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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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; |
| 1377 | hbuss | 96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 1391 | killagreg | 97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 1 | ingob | 98 | volatile unsigned char SenderOkay = 0; |
| 595 | hbuss | 99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1698 | holgerb | 100 | char MotorenEin = 0,StartTrigger = 0; |
| 1246 | killagreg | 101 | long HoehenWert = 0; |
| 102 | long SollHoehe = 0; |
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| 1855 | holgerb | 103 | long FromNC_AltitudeSetpoint = 0; |
| 104 | unsigned char FromNC_AltitudeSpeed = 0; |
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| 1862 | holgerb | 105 | unsigned char carefree_old = 50; // to make the Beep when switching |
| 1855 | holgerb | 106 | |
| 1840 | holgerb | 107 | int CompassGierSetpoint = 0; |
| 1692 | holgerb | 108 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| 1153 | hbuss | 109 | //float Ki = FAKTOR_I; |
| 1676 | holgerb | 110 | int Ki = 10300 / 33; |
| 395 | hbuss | 111 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 112 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 113 | |
| 114 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 115 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 116 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 117 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 118 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 119 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 120 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 121 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 122 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 1322 | hbuss | 123 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| 124 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 1 | ingob | 125 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 126 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 127 | unsigned char Parameter_UserParam1 = 0; |
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| 128 | unsigned char Parameter_UserParam2 = 0; |
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| 129 | unsigned char Parameter_UserParam3 = 0; |
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| 130 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 131 | unsigned char Parameter_UserParam5 = 0; |
| 132 | unsigned char Parameter_UserParam6 = 0; |
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| 133 | unsigned char Parameter_UserParam7 = 0; |
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| 134 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 135 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 136 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 137 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 138 | unsigned char Parameter_AchsKopplung1 = 90; |
| 139 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 140 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 141 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 142 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 143 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 144 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 145 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 146 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 147 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 148 | unsigned char Parameter_NaviGpsGain; |
| 149 | unsigned char Parameter_NaviGpsP; |
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| 150 | unsigned char Parameter_NaviGpsI; |
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| 151 | unsigned char Parameter_NaviGpsD; |
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| 152 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 153 | unsigned char Parameter_NaviOperatingRadius; |
| 154 | unsigned char Parameter_NaviWindCorrection; |
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| 155 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 156 | unsigned char Parameter_ExternalControl; |
| 1403 | hbuss | 157 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1668 | holgerb | 158 | unsigned char CareFree = 0; |
| 1876 | holgerb | 159 | 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 | 160 | |
| 492 | hbuss | 161 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 162 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 163 | unsigned int modell_fliegt = 0; |
| 1861 | holgerb | 164 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
| 1121 | hbuss | 165 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 166 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 167 | signed int tmp_motorwert[MAX_MOTORS]; |
| 1591 | holgerb | 168 | char VarioCharacter = ' '; |
| 1882 | - | 169 | int horizontalGas = K_GIER, horizontalNick = K_ROLL; // by Znib |
| 1591 | holgerb | 170 | |
| 1391 | killagreg | 171 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 172 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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| 173 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 174 | |
| 1622 | killagreg | 175 | |
| 1639 | holgerb | 176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 177 | // Debugwerte zuordnen |
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| 178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 179 | void CopyDebugValues(void) |
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| 180 | { |
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| 181 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 182 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 183 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 184 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 1660 | holgerb | 185 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| 1639 | holgerb | 186 | DebugOut.Analog[5] = HoehenWert/5; |
| 1703 | holgerb | 187 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| 1639 | holgerb | 188 | DebugOut.Analog[8] = KompassValue; |
| 189 | DebugOut.Analog[9] = UBat; |
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| 190 | DebugOut.Analog[10] = SenderOkay; |
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| 191 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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| 1702 | holgerb | 192 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 193 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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| 194 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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| 195 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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| 1639 | holgerb | 196 | DebugOut.Analog[20] = ServoNickValue; |
| 197 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 198 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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| 1879 | holgerb | 199 | DebugOut.Analog[24] = SollHoehe/5; |
| 1639 | holgerb | 200 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| 1682 | holgerb | 201 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 1839 | holgerb | 202 | DebugOut.Analog[27] = KompassSollWert; |
| 1682 | holgerb | 203 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| 1639 | holgerb | 204 | DebugOut.Analog[30] = GPS_Nick; |
| 205 | DebugOut.Analog[31] = GPS_Roll; |
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| 1702 | holgerb | 206 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| 1639 | holgerb | 207 | } |
| 208 | |||
| 1760 | holgerb | 209 | |
| 210 | |||
| 1232 | hbuss | 211 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 212 | { |
| 1232 | hbuss | 213 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 214 | while(Anzahl--) |
| 215 | { |
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| 1232 | hbuss | 216 | beeptime = dauer; |
| 217 | while(beeptime); |
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| 218 | Delay_ms(dauer * 2); |
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| 1 | ingob | 219 | } |
| 220 | } |
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| 221 | |||
| 222 | //############################################################################ |
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| 1622 | killagreg | 223 | // Messwerte beim Ermitteln der Nullage |
| 224 | void CalibrierMittelwert(void) |
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| 225 | //############################################################################ |
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| 226 | { |
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| 227 | unsigned char i; |
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| 228 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 229 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 230 | ANALOG_OFF; |
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| 231 | MesswertNick = AdWertNick; |
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| 232 | MesswertRoll = AdWertRoll; |
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| 233 | MesswertGier = AdWertGier; |
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| 1703 | holgerb | 234 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 235 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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| 1622 | killagreg | 236 | // ADC einschalten |
| 237 | ANALOG_ON; |
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| 238 | for(i=0;i<8;i++) |
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| 239 | { |
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| 240 | int tmp; |
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| 1876 | holgerb | 241 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| 1622 | killagreg | 242 | LIMIT_MIN_MAX(tmp, 0, 255); |
| 243 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 244 | } |
