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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
| 1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 39 | // + with our written permission |
| 1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
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| 1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 55 | |||
| 56 | #include "main.h" |
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| 1320 | hbuss | 57 | #include "mymath.h" |
| 1330 | killagreg | 58 | #include "isqrt.h" |
| 1 | ingob | 59 | |
| 1829 | - | 60 | //MartinW; added vars |
| 61 | unsigned char loop1, loop2, loop3; |
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| 62 | unsigned char settingdest = 5; |
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| 63 | int keynumber=-7; |
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| 64 | |||
| 65 | unsigned short CurrentOffset = 0;/// |
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| 66 | |||
| 67 | unsigned char pos1, pos2, pos3, pos4=0; |
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| 68 | unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
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| 69 | unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max; |
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| 70 | unsigned short MotorsTmax; |
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| 71 | unsigned char updatemotors=5; |
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| 72 | //MartinW; added vars |
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| 73 | |||
| 74 | |||
| 1352 | hbuss | 75 | unsigned char h,m,s; |
| 76 | unsigned int BaroExpandActive = 0; |
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| 1153 | hbuss | 77 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 78 | int TrimNick, TrimRoll; |
| 927 | hbuss | 79 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 1703 | holgerb | 80 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
| 1643 | holgerb | 81 | unsigned int NeutralAccX=0, NeutralAccY=0; |
| 805 | hbuss | 82 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1639 | holgerb | 83 | int NeutralAccZ = 0; |
| 1683 | killagreg | 84 | unsigned char ControlHeading = 0;// in 2° |
| 693 | hbuss | 85 | long IntegralNick = 0,IntegralNick2 = 0; |
| 86 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 87 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 88 | long Integral_Gier = 0; |
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| 89 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 90 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 91 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 92 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1685 | holgerb | 93 | long SummeNick=0,SummeRoll=0; |
| 1 | ingob | 94 | volatile long Mess_Integral_Hoch = 0; |
| 1153 | hbuss | 95 | int KompassValue = 0; |
| 96 | int KompassStartwert = 0; |
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| 97 | int KompassRichtung = 0; |
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| 693 | hbuss | 98 | unsigned int KompassSignalSchlecht = 500; |
| 855 | hbuss | 99 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 100 | unsigned char HoehenReglerAktiv = 0; |
| 880 | hbuss | 101 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 102 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 103 | long ErsatzKompass; |
| 104 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 105 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 106 | char GyroFaktor,GyroFaktorGier; |
| 107 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 108 | int DiffNick,DiffRoll; |
| 1377 | hbuss | 109 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 1391 | killagreg | 110 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 1 | ingob | 111 | volatile unsigned char SenderOkay = 0; |
| 595 | hbuss | 112 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1698 | holgerb | 113 | char MotorenEin = 0,StartTrigger = 0; |
| 1246 | killagreg | 114 | long HoehenWert = 0; |
| 115 | long SollHoehe = 0; |
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| 1692 | holgerb | 116 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| 1153 | hbuss | 117 | //float Ki = FAKTOR_I; |
| 1676 | holgerb | 118 | int Ki = 10300 / 33; |
| 395 | hbuss | 119 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 120 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 121 | |
| 122 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 123 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 124 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 125 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 126 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 127 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 128 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 129 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 130 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 1322 | hbuss | 131 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| 132 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 1 | ingob | 133 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 134 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 135 | unsigned char Parameter_UserParam1 = 0; |
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| 136 | unsigned char Parameter_UserParam2 = 0; |
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| 137 | unsigned char Parameter_UserParam3 = 0; |
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| 138 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 139 | unsigned char Parameter_UserParam5 = 0; |
| 140 | unsigned char Parameter_UserParam6 = 0; |
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| 141 | unsigned char Parameter_UserParam7 = 0; |
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| 142 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 143 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 144 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 145 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 146 | unsigned char Parameter_AchsKopplung1 = 90; |
| 147 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 148 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 150 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 152 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 154 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 155 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 156 | unsigned char Parameter_NaviGpsGain; |
| 157 | unsigned char Parameter_NaviGpsP; |
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| 158 | unsigned char Parameter_NaviGpsI; |
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| 159 | unsigned char Parameter_NaviGpsD; |
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| 160 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 161 | unsigned char Parameter_NaviOperatingRadius; |
| 162 | unsigned char Parameter_NaviWindCorrection; |
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| 163 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 164 | unsigned char Parameter_ExternalControl; |
| 1403 | hbuss | 165 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1668 | holgerb | 166 | unsigned char CareFree = 0; |
