].SetPointLowerBits = 0; |
||
1823 | } |
||
1824 | } |
||
1111 | hbuss | 1825 | } |