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| 245 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 246 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 247 | } |
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| 248 | |||
| 249 | //############################################################################ |
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| 1 | ingob | 250 | // Nullwerte ermitteln |
| 1622 | killagreg | 251 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 252 | //############################################################################ |
| 253 | { |
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| 1622 | killagreg | 254 | unsigned char i; |
| 255 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1702 | holgerb | 256 | VersionInfo.HardwareError[0] = 0; |
| 1320 | hbuss | 257 | HEF4017R_ON; |
| 1051 | killagreg | 258 | NeutralAccX = 0; |
| 1 | ingob | 259 | NeutralAccY = 0; |
| 260 | NeutralAccZ = 0; |
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| 1622 | killagreg | 261 | |
| 1051 | killagreg | 262 | AdNeutralNick = 0; |
| 263 | AdNeutralRoll = 0; |
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| 1 | ingob | 264 | AdNeutralGier = 0; |
| 1622 | killagreg | 265 | |
| 395 | hbuss | 266 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 267 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 268 | |
| 1036 | hbuss | 269 | ExpandBaro = 0; |
| 1622 | killagreg | 270 | |
| 1051 | killagreg | 271 | CalibrierMittelwert(); |
| 395 | hbuss | 272 | Delay_ms_Mess(100); |
| 1622 | killagreg | 273 | |
| 1 | ingob | 274 | CalibrierMittelwert(); |
| 1622 | killagreg | 275 | |
| 1 | ingob | 276 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 277 | { |
| 1 | ingob | 278 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 279 | } |
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| 1166 | hbuss | 280 | #define NEUTRAL_FILTER 32 |
| 281 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 282 | { |
| 283 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 284 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 285 | nick_neutral += AdWertNick; |
| 286 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 287 | } |
| 1173 | hbuss | 288 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 289 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 290 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 291 | |
| 401 | hbuss | 292 | StartNeutralRoll = AdNeutralRoll; |
| 293 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 294 | |
| 295 | if(AccAdjustment) |
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| 296 | { |
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| 297 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 298 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 299 | NeutralAccZ = Aktuell_az; |
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| 300 | |||
| 301 | // Save ACC neutral settings to eeprom |
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| 1639 | holgerb | 302 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 303 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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| 1622 | killagreg | 304 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 305 | } |
| 1051 | killagreg | 306 | else |
| 513 | hbuss | 307 | { |
| 1622 | killagreg | 308 | // restore from eeprom |
| 309 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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| 310 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 311 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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| 312 | // strange settings? |
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| 1638 | holgerb | 313 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 314 | { |
| 315 | printf("\n\rACC not calibrated!\r\n"); |
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| 316 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 317 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 318 | NeutralAccZ = Aktuell_az; |
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| 319 | } |
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| 513 | hbuss | 320 | } |
| 1051 | killagreg | 321 | |
| 1 | ingob | 322 | MesswertNick = 0; |
| 323 | MesswertRoll = 0; |
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| 324 | MesswertGier = 0; |
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| 1111 | hbuss | 325 | Delay_ms_Mess(100); |
| 1703 | holgerb | 326 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 327 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
| 1173 | hbuss | 328 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 329 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 330 | Mess_IntegralNick2 = IntegralNick; |
||
| 331 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 332 | Mess_Integral_Gier = 0; |
||
| 1 | ingob | 333 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 334 | VarioMeter = 0; |
| 1 | ingob | 335 | Mess_Integral_Hoch = 0; |
| 1837 | holgerb | 336 | KompassSollWert = KompassValue; |
| 1839 | holgerb | 337 | KompassSignalSchlecht = 100; |
| 1 | ingob | 338 | GPS_Neutral(); |
| 1051 | killagreg | 339 | beeptime = 50; |
| 882 | hbuss | 340 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 341 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 342 | ExternHoehenValue = 0; |
| 693 | hbuss | 343 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 344 | GierGyroFehler = 0; |
||
| 723 | hbuss | 345 | SendVersionToNavi = 1; |
| 921 | hbuss | 346 | LED_Init(); |
| 1765 | killagreg | 347 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| 992 | hbuss | 348 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 349 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 350 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 351 | for(i=0;i<8;i++) |
| 1377 | hbuss | 352 | { |
| 1876 | holgerb | 353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| 1377 | hbuss | 354 | } |
| 1171 | hbuss | 355 | SenderOkay = 100; |
| 1320 | hbuss | 356 | if(ServoActive) |
| 357 | { |
||
| 358 | HEF4017R_ON; |
||
| 359 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 360 | } |
||
| 1702 | holgerb | 361 | |
| 1765 | killagreg | 362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| 363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
| 364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
| 365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
| 366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
| 367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
| 1862 | holgerb | 368 | carefree_old = 70; |
| 1 | ingob | 369 | } |
| 370 | |||
| 1702 | holgerb | 371 | |
| 1 | ingob | 372 | //############################################################################ |
| 395 | hbuss | 373 | // Bearbeitet die Messwerte |
| 1 | ingob | 374 | void Mittelwert(void) |
| 375 | //############################################################################ |
||
| 1051 | killagreg | 376 | { |
| 1111 | hbuss | 377 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 378 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 379 | signed long winkel_nick, winkel_roll; |
| 1111 | hbuss | 380 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 381 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 382 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
| 1153 | hbuss | 383 | RohMesswertNick = MesswertNick; |
| 384 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 385 | |
| 395 | hbuss | 386 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1703 | holgerb | 387 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| 388 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
| 395 | hbuss | 389 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 390 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 391 | NaviAccNick += AdWertAccNick; |
| 392 | NaviAccRoll += AdWertAccRoll; |
||
| 393 | NaviCntAcc++; |
||
| 1153 | hbuss | 394 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 395 | |||
| 1155 | hbuss | 396 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 397 | // ADC einschalten |
||
| 1171 | hbuss | 398 | ANALOG_ON; |
| 1155 | hbuss | 399 | AdReady = 0; |
| 400 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 401 | |||
| 1216 | killagreg | 402 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 403 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 404 | else winkel_roll = Mess_IntegralRoll; |
| 405 | |||
| 1216 | killagreg | 406 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 407 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 408 | else winkel_nick = Mess_IntegralNick; |
| 409 | |||
| 1120 | hbuss | 410 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 411 | Mess_Integral_Gier += MesswertGier; |
| 412 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 413 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 414 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 415 | { |
||
| 1153 | hbuss | 416 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 417 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 418 | tmpl3 /= 4096L; |
| 1153 | hbuss | 419 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 420 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 421 | tmpl4 /= 4096L; |
| 1153 | hbuss | 422 | KopplungsteilNickRoll = tmpl3; |
| 423 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 424 | tmpl4 -= tmpl3; |
| 425 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 426 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 427 | |
| 1153 | hbuss | 428 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 429 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 430 | tmpl /= 4096L; |
| 1153 | hbuss | 431 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 432 | tmpl2 *= Parameter_AchsKopplung1; |
| 1662 | killagreg | 433 | tmpl2 /= 4096L; |
| 1225 | hbuss | 434 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 435 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 436 | } |
| 1166 | hbuss | 437 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1658 | holgerb | 438 | TrimRoll = tmpl - tmpl2 / 100L; |