| 1760 | holgerb | 167 | 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}; |
| 1622 | killagreg | 168 | |
| 492 | hbuss | 169 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 170 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 171 | unsigned int modell_fliegt = 0; |
| 1765 | killagreg | 172 | volatile unsigned char FC_StatusFlags = 0; |
| 1121 | hbuss | 173 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 174 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 175 | signed int tmp_motorwert[MAX_MOTORS]; |
| 1591 | holgerb | 176 | char VarioCharacter = ' '; |
| 177 | |||
| 1391 | killagreg | 178 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 179 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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| 180 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 181 | |
| 1622 | killagreg | 182 | |
| 1639 | holgerb | 183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 184 | // Debugwerte zuordnen |
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| 185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 186 | void CopyDebugValues(void) |
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| 187 | { |
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| 188 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 189 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 190 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 191 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 1660 | holgerb | 192 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| 1639 | holgerb | 193 | DebugOut.Analog[5] = HoehenWert/5; |
| 1703 | holgerb | 194 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| 1639 | holgerb | 195 | DebugOut.Analog[8] = KompassValue; |
| 196 | DebugOut.Analog[9] = UBat; |
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| 197 | DebugOut.Analog[10] = SenderOkay; |
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| 198 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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| 1702 | holgerb | 199 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 200 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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| 201 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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| 202 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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| 1639 | holgerb | 203 | DebugOut.Analog[20] = ServoNickValue; |
| 204 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 1829 | - | 205 | DebugOut.Analog[23] = Capacity.RemainCapacity; |
| 1639 | holgerb | 206 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| 1682 | holgerb | 207 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 208 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
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| 1639 | holgerb | 209 | DebugOut.Analog[30] = GPS_Nick; |
| 210 | DebugOut.Analog[31] = GPS_Roll; |
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| 1702 | holgerb | 211 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| 1760 | holgerb | 212 | |
| 1787 | holgerb | 213 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
| 1639 | holgerb | 214 | } |
| 215 | |||
| 1760 | holgerb | 216 | |
| 217 | |||
| 1232 | hbuss | 218 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 219 | { |
| 1232 | hbuss | 220 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 221 | while(Anzahl--) |
| 222 | { |
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| 1232 | hbuss | 223 | beeptime = dauer; |
| 224 | while(beeptime); |
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| 225 | Delay_ms(dauer * 2); |
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| 1 | ingob | 226 | } |
| 227 | } |
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| 228 | |||
| 229 | //############################################################################ |
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| 1622 | killagreg | 230 | // Messwerte beim Ermitteln der Nullage |
| 231 | void CalibrierMittelwert(void) |
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| 232 | //############################################################################ |
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| 233 | { |
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| 234 | unsigned char i; |
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| 235 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 236 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 237 | ANALOG_OFF; |
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| 238 | MesswertNick = AdWertNick; |
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| 239 | MesswertRoll = AdWertRoll; |
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| 240 | MesswertGier = AdWertGier; |
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| 1703 | holgerb | 241 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 242 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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| 1622 | killagreg | 243 | // ADC einschalten |
| 244 | ANALOG_ON; |
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| 245 | for(i=0;i<8;i++) |
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| 246 | { |
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| 247 | int tmp; |
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| 248 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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| 249 | LIMIT_MIN_MAX(tmp, 0, 255); |
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| 250 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 251 | } |
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| 252 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 253 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 254 | } |
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| 255 | |||
| 256 | //############################################################################ |
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| 1 | ingob | 257 | // Nullwerte ermitteln |
| 1622 | killagreg | 258 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 259 | //############################################################################ |
| 260 | { |
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| 1622 | killagreg | 261 | unsigned char i; |
| 262 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1702 | holgerb | 263 | VersionInfo.HardwareError[0] = 0; |
| 1320 | hbuss | 264 | HEF4017R_ON; |
| 1051 | killagreg | 265 | NeutralAccX = 0; |
| 1 | ingob | 266 | NeutralAccY = 0; |
| 267 | NeutralAccZ = 0; |
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| 1622 | killagreg | 268 | |
| 1051 | killagreg | 269 | AdNeutralNick = 0; |
| 270 | AdNeutralRoll = 0; |
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| 1 | ingob | 271 | AdNeutralGier = 0; |
| 1622 | killagreg | 272 | |
| 395 | hbuss | 273 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 274 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 275 | |
| 1036 | hbuss | 276 | ExpandBaro = 0; |
| 1622 | killagreg | 277 | |
| 1051 | killagreg | 278 | CalibrierMittelwert(); |
| 395 | hbuss | 279 | Delay_ms_Mess(100); |
