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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 2 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
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| 3 | { |
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| 4 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
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| 5 | tmpl3 *= Parameter_AchsKopplung2; //65 |
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| 6 | tmpl3 /= 4096L; |
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| 7 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
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| 8 | tmpl4 *= Parameter_AchsKopplung2; //65 |
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| 9 | tmpl4 /= 4096L; |
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| 10 | KopplungsteilNickRoll = tmpl3; |
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| 11 | KopplungsteilRollNick = tmpl4; |
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| 12 | tmpl4 -= tmpl3; |
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| 13 | ErsatzKompass += tmpl4; |
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| 14 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
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| 15 | |||
| 16 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
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| 17 | tmpl *= Parameter_AchsKopplung1; // 90 |
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| 18 | tmpl /= 4096L; |
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| 19 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
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| 20 | tmpl2 *= Parameter_AchsKopplung1; |
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| 21 | tmpl2 /= 4096L; |
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| 22 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
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| 23 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
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| 24 | } |
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| 25 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
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| 26 | |||
| 27 | TrimRoll = tmpl - tmpl2 / 100L; |
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| 28 | TrimNick = -tmpl2 + tmpl / 100L; |
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| 29 | |||
| 30 | |||
| 31 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
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| 33 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
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| 34 | if(Mess_IntegralRoll > Umschlag180Roll) |
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| 35 | { |
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| 36 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
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| 37 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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| 38 | } |
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| 39 | if(Mess_IntegralRoll <-Umschlag180Roll) |
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| 40 | { |
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| 41 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
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| 42 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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| 43 | } |
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| 44 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 45 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
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| 46 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
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| 47 | if(Mess_IntegralNick > Umschlag180Nick) |
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| 48 | { |
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| 49 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
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| 50 | Mess_IntegralNick2 = Mess_IntegralNick; |
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| 51 | } |
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| 52 | if(Mess_IntegralNick <-Umschlag180Nick) |
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| 53 | { |
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| 54 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
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| 55 | Mess_IntegralNick2 = Mess_IntegralNick; |
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| 56 | } |
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| 57 | |||
| 58 | |||
| 59 | .. |
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| 60 | |||
| 61 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
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| 62 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
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| 63 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
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| 64 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
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| 65 | |||
| 66 | |||
| 67 | #define TRIM_MAX 200 |
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| 68 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
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| 69 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
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| 70 | |||
| 1645 | - | 71 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / CONTROL_SCALING); |
| 72 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / CONTROL_SCALING); |
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| 73 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / CONTROL_SCALING) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / CONTROL_SCALING)); |
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| 1612 | dongfang | 74 | |
| 75 | messwertNick er nu P-part.... |
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| 76 |