| 439 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 1111 | hbuss | 440 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 441 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 442 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 443 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 444 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 445 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 446 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 447 | { |
| 882 | hbuss | 448 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 449 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 450 | } |
| 395 | hbuss | 451 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 452 | { |
||
| 882 | hbuss | 453 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 454 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 455 | } |
| 395 | hbuss | 456 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 457 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 458 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 459 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 460 | { |
| 461 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 462 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 463 | } |
| 464 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 465 | { |
| 882 | hbuss | 466 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 467 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 468 | } |
| 1111 | hbuss | 469 | |
| 1 | ingob | 470 | Integral_Gier = Mess_Integral_Gier; |
| 471 | IntegralNick = Mess_IntegralNick; |
||
| 472 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 473 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 474 | IntegralRoll2 = Mess_IntegralRoll2; |
| 475 | |||
| 1166 | hbuss | 476 | #define D_LIMIT 128 |
| 477 | |||
| 1171 | hbuss | 478 | MesswertNick = HiResNick / 8; |
| 479 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 480 | |
| 1167 | hbuss | 481 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 482 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 483 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 484 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 485 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 486 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 487 | |||
| 1216 | killagreg | 488 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 489 | { |
| 1166 | hbuss | 490 | d2Nick = HiResNick - oldNick; |
| 491 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 492 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 493 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1791 | holgerb | 494 | |
| 1166 | hbuss | 495 | d2Roll = HiResRoll - oldRoll; |
| 496 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 497 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 498 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1791 | holgerb | 499 | |
| 500 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
| 1166 | hbuss | 501 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 502 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 503 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 504 | } |
| 1111 | hbuss | 505 | |
| 1166 | hbuss | 506 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 507 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 508 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 509 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 510 | |
| 511 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 512 | { |
||
| 513 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 514 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 515 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 516 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 517 | } |
||
| 1 | ingob | 518 | } |
| 519 | |||
| 520 | //############################################################################ |
||
| 521 | // Senden der Motorwerte per I2C-Bus |
||
| 522 | void SendMotorData(void) |
||
| 523 | //############################################################################ |
||
| 1051 | killagreg | 524 | { |
| 1209 | hbuss | 525 | unsigned char i; |
| 921 | hbuss | 526 | if(!MotorenEin) |
| 1 | ingob | 527 | { |
| 1765 | killagreg | 528 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| 1216 | killagreg | 529 | for(i=0;i<MAX_MOTORS;i++) |
| 530 | { |
||
| 531 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 532 | Motor[i].SetPoint = MotorTest[i]; |
| 533 | Motor[i].SetPointLowerBits = 0; |
||
| 534 | /* |
||
| 1760 | holgerb | 535 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| 536 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 1638 | holgerb | 537 | */ |
| 1216 | killagreg | 538 | } |
| 1212 | hbuss | 539 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 540 | } |
| 1765 | killagreg | 541 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| 1744 | holgerb | 542 | |
| 1765 | killagreg | 543 | if(I2C_TransferActive) |
| 1744 | holgerb | 544 | { |
| 1760 | holgerb | 545 | I2C_TransferActive = 0; // enable for the next time |
| 1765 | killagreg | 546 | } |
| 547 | else |
||
| 1744 | holgerb | 548 | { |
| 549 | motor_write = 0; |
||
| 1760 | holgerb | 550 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| 1765 | killagreg | 551 | } |
| 1 | ingob | 552 | } |
| 553 | |||
| 554 | |||
| 555 | |||
| 556 | //############################################################################ |
||
| 557 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 558 | void ParameterZuordnung(void) |
| 1 | ingob | 559 | //############################################################################ |
| 560 | { |
||
| 1787 | holgerb | 561 | unsigned char tmp,i; |
| 1391 | killagreg | 562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| 563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
| 1787 | holgerb | 564 | for(i=0;i<8;i++) |
| 565 | { |
||
| 566 | int tmp2; |
||
| 1876 | holgerb | 567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| 1787 | holgerb | 568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| 569 | if(tmp2 != Poti[i]) |
||
| 570 | { |
||
| 571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
| 572 | if(Poti[i] > tmp2) Poti[i]--; |
||
| 573 | else Poti[i]++; |
||
| 574 | } |
||
| 575 | } |
||
| 921 | hbuss | 576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 1403 | hbuss | 581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1377 | hbuss | 584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1403 | hbuss | 585 | CHK_POTI(Parameter_MaxHoehe,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); |
| 608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1676 | holgerb | 611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 612 | MAX_GAS = EE_Parameter.Gas_Max; |
| 1662 | killagreg | 613 | MIN_GAS = EE_Parameter.Gas_Min; |
| 1668 | holgerb | 614 | |
| 1882 | - | 615 | // by Znib |
| 616 | if (Parameter_UserParam1 == 1 || Parameter_UserParam1 == 4) |
||
| 617 | { |
||
| 618 | // mode 1 oder 4 |
||
| 619 | horizontalGas = K_ROLL; |
||
| 620 | horizontalNick = K_GIER; |
||
| 621 | } |
||
| 622 | else |
||
| 623 | { |
||
| 624 | horizontalGas = K_GIER; |
||
| 625 | horizontalNick = K_ROLL; |
||
| 626 | } |
||
| 627 | |||
| 1668 | holgerb | 628 | tmp = EE_Parameter.OrientationModeControl; |
| 1690 | holgerb | 629 | if(tmp > 50) |
| 1668 | holgerb | 630 | { |
| 1682 | holgerb | 631 | #ifdef SWITCH_LEARNS_CAREFREE |
| 1839 | holgerb | 632 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 1682 | holgerb | 633 | #endif |
| 634 | CareFree = 1; |
||
| 1839 | holgerb | 635 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 1862 | holgerb | 636 | if(carefree_old != CareFree) |
| 637 | { |
||
| 638 | if(carefree_old < 3) |
||
| 639 | { |
||
| 640 | if(CareFree) beeptime = 1500; |
||
| 641 | else beeptime = 200; |
||
| 642 | carefree_old = CareFree; |
||
| 643 | } else carefree_old--; |
||
| 644 | } |
||
| 1839 | holgerb | 645 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| 1669 | killagreg | 646 | } |
| 1839 | holgerb | 647 | else |
| 648 | { |
||
| 649 | CareFree = 0; |
||
| 1862 | holgerb | 650 | carefree_old = 10; |
| 1839 | holgerb | 651 | } |
| 1668 | holgerb | 652 | |
| 1691 | holgerb | 653 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| 1690 | holgerb | 654 | { |
| 655 | beeptime = 15000; |
||
| 656 | BeepMuster = 0xA400; |
||
| 657 | CareFree = 0; |
||
| 1765 | killagreg | 658 | } |
| 1861 | holgerb | 659 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
| 1 | ingob | 660 | } |
| 661 | |||
| 662 | //############################################################################ |
||
| 663 | // |
||
| 664 | void MotorRegler(void) |
||
| 665 | //############################################################################ |
||
| 666 | { |
||
| 1330 | killagreg | 667 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 668 | int GierMischanteil,GasMischanteil; |
| 669 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 670 | static long IntegralFehlerNick = 0; |
| 671 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 672 | static unsigned int RcLostTimer; |
| 673 | static unsigned char delay_neutral = 0; |
||
| 674 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 675 | static unsigned char calibration_done = 0; |
| 1 | ingob | 676 | static char NeueKompassRichtungMerken = 0; |
| 395 | hbuss | 677 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 678 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 679 | unsigned char i; |
| 1051 | killagreg | 680 | Mittelwert(); |
| 1 | ingob | 681 | GRN_ON; |
| 1051 | killagreg | 682 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 683 | // Gaswert ermitteln |
| 1051 | killagreg | 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 685 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 686 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 687 | |
| 1051 | killagreg | 688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 689 | // Empfang schlecht |
| 1051 | killagreg | 690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 691 | if(SenderOkay < 100) |
| 692 | { |
||
| 1051 | killagreg | 693 | if(RcLostTimer) RcLostTimer--; |
| 694 | else |
||
| 1 | ingob | 695 | { |