| 1622 | killagreg | 280 | |
| 1 | ingob | 281 | CalibrierMittelwert(); |
| 1622 | killagreg | 282 | |
| 1 | ingob | 283 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 284 | { |
| 1 | ingob | 285 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 286 | } |
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| 1166 | hbuss | 287 | #define NEUTRAL_FILTER 32 |
| 288 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 289 | { |
| 290 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 291 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 292 | nick_neutral += AdWertNick; |
| 293 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 294 | } |
| 1173 | hbuss | 295 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 296 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 297 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 298 | |
| 401 | hbuss | 299 | StartNeutralRoll = AdNeutralRoll; |
| 300 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 301 | |
| 302 | if(AccAdjustment) |
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| 303 | { |
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| 304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 306 | NeutralAccZ = Aktuell_az; |
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| 307 | |||
| 308 | // Save ACC neutral settings to eeprom |
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| 1639 | holgerb | 309 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 310 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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| 1622 | killagreg | 311 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 312 | } |
| 1051 | killagreg | 313 | else |
| 513 | hbuss | 314 | { |
| 1622 | killagreg | 315 | // restore from eeprom |
| 316 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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| 317 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 318 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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| 319 | // strange settings? |
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| 1638 | holgerb | 320 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 321 | { |
| 322 | printf("\n\rACC not calibrated!\r\n"); |
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| 323 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 324 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 325 | NeutralAccZ = Aktuell_az; |
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| 326 | } |
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| 513 | hbuss | 327 | } |
| 1051 | killagreg | 328 | |
| 1 | ingob | 329 | MesswertNick = 0; |
| 330 | MesswertRoll = 0; |
||
| 331 | MesswertGier = 0; |
||
| 1111 | hbuss | 332 | Delay_ms_Mess(100); |
| 1703 | holgerb | 333 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 334 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
| 1173 | hbuss | 335 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 336 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 337 | Mess_IntegralNick2 = IntegralNick; |
||
| 338 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 339 | Mess_Integral_Gier = 0; |
||
| 1 | ingob | 340 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 341 | VarioMeter = 0; |
| 1 | ingob | 342 | Mess_Integral_Hoch = 0; |
| 343 | KompassStartwert = KompassValue; |
||
| 344 | GPS_Neutral(); |
||
| 1051 | killagreg | 345 | beeptime = 50; |
| 882 | hbuss | 346 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 347 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 348 | ExternHoehenValue = 0; |
| 693 | hbuss | 349 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 350 | GierGyroFehler = 0; |
||
| 723 | hbuss | 351 | SendVersionToNavi = 1; |
| 921 | hbuss | 352 | LED_Init(); |
| 1765 | killagreg | 353 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| 992 | hbuss | 354 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 355 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 356 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 357 | |
| 358 | for(i=0;i<8;i++) |
||
| 1377 | hbuss | 359 | { |
| 360 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 361 | } |
||
| 1171 | hbuss | 362 | SenderOkay = 100; |
| 1320 | hbuss | 363 | if(ServoActive) |
| 364 | { |
||
| 365 | HEF4017R_ON; |
||
| 366 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 367 | } |
||
| 1702 | holgerb | 368 | |
| 1765 | killagreg | 369 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| 370 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
| 371 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
| 372 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
| 373 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
| 374 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
| 1 | ingob | 375 | } |
| 376 | |||
| 1702 | holgerb | 377 | |
| 1 | ingob | 378 | //############################################################################ |
| 395 | hbuss | 379 | // Bearbeitet die Messwerte |
| 1 | ingob | 380 | void Mittelwert(void) |
| 381 | //############################################################################ |
||
| 1051 | killagreg | 382 | { |
| 1111 | hbuss | 383 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 384 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 385 | signed long winkel_nick, winkel_roll; |
| 1829 | - | 386 | // unsigned char i; |
| 1111 | hbuss | 387 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 388 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 389 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
| 1153 | hbuss | 390 | RohMesswertNick = MesswertNick; |
| 391 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 392 | |
| 395 | hbuss | 393 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1703 | holgerb | 394 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| 395 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
| 395 | hbuss | 396 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 397 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 398 | NaviAccNick += AdWertAccNick; |
| 399 | NaviAccRoll += AdWertAccRoll; |
||
| 400 | NaviCntAcc++; |
||
| 1153 | hbuss | 401 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 402 | |||
| 1155 | hbuss | 403 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 404 | // ADC einschalten |
||
| 1171 | hbuss | 405 | ANALOG_ON; |
| 1155 | hbuss | 406 | AdReady = 0; |
| 407 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 408 | |||
| 1216 | killagreg | 409 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 410 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 411 | else winkel_roll = Mess_IntegralRoll; |
| 412 | |||
| 1216 | killagreg | 413 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 414 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 415 | else winkel_nick = Mess_IntegralNick; |
| 416 | |||
| 1120 | hbuss | 417 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 418 | Mess_Integral_Gier += MesswertGier; |
| 419 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 420 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 421 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 422 | { |
||
| 1153 | hbuss | 423 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 424 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 425 | tmpl3 /= 4096L; |