| 696 | MotorenEin = 0; |
||
| 1765 | killagreg | 697 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| 1051 | killagreg | 698 | } |
| 1 | ingob | 699 | ROT_ON; |
| 693 | hbuss | 700 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 701 | { |
| 702 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1765 | killagreg | 703 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| 744 | hbuss | 704 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 705 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 706 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 707 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 708 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 709 | } |
| 1 | ingob | 710 | else MotorenEin = 0; |
| 711 | } |
||
| 1051 | killagreg | 712 | else |
| 713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 714 | // Emfang gut |
| 1051 | killagreg | 715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 716 | if(SenderOkay > 140) |
| 717 | { |
||
| 1765 | killagreg | 718 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| 1 | ingob | 719 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 720 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 721 | { |
| 722 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 723 | } |
||
| 871 | hbuss | 724 | if((modell_fliegt < 256)) |
| 1 | ingob | 725 | { |
| 726 | SummeNick = 0; |
||
| 727 | SummeRoll = 0; |
||
| 1682 | holgerb | 728 | sollGier = 0; |
| 729 | Mess_Integral_Gier = 0; |
||
| 1765 | killagreg | 730 | } else FC_StatusFlags |= FC_STATUS_FLY; |
| 1051 | killagreg | 731 | |
| 595 | hbuss | 732 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 733 | { |
| 1051 | killagreg | 734 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 735 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 736 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1882 | - | 737 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] > 75) // Neutralwerte |
| 1 | ingob | 738 | { |
| 739 | if(++delay_neutral > 200) // nicht sofort |
||
| 740 | { |
||
| 741 | GRN_OFF; |
||
| 742 | MotorenEin = 0; |
||
| 743 | delay_neutral = 0; |
||
| 744 | modell_fliegt = 0; |
||
| 1882 | - | 745 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]]) > 70) |
| 1 | ingob | 746 | { |
| 304 | ingob | 747 | unsigned char setting=1; |
| 1882 | - | 748 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 749 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 750 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 751 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 752 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 753 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 754 | } |
| 1882 | - | 755 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 1051 | killagreg | 756 | { |
| 819 | hbuss | 757 | WinkelOut.CalcState = 1; |
| 758 | beeptime = 1000; |
||
| 759 | } |
||
| 760 | else |
||
| 1 | ingob | 761 | { |
| 1622 | killagreg | 762 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 763 | LipoDetection(0); |
| 1626 | killagreg | 764 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 819 | hbuss | 765 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 766 | { |
||
| 1 | ingob | 767 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 768 | } |
| 1330 | killagreg | 769 | ServoActive = 0; |
| 1622 | killagreg | 770 | SetNeutral(0); |
| 1765 | killagreg | 771 | calibration_done = 1; |
| 1232 | hbuss | 772 | ServoActive = 1; |
| 773 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 774 | Piep(GetActiveParamSet(),120); |
| 819 | hbuss | 775 | } |
| 1051 | killagreg | 776 | } |
| 1 | ingob | 777 | } |
| 1051 | killagreg | 778 | else |
| 1882 | - | 779 | if(PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] < -75) // ACC Neutralwerte speichern |
| 513 | hbuss | 780 | { |
| 781 | if(++delay_neutral > 200) // nicht sofort |
||
| 782 | { |
||
| 783 | GRN_OFF; |
||
| 784 | MotorenEin = 0; |
||
| 785 | delay_neutral = 0; |
||
| 786 | modell_fliegt = 0; |
||
| 1622 | killagreg | 787 | SetNeutral(1); |
| 788 | calibration_done = 1; |
||
| 789 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 790 | } |
| 513 | hbuss | 791 | } |
| 1 | ingob | 792 | else delay_neutral = 0; |
| 793 | } |
||
| 1051 | killagreg | 794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 795 | // Gas ist unten |
| 1051 | killagreg | 796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1760 | holgerb | 797 | |
| 595 | hbuss | 798 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 799 | { |
| 1521 | killagreg | 800 | // Motoren Starten |
| 801 | if(!MotorenEin) |
||
| 802 | { |
||
| 1882 | - | 803 | if((PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| 1521 | killagreg | 804 | { |
| 1051 | killagreg | 805 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 806 | // Einschalten |
| 1051 | killagreg | 807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 808 | if(++delay_einschalten > 200) |
| 809 | { |
||
| 810 | delay_einschalten = 0; |
||
| 1834 | holgerb | 811 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
| 1622 | killagreg | 812 | { |
| 813 | modell_fliegt = 1; |
||
| 814 | MotorenEin = 1; |
||
| 815 | sollGier = 0; |
||
| 816 | Mess_Integral_Gier = 0; |
||
| 817 | Mess_Integral_Gier2 = 0; |
||
| 818 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 819 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 820 | Mess_IntegralNick2 = IntegralNick; |
||
| 821 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 822 | SummeNick = 0; |
||
| 823 | SummeRoll = 0; |
||
| 1765 | killagreg | 824 | FC_StatusFlags |= FC_STATUS_START; |
| 1669 | killagreg | 825 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 1840 | holgerb | 826 | NeueKompassRichtungMerken = 100; // 2 sekunden |
| 1622 | killagreg | 827 | } |
| 828 | else |
||
| 829 | { |
||
| 830 | beeptime = 1500; // indicate missing calibration |
||
| 831 | } |
||
| 1521 | killagreg | 832 | } |
| 833 | } |
||
| 834 | else delay_einschalten = 0; |
||
| 835 | } |
||
| 1051 | killagreg | 836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 837 | // Auschalten |
| 1051 | killagreg | 838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 839 | else // only if motors are running |
| 840 | { |
||
| 1882 | - | 841 | if((PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| 1521 | killagreg | 842 | { |
| 843 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 844 | { |
||
| 845 | MotorenEin = 0; |
||
| 846 | delay_ausschalten = 0; |
||
| 847 | modell_fliegt = 0; |
||
| 848 | } |
||
| 849 | } |
||
| 850 | else delay_ausschalten = 0; |
||
| 851 | } |
||
| 1 | ingob | 852 | } |
| 853 | } |
||
| 1051 | killagreg | 854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 855 | // neue Werte von der Funke |
| 1051 | killagreg | 856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 857 | |
| 1765 | killagreg | 858 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1 | ingob | 859 | { |
| 604 | hbuss | 860 | static int stick_nick,stick_roll; |
| 1 | ingob | 861 | ParameterZuordnung(); |
| 1051 | killagreg | 862 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 863 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 864 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
| 865 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 866 | |||
| 1707 | holgerb | 867 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 868 | // CareFree und freie Wahl der vorderen Richtung |
||
| 869 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1865 | holgerb | 870 | if(CareFree) |
| 871 | { |
||
| 872 | signed int nick, roll; |
||
| 873 | nick = stick_nick / 4; |
||
| 874 | roll = stick_roll / 4; |
||
| 875 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
| 876 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
| 877 | } |
||
| 878 | else |
||
| 879 | { |
||
| 880 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
| 881 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
| 882 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
| 883 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
| 884 | } |
||
| 1662 | killagreg | 885 | |
| 1 | ingob | 886 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1840 | holgerb | 887 | if(StickGier > 4) StickGier -= 4; else |
| 888 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
| 1120 | hbuss | 889 | |
| 1658 | holgerb | 890 | StickNick -= (GPS_Nick + GPS_Nick2); |
| 891 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
| 1350 | hbuss | 892 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1330 | killagreg | 893 | |
| 1153 | hbuss | 894 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 895 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 896 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 897 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 898 | |
| 595 | hbuss | 899 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 900 | //+ Analoge Steuerung per Seriell |
||
| 901 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 902 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 903 | { |
| 904 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 905 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 906 | StickGier += ExternControl.Gier; |
||
| 907 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 908 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 909 | } |
||
| 855 | hbuss | 910 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 911 | |
| 1 | ingob | 912 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 723 | hbuss | 913 | |
| 1051 | killagreg | 914 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 915 | { |
| 1051 | killagreg | 916 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 917 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 918 | } |
| 928 | hbuss | 919 | else MaxStickNick--; |
| 1051 | killagreg | 920 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 921 | { |
| 1051 | killagreg | 922 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 923 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 924 | } |
| 928 | hbuss | 925 | else MaxStickRoll--; |
| 1765 | killagreg | 926 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 927 | |
| 1051 | killagreg | 928 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 929 | // Looping? |
| 1051 | killagreg | 930 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 931 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 932 | else |
| 933 | { |
||
| 395 | hbuss | 934 | { |
| 1051 | killagreg | 935 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 936 | } |
||
| 937 | } |
||
| 993 | hbuss | 938 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 939 | else |
| 395 | hbuss | 940 | { |
| 941 | if(Looping_Rechts) // Hysterese |
||
| 942 | { |
||
| 943 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 944 | } |
||
| 1051 | killagreg | 945 | } |
| 173 | holgerb | 946 | |
| 993 | hbuss | 947 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 948 | else |
| 949 | { |
||
| 395 | hbuss | 950 | if(Looping_Oben) // Hysterese |
| 951 | { |
||
| 1051 | killagreg | 952 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 953 | } |
||
| 954 | } |
||
| 993 | hbuss | 955 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 956 | else |
| 395 | hbuss | 957 | { |
| 958 | if(Looping_Unten) // Hysterese |
||
| 959 | { |
||
| 960 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 961 | } |
||
| 1051 | killagreg | 962 | } |
| 395 | hbuss | 963 | |
| 964 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 965 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 966 | } // Ende neue Funken-Werte |
| 967 | |||
| 968 | if(Looping_Roll || Looping_Nick) |
||
| 969 | { |
||
| 173 | holgerb | 970 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 971 | TrichterFlug = 1; |
| 173 | holgerb | 972 | } |
| 973 | |||
| 1051 | killagreg | 974 | |
| 975 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 976 | // Bei Empfangsausfall im Flug |
||
| 977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1765 | killagreg | 978 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| 1 | ingob | 979 | { |
| 980 | StickGier = 0; |
||
| 981 | StickNick = 0; |
||
| 982 | StickRoll = 0; |
||
| 1211 | hbuss | 983 | GyroFaktor = 90; |
| 984 | IntegralFaktor = 120; |
||
| 985 | GyroFaktorGier = 90; |
||
| 986 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 987 | Looping_Roll = 0; |
| 988 | Looping_Nick = 0; |
||
| 1051 | killagreg | 989 | } |
| 395 | hbuss | 990 | |
| 991 | |||
| 1051 | killagreg | 992 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 993 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 994 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 995 | #define ABGLEICH_ANZAHL 256L |
| 996 | |||
| 997 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 998 | MittelIntegralRoll += IntegralRoll; |
||
| 999 | MittelIntegralNick2 += IntegralNick2; |
||
| 1000 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 1001 | |||
| 1002 | if(Looping_Nick || Looping_Roll) |
||
| 1003 | { |
||
| 1004 | IntegralAccNick = 0; |
||
| 1005 | IntegralAccRoll = 0; |
||
| 1006 | MittelIntegralNick = 0; |
||
| 1007 | MittelIntegralRoll = 0; |
||
| 1008 | MittelIntegralNick2 = 0; |
||
| 1009 | MittelIntegralRoll2 = 0; |
||
| 1010 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1011 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 1012 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 1013 | LageKorrekturNick = 0; |
| 1014 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 1015 | } |
| 1016 | |||
| 1051 | killagreg | 1017 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 1018 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 1019 | { |
| 1020 | long tmp_long, tmp_long2; |
||
| 1839 | holgerb | 1021 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
| 992 | hbuss | 1022 | { |
| 1023 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1024 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 1025 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 1026 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 1839 | holgerb | 1027 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
| 992 | hbuss | 1028 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 1029 | { |
||
| 1030 | tmp_long /= 2; |
||
| 1031 | tmp_long2 /= 2; |
||
| 1032 | } |
||
| 1033 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 1034 | { |
||
| 1035 | tmp_long /= 3; |
||
| 1036 | tmp_long2 /= 3; |
||
| 1037 | } |
||
| 1038 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1039 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1040 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1041 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1042 | } |
||
| 1051 | killagreg | 1043 | else |
| 992 | hbuss | 1044 | { |
| 1045 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1046 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 1047 | tmp_long /= 16; |
| 1048 | tmp_long2 /= 16; |
||
| 1049 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1050 | { |
||
| 1051 | tmp_long /= 3; |
||
| 1052 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 1053 | } |
| 1054 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 1055 | { |
| 1056 | tmp_long /= 3; |
||
| 1057 | tmp_long2 /= 3; |
||
| 1058 | } |
||
| 1839 | holgerb | 1059 | KompassFusion = 25; |
| 1155 | hbuss | 1060 | #define AUSGLEICH 32 |
| 992 | hbuss | 1061 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1062 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1063 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1064 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 1065 | } |
||
| 1166 | hbuss | 1066 | |
| 1111 | hbuss | 1067 | Mess_IntegralNick -= tmp_long; |
| 1068 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1069 | } |
| 1051 | killagreg | 1070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1071 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1072 | { |
||
| 1073 | static int cnt = 0; |
||
| 1074 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1075 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 1076 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 1077 | { |
| 395 | hbuss | 1078 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1079 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1080 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1081 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1082 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 1707 | holgerb | 1083 | #define MAX_I 0 |
| 395 | hbuss | 1084 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1085 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1086 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1087 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1088 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1089 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1090 | |
| 1091 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1092 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1093 | |
| 992 | hbuss | 1094 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1095 | { |
| 1096 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1097 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1098 | } |
| 498 | hbuss | 1099 | |
| 1051 | killagreg | 1100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1101 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1102 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1103 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1104 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1105 | tmp_long = IntegralNick2 - IntegralNick; |
| 1106 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1107 | |
| 1108 | IntegralFehlerNick = tmp_long; |
||
| 1109 | IntegralFehlerRoll = tmp_long2; |
||
| 1110 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1111 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1112 | |||
| 1111 | hbuss | 1113 | if(EE_Parameter.Driftkomp) |
| 1114 | { |
||
| 1622 | killagreg | 1115 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1116 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1117 | } |
| 693 | hbuss | 1118 | GierGyroFehler = 0; |
| 720 | ingob | 1119 | |
| 1243 | killagreg | 1120 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1121 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1122 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1123 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1124 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1125 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1126 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1127 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1128 | { |
| 1051 | killagreg | 1129 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1130 | { |
| 1051 | killagreg | 1131 | if(last_n_p) |
| 395 | hbuss | 1132 | { |
| 1173 | hbuss | 1133 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1134 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1135 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1136 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1137 | } |
| 395 | hbuss | 1138 | else last_n_p = 1; |
| 1139 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1140 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1141 | { |
| 1142 | if(last_n_n) |
||
| 1051 | killagreg | 1143 | { |
| 1173 | hbuss | 1144 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1145 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1146 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1147 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1148 | } |
| 395 | hbuss | 1149 | else last_n_n = 1; |
| 1150 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1151 | } |
| 1152 | else |
||
| 847 | hbuss | 1153 | { |
| 1154 | cnt = 0; |
||
| 1839 | holgerb | 1155 | KompassSignalSchlecht = 100; |
| 1051 | killagreg | 1156 | } |
| 499 | hbuss | 1157 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1158 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1159 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1160 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1161 | |
| 395 | hbuss | 1162 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1695 | holgerb | 1163 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| 1225 | hbuss | 1164 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1165 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1166 | { |