| 1153 | hbuss | 426 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 427 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 428 | tmpl4 /= 4096L; |
| 1153 | hbuss | 429 | KopplungsteilNickRoll = tmpl3; |
| 430 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 431 | tmpl4 -= tmpl3; |
| 432 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 433 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 434 | |
| 1153 | hbuss | 435 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 436 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 437 | tmpl /= 4096L; |
| 1153 | hbuss | 438 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 439 | tmpl2 *= Parameter_AchsKopplung1; |
| 1662 | killagreg | 440 | tmpl2 /= 4096L; |
| 1225 | hbuss | 441 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 442 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 443 | } |
| 1166 | hbuss | 444 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1658 | holgerb | 445 | TrimRoll = tmpl - tmpl2 / 100L; |
| 446 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 1111 | hbuss | 447 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 448 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 449 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 450 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 451 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 452 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 453 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 454 | { |
| 882 | hbuss | 455 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 456 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 457 | } |
| 395 | hbuss | 458 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 459 | { |
||
| 882 | hbuss | 460 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 461 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 462 | } |
| 395 | hbuss | 463 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 464 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 465 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 466 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 467 | { |
| 468 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 469 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 470 | } |
| 471 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 472 | { |
| 882 | hbuss | 473 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 474 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 475 | } |
| 1111 | hbuss | 476 | |
| 1 | ingob | 477 | Integral_Gier = Mess_Integral_Gier; |
| 478 | IntegralNick = Mess_IntegralNick; |
||
| 479 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 480 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 481 | IntegralRoll2 = Mess_IntegralRoll2; |
| 482 | |||
| 1166 | hbuss | 483 | #define D_LIMIT 128 |
| 484 | |||
| 1171 | hbuss | 485 | MesswertNick = HiResNick / 8; |
| 486 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 487 | |
| 1167 | hbuss | 488 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 489 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 490 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 491 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 492 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 493 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 494 | |||
| 1216 | killagreg | 495 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 496 | { |
| 1166 | hbuss | 497 | d2Nick = HiResNick - oldNick; |
| 498 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 499 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 500 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1791 | holgerb | 501 | |
| 1166 | hbuss | 502 | d2Roll = HiResRoll - oldRoll; |
| 503 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 504 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 505 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1791 | holgerb | 506 | |
| 507 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
| 1166 | hbuss | 508 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 509 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 510 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 511 | } |
| 1111 | hbuss | 512 | |
| 1166 | hbuss | 513 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 514 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 515 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 516 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 517 | |
| 518 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 519 | { |
||
| 520 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 521 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 522 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 523 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 524 | } |
||
| 1 | ingob | 525 | } |
| 526 | |||
| 527 | //############################################################################ |
||
| 528 | // Senden der Motorwerte per I2C-Bus |
||
| 529 | void SendMotorData(void) |
||
| 530 | //############################################################################ |
||
| 1051 | killagreg | 531 | { |
| 1209 | hbuss | 532 | unsigned char i; |
| 921 | hbuss | 533 | if(!MotorenEin) |
| 1 | ingob | 534 | { |
| 1765 | killagreg | 535 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| 1216 | killagreg | 536 | for(i=0;i<MAX_MOTORS;i++) |
| 537 | { |
||
| 538 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 539 | Motor[i].SetPoint = MotorTest[i]; |
| 540 | Motor[i].SetPointLowerBits = 0; |
||
| 541 | /* |
||
| 1760 | holgerb | 542 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| 543 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 1638 | holgerb | 544 | */ |
| 1216 | killagreg | 545 | } |
| 1212 | hbuss | 546 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 547 | } |
| 1765 | killagreg | 548 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| 1744 | holgerb | 549 | |
| 1765 | killagreg | 550 | if(I2C_TransferActive) |
| 1744 | holgerb | 551 | { |
| 1760 | holgerb | 552 | I2C_TransferActive = 0; // enable for the next time |
| 1765 | killagreg | 553 | } |
| 554 | else |
||
| 1744 | holgerb | 555 | { |
| 556 | motor_write = 0; |
||
| 1760 | holgerb | 557 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| 1765 | killagreg | 558 | } |
| 1 | ingob | 559 | } |
| 560 | |||
| 561 | |||
| 562 | |||
| 563 | //############################################################################ |
||
| 564 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 565 | void ParameterZuordnung(void) |
| 1 | ingob | 566 | //############################################################################ |
| 567 | { |
||
| 1787 | holgerb | 568 | unsigned char tmp,i; |
| 1391 | killagreg | 569 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| 570 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
| 1787 | holgerb | 571 | for(i=0;i<8;i++) |
| 572 | { |
||
| 573 | int tmp2; |
||
| 574 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 575 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
||
| 576 | if(tmp2 != Poti[i]) |
||
| 577 | { |
||
| 578 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
| 579 | if(Poti[i] > tmp2) Poti[i]--; |
||
| 580 | else Poti[i]++; |
||
| 581 | } |
||
| 582 