| 1051 | killagreg | 1167 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1168 | { |
| 1051 | killagreg | 1169 | if(last_r_p) |
| 395 | hbuss | 1170 | { |
| 1173 | hbuss | 1171 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1172 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1173 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1174 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1175 | } |
| 395 | hbuss | 1176 | else last_r_p = 1; |
| 1177 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1178 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1179 | { |
| 1051 | killagreg | 1180 | if(last_r_n) |
| 395 | hbuss | 1181 | { |
| 1173 | hbuss | 1182 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1183 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1184 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1185 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1186 | } |
| 1187 | else last_r_n = 1; |
||
| 1188 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1189 | } else |
| 492 | hbuss | 1190 | { |
| 1191 | cnt = 0; |
||
| 1839 | holgerb | 1192 | KompassSignalSchlecht = 100; |
| 1051 | killagreg | 1193 | } |
| 499 | hbuss | 1194 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1195 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1196 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1197 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1198 | } |
| 1051 | killagreg | 1199 | else |
| 498 | hbuss | 1200 | { |
| 1201 | LageKorrekturRoll = 0; |
||
| 1202 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1203 | TrichterFlug = 0; |
| 498 | hbuss | 1204 | } |
| 1051 | killagreg | 1205 | |
| 498 | hbuss | 1206 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1208 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1209 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1210 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1211 | IntegralAccNick = 0; |
| 1212 | IntegralAccRoll = 0; |
||
| 1213 | IntegralAccZ = 0; |
||
| 1214 | MittelIntegralNick = 0; |
||
| 1215 | MittelIntegralRoll = 0; |
||
| 1216 | MittelIntegralNick2 = 0; |
||
| 1217 | MittelIntegralRoll2 = 0; |
||
| 1218 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1219 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1220 | |
| 1051 | killagreg | 1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1222 | // Gieren |
| 1051 | killagreg | 1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1840 | holgerb | 1224 | if(abs(StickGier) > 3) // war 15 |
| 1 | ingob | 1225 | { |
| 1839 | holgerb | 1226 | // KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1227 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1228 | { |
||
| 1840 | holgerb | 1229 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
| 824 | hbuss | 1230 | }; |
| 1 | ingob | 1231 | } |
| 395 | hbuss | 1232 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1233 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 1840 | holgerb | 1234 | tmp_int += CompassGierSetpoint; |
| 173 | holgerb | 1235 | sollGier = tmp_int; |
| 1051 | killagreg | 1236 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1237 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1238 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1239 | |
| 1240 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1241 | // Kompass |
| 1051 | killagreg | 1242 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1840 | holgerb | 1243 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1 | ingob | 1244 | { |
| 1839 | holgerb | 1245 | if(CalculateCompassTimer-- == 1) |
| 1246 | { |
||
| 1247 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
| 1248 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
| 1840 | holgerb | 1249 | // max. Korrekturwert schätzen |
| 1 | ingob | 1250 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1251 | v = abs(IntegralRoll /512); |
||
| 1252 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1839 | holgerb | 1253 | korrektur = w / 4 + 1; |
| 1840 | holgerb | 1254 | // Kompassfehlerwert bestimmen |
| 1255 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
| 1256 | // GIER_GRAD_FAKTOR ist ca. 1200 |
||
| 1865 | holgerb | 1257 | |
| 1840 | holgerb | 1258 | // Kompasswert einloggen |
| 1259 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
| 1260 | else |
||
| 1261 | if(w < 25) |
||
| 921 | hbuss | 1262 | { |
| 1263 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1264 | if(NeueKompassRichtungMerken) |
| 1265 | { |
||
| 1839 | holgerb | 1266 | if(--NeueKompassRichtungMerken == 0) |
| 1267 | { |
||
| 1268 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
| 1269 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
| 1270 | } |
||
| 921 | hbuss | 1271 | } |
| 1 | ingob | 1272 | } |
| 1840 | holgerb | 1273 | // Kompass fusionieren |
| 1839 | holgerb | 1274 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
| 1275 | |||
| 1840 | holgerb | 1276 | // MK Gieren |
| 1839 | holgerb | 1277 | if(!NeueKompassRichtungMerken) |
| 1278 | { |
||
| 1840 | holgerb | 1279 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1839 | holgerb | 1280 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
| 1840 | holgerb | 1281 | CompassGierSetpoint = v / 16; |
| 1282 | } |
||
| 1865 | holgerb | 1283 | else CompassGierSetpoint = 0; |
| 1839 | holgerb | 1284 | } // CalculateCompassTimer |
| 1051 | killagreg | 1285 | } |
| 1840 | holgerb | 1286 | else CompassGierSetpoint = 0; |
| 1051 | killagreg | 1287 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1288 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1289 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1290 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1291 | |
| 1171 | hbuss | 1292 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1293 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1294 | |
| 1167 | hbuss | 1295 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1296 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1297 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1298 | |
| 1166 | hbuss | 1299 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1300 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1301 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1302 | |
| 1 | ingob | 1303 | // Maximalwerte abfangen |
| 1153 | hbuss | 1304 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1685 | holgerb | 1305 | #define MAX_SENSOR (4096) |
| 1216 | killagreg | 1306 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1307 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1308 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1309 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1310 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1311 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1312 | |||
| 1051 | killagreg | 1313 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1314 | // Höhenregelung |
| 1315 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1316 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1317 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1318 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1319 | // if height control is activated |
| 1322 | hbuss | 1320 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1321 | { |
| 1698 | holgerb | 1322 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| 1332 | hbuss | 1323 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1324 | |
| 1325 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1326 | #define OPA_OFFSET_STEP 15 |
||
| 1642 | killagreg | 1327 | #else |
| 1638 | holgerb | 1328 | #define OPA_OFFSET_STEP 10 |
| 1329 | #endif |
||
| 1697 | holgerb | 1330 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
| 1309 | hbuss | 1331 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1332 | static int FilterHCGas = 0; |
||
| 1692 | holgerb | 1333 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| 1587 | killagreg | 1334 | static unsigned long HoverGasFilter = 0; |
| 1322 | hbuss | 1335 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1857 | holgerb | 1336 | static signed char WaypointTrimming = 0; |
| 1320 | hbuss | 1337 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1338 | |
| 1309 | hbuss | 1339 | // get the current hooverpoint |
| 1587 | killagreg | 1340 | DebugOut.Analog[21] = HoverGas; |
| 1642 | killagreg | 1341 | |
| 1322 | hbuss | 1342 | // Expand the measurement |
| 1343 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1344 | if(!BaroExpandActive) |
||
| 1345 | { |
||
| 1346 | if(MessLuftdruck > 920) |
||
| 1347 | { // increase offset |
||
| 1330 | killagreg | 1348 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1349 | { |
| 1350 | ExpandBaro -= 1; |
||
| 1351 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1352 | beeptime = 300; |
||
| 1352 | hbuss | 1353 | BaroExpandActive = 350; |
| 1330 | killagreg | 1354 | } |
| 1355 | else |
||
| 1322 | hbuss | 1356 | { |
| 1357 | BaroAtLowerLimit = 1; |
||
| 1358 | } |
||
| 1359 | } |
||
| 1360 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1361 | else |
| 1322 | hbuss | 1362 | if(MessLuftdruck < 100) |
| 1363 | { // decrease offset |
||
| 1330 | killagreg | 1364 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1365 | { |
| 1366 | ExpandBaro += 1; |
||
| 1367 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1368 | beeptime = 300; |
||
| 1352 | hbuss | 1369 | BaroExpandActive = 350; |
| 1330 | killagreg | 1370 | } |
| 1371 | else |
||
| 1322 | hbuss | 1372 | { |
| 1373 | BaroAtUpperLimit = 1; |
||
| 1374 | } |
||
| 1375 | } |
||
| 1330 | killagreg | 1376 | else |
| 1322 | hbuss | 1377 | { |
| 1378 | BaroAtUpperLimit = 0; |
||
| 1379 | BaroAtLowerLimit = 0; |
||
| 1380 | } |
||
| 1381 | } |
||
| 1382 | else // delay, because of expanding the Baro-Range |
||
| 1383 | { |
||
| 1384 | // now clear the D-values |
||
| 1385 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1386 | VarioMeter = 0; |
||
| 1387 | BaroExpandActive--; |
||
| 1388 | } |
||
| 1328 | hbuss | 1389 | |
| 1390 | // if height control is activated by an rc channel |
||
| 1391 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1392 | { // check if parameter is less than activation threshold |
||
| 1393 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1394 | { //height control not active |
||
| 1395 | if(!delay--) |
||
| 1396 | { |
||
| 1397 | HoehenReglerAktiv = 0; // disable height control |
||
| 1398 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1399 | delay = 1; |
||
| 1400 | } |
||
| 1401 | } |
||
| 1402 | else |
||
| 1403 | { //height control is activated |
||
| 1404 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1405 | delay = 200; |
| 1328 | hbuss | 1406 | } |
| 1051 | killagreg | 1407 | } |
| 1309 | hbuss | 1408 | else // no switchable height control |
| 1409 | { |
||
| 1410 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1411 | HoehenReglerAktiv = 1; |
||
| 1051 | killagreg | 1412 | } |
| 1322 | hbuss | 1413 | |
| 1320 | hbuss | 1414 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1415 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1416 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1417 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1418 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1419 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1420 | VarioCharacter = ' '; |
| 1765 | killagreg | 1421 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1309 | hbuss | 1422 | { |
| 1330 | killagreg | 1423 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1424 | // Holger original version |
| 1425 | // start of height control algorithm |
||
| 1426 | // the height control is only an attenuation of the actual gas stick. |
||
| 1427 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1428 | // and the hover height will be allways larger than height setpoint. |
||
| 1861 | holgerb | 1429 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
| 1314 | killagreg | 1430 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1431 | { // old version |
||
| 1309 | hbuss | 1432 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1433 | HeightTrimming = 0; |
||
| 1773 | killagreg | 1434 | // set both flags to indicate no vario mode |
| 1435 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1309 | hbuss | 1436 | } |
| 1314 | killagreg | 1437 | else |
| 1309 | hbuss | 1438 | { |
| 1439 | // alternative height control |
||
| 1440 | // PD-Control with respect to hoover point |
||
| 1441 | // the thrust loss out of horizontal attitude is compensated |
||
| 1442 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1765 | killagreg | 1443 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1444 | { // gas stick is above hoover point |
| 1587 | killagreg | 1445 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1446 | { |
| 1767 | killagreg | 1447 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| 1309 | hbuss | 1448 | { |
| 1767 | killagreg | 1449 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| 1309 | hbuss | 1450 | SollHoehe = HoehenWert; // update setpoint to current heigth |
| 1451 | } |
||
| 1767 | killagreg | 1452 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| 1587 | killagreg | 1453 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1454 | VarioCharacter = '+'; |
| 1865 | holgerb | 1455 | WaypointTrimming = 0; |
| 1309 | hbuss | 1456 | } // gas stick is below hoover point |
| 1587 | killagreg | 1457 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1458 | { |
| 1767 | killagreg | 1459 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
| 1309 | hbuss | 1460 | { |
| 1767 | killagreg | 1461 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| 1309 | hbuss | 1462 | SollHoehe = HoehenWert; // update setpoint to current heigth |
| 1463 | } |
||
| 1767 | killagreg | 1464 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| 1587 | killagreg | 1465 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1466 | VarioCharacter = '-'; |
| 1865 | holgerb | 1467 | WaypointTrimming = 0; |
| 1309 | hbuss | 1468 | } |
| 1587 | killagreg | 1469 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1470 | { |
| 1855 | holgerb | 1471 | VarioCharacter = '='; |
| 1857 | holgerb | 1472 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
| 1855 | holgerb | 1473 | { |
| 1474 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
| 1475 | HeightTrimming += FromNC_AltitudeSpeed; |
||
| 1857 | holgerb | 1476 | WaypointTrimming = 10; |
| 1477 | VarioCharacter = '^'; |
||
| 1865 | holgerb | 1478 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
| 1479 | { |
||
| 1480 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
| 1481 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1482 | } |
||
| 1855 | holgerb | 1483 | } |
| 1484 | else |
||
| 1857 | holgerb | 1485 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
| 1855 | holgerb | 1486 | { |
| 1487 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
| 1488 | HeightTrimming -= FromNC_AltitudeSpeed; |
||
| 1857 | holgerb | 1489 | WaypointTrimming = -10; |
| 1490 | VarioCharacter = 'v'; |
||
| 1865 | holgerb | 1491 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
| 1492 | { |
||
| 1493 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
| 1494 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1495 | } |
||
| 1855 | holgerb | 1496 | } |
| 1497 | else |
||
| 1767 | killagreg | 1498 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| 1309 | hbuss | 1499 | { |
| 1857 | holgerb | 1500 | if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
| 1501 | else WaypointTrimming = 0; |
||
| 1767 | killagreg | 1502 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| 1309 | hbuss | 1503 | HeightTrimming = 0; |
| 1504 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1698 | holgerb | 1505 | if(!StartTrigger && HoehenWert > 50) |
| 1506 | { |
||
| 1507 | StartTrigger = 1; |
||
| 1765 | killagreg | 1508 | } |
| 1309 | hbuss | 1509 | } |
| 1510 | } |
||
| 1511 | // Trim height set point |
||
| 1334 | killagreg | 1512 | if(abs(HeightTrimming) > 512) |
| 1309 | hbuss | 1513 | { |
| 1857 | holgerb | 1514 | if(WaypointTrimming) |
| 1515 | { |
||
| 1516 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
| 1517 | else SollHoehe += WaypointTrimming; |
||
| 1518 | } |
||
| 1519 | else |
||
| 1332 | hbuss | 1520 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1309 | hbuss | 1521 | HeightTrimming = 0; |
| 1587 | killagreg | 1522 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1720 | holgerb | 1523 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| 1320 | hbuss | 1524 | //update hoover gas stick value when setpoint is shifted |
| 1857 | holgerb | 1525 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
| 1332 | hbuss | 1526 | { |
| 1587 | killagreg | 1527 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1528 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1529 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1530 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1531 | } |
| 1309 | hbuss | 1532 | } |
| 1352 | hbuss | 1533 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1534 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1535 | else |
| 1536 | { |
||
| 1322 | hbuss | 1537 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1538 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1539 | else StickGasHover = 120; |
||
| 1698 | holgerb | 1540 | HoverGas = GasMischanteil; |
| 1320 | hbuss | 1541 | } |
| 1590 | killagreg | 1542 | HCGas = HoverGas; // take hover gas (neutral point) |
| 1543 | } |
||
| 1314 | killagreg | 1544 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1283 | hbuss | 1545 | { |
| 1590 | killagreg | 1546 | // from this point the Heigth Control Algorithm is identical for both versions |
| 1547 | if(BaroExpandActive) // baro range expanding active |
||
| 1548 | { |
||
| 1549 | HCGas = HoverGas; // hover while expanding baro adc range |
||
| 1550 | HeightDeviation = 0; |
||
| 1551 | } // EOF // baro range expanding active |
||
| 1552 | else // valid data from air pressure sensor |
||
| 1553 | { |
||
| 1554 | // ------------------------- P-Part ---------------------------- |
||
| 1555 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
| 1556 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
| 1557 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
| 1695 | holgerb | 1558 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| 1698 | holgerb | 1559 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| 1560 | GasReduction = tmp_long; |
||
| 1590 | killagreg | 1561 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| 1562 | tmp_int = VarioMeter / 8; |
||
| 1765 | killagreg | 1563 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
| 1705 | holgerb | 1564 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| 1565 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1767 | killagreg | 1566 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| 1765 | killagreg | 1567 | else |
| 1722 | holgerb | 1568 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| 1698 | holgerb | 1569 | GasReduction += tmp_int; |
| 1590 | killagreg | 1570 | } // EOF no baro range expanding |
| 1309 | hbuss | 1571 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1698 | holgerb | 1572 | if(Parameter_Hoehe_ACC_Wirkung) |
| 1573 | { |
||
| 1574 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
| 1575 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1576 | GasReduction += tmp_long; |
||
| 1765 | killagreg | 1577 | } |
| 1587 | killagreg | 1578 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| 1588 | killagreg | 1579 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 1580 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1698 | holgerb | 1581 | GasReduction += tmp_int; |
| 1701 | holgerb | 1582 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| 1583 | // ------------------------ ---------------------------------- |
||
| 1584 | HCGas -= GasReduction; |
||
| 1309 | hbuss | 1585 | // limit deviation from hoover point within the target region |
| 1692 | holgerb | 1586 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1587 | { |
| 1765 | killagreg | 1588 | unsigned int tmp; |
| 1705 | holgerb | 1589 | tmp = abs(HeightDeviation); |
| 1590 | if(tmp <= 60) |
||
| 1591 | { |
||
| 1592 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
| 1593 | } |
||
| 1594 | else |
||
| 1765 | killagreg | 1595 | { |
| 1705 | holgerb | 1596 | tmp = (tmp - 60) / 32; |
| 1692 | holgerb | 1597 | if(tmp > 15) tmp = 15; |
| 1705 | holgerb | 1598 | if(HeightDeviation > 0) |
| 1693 | holgerb | 1599 | { |
| 1705 | holgerb | 1600 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
| 1601 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
| 1693 | holgerb | 1602 | } |
| 1705 | holgerb | 1603 | else |
| 1604 | { |
||
| 1605 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
| 1606 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
| 1607 | } |
||
| 1608 | } |
||
| 1309 | hbuss | 1609 | } |
| 1322 | hbuss | 1610 | // strech control output by inverse attitude projection 1/cos |
| 1611 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1612 | tmp_long2 = (int32_t)HCGas; |
| 1613 | tmp_long2 *= 8192L; |
||
| 1614 | tmp_long2 /= CosAttitude; |
||
| 1615 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1616 | // update height control gas averaging |
| 1617 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1618 | // limit height control gas pd-control output |
||
| 1619 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1620 | // set GasMischanteil to HeightControlGasFilter |
||
| 1314 | killagreg | 1621 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1622 | { // old version |
| 1623 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1719 | holgerb | 1624 | GasMischanteil = FilterHCGas; |
| 1765 | killagreg | 1625 | } |
| 1719 | holgerb | 1626 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| 1314 | killagreg | 1627 | } |
| 1309 | hbuss | 1628 | }// EOF height control active |
| 1320 | hbuss | 1629 | else // HC not active |
| 1630 | { |
||
| 1631 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1632 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1633 | { |
||
| 1634 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1635 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1636 | } |
| 1587 | killagreg | 1637 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1638 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1639 | FilterHCGas = GasMischanteil; |
| 1773 | killagreg | 1640 | // set both flags to indicate no vario mode |
| 1641 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1861 | holgerb | 1642 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
| 1330 | killagreg | 1643 | } |
| 1587 | killagreg | 1644 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1645 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1765 | killagreg | 1646 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1309 | hbuss | 1647 | { |
| 1698 | holgerb | 1648 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1649 | if(StartTrigger == 1) StartTrigger = 2; |
||
| 1330 | killagreg | 1650 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1651 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1652 | tmp_long2 /= 8192; |
||
| 1309 | hbuss | 1653 | // average vertical projected thrust |
| 1698 | holgerb | 1654 | if(modell_fliegt < 4000) // the first 8 seconds |
| 1655 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1656 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
| 1657 | HoverGasFilter += 16L * tmp_long2; |
||
| 1309 | hbuss | 1658 | } |
| 1698 | holgerb | 1659 | if(modell_fliegt < 8000) // the first 16 seconds |
| 1660 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1661 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1662 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1663 | } |
| 1698 | holgerb | 1664 | else //later |
| 1865 | holgerb | 1665 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
| 1309 | hbuss | 1666 | { |
| 1590 | killagreg | 1667 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1668 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1669 | } |
| 1590 | killagreg | 1670 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1671 | if(EE_Parameter.Hoehe_HoverBand) |
| 1672 | { |
||
| 1673 | int16_t band; |
||
| 1587 | killagreg | 1674 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1675 | HoverGasMin = HoverGas - band; |
||
| 1676 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1677 | } |
| 1678 | else |
||
| 1679 | { // no limit |
||
| 1587 | killagreg | 1680 | HoverGasMin = 0; |
| 1681 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1682 | } |
| 1765 | killagreg | 1683 | } |
| 1684 | else |
||
| 1698 | holgerb | 1685 | { |
| 1686 | StartTrigger = 0; |
||
| 1687 | HoverGasFilter = 0; |
||
| 1688 | HoverGas = 0; |
||
| 1765 | killagreg | 1689 | } |
| 1309 | hbuss | 1690 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| 1773 | killagreg | 1691 | else |
| 1692 | { |
||
| 1693 | // set undefined state to indicate vario off |
||
| 1694 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1695 | } // EOF no height control |
||
| 1696 | |||
| 1309 | hbuss | 1697 | // limit gas to parameter setting |
| 1320 | hbuss | 1698 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1699 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1700 | |
| 1051 | killagreg | 1701 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1702 | // all BL-Ctrl connected? |
| 1703 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1675 | holgerb | 1704 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| 1320 | hbuss | 1705 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1706 | { |
||
| 1707 | modell_fliegt = 1; |
||
| 1675 | holgerb | 1708 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| 1320 | hbuss | 1709 | } |
| 1710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1711 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1713 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1715 | // Gier-Anteil |
| 1051 | killagreg | 1716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1717 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1718 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1719 | if(GasMischanteil > MIN_GIERGAS) |
| 1720 | { |
||
| 1051 | killagreg | 1721 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1722 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1723 | } |
| 1051 | killagreg | 1724 | else |
| 693 | hbuss | 1725 | { |
| 1051 | killagreg | 1726 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1727 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1728 | } |
| 855 | hbuss | 1729 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1730 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1731 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1732 | |
| 1051 | killagreg | 1733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1734 | // Nick-Achse |
| 1051 | killagreg | 1735 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1736 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1737 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1738 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1739 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1740 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1791 | holgerb | 1741 | |
| 1742 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
| 1743 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
| 1744 | pd_ergebnis_nick += SummeNick / Ki; |
||
| 1745 | |||
| 1676 | holgerb | 1746 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1747 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1748 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1749 | |
| 1153 | hbuss | 1750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1751 | // Roll-Achse |
||
| 1752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1753 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1754 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1755 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1756 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1757 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1791 | holgerb | 1758 | |
| 1759 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
| 1760 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
| 1761 | pd_ergebnis_roll += SummeRoll / Ki; |
||
| 1762 | |||
| 1676 | holgerb | 1763 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1764 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| 1765 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1766 | |||
| 1767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1768 | // Universal Mixer |
| 1155 | hbuss | 1769 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | killagreg | 1770 | for(i=0; i<MAX_MOTORS; i++) |
| 1771 | { |
||
| 1772 | signed int tmp_int; |
||
| 1773 | if(Mixer.Motor[i][0] > 0) |
||
| 1774 | { |
||
| 1652 | holgerb | 1775 | // Gas |
| 1676 | holgerb | 1776 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| 1652 | holgerb | 1777 | // Nick |
| 1778 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
| 1779 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
| 1780 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1781 | // Roll |
||
| 1782 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
| 1783 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
| 1784 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1785 | // Gier |
||
| 1676 | holgerb | 1786 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| 1787 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
| 1788 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1675 | holgerb | 1789 | |
| 1680 | holgerb | 1790 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| 1791 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
| 1693 | holgerb | 1792 | |
| 1760 | holgerb | 1793 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| 1676 | holgerb | 1794 | Motor[i].SetPoint = tmp_int / 4; |
| 1677 | killagreg | 1795 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| 1652 | holgerb | 1796 | tmp_motorwert[i] = tmp_int; |
| 1642 | killagreg | 1797 | } |
| 1798 | else |
||
| 1799 | { |
||
| 1800 | Motor[i].SetPoint = 0; |
||
| 1801 | Motor[i].SetPointLowerBits = 0; |
||
| 1802 | } |
||
| 1803 | } |
||
| 1111 | hbuss | 1804 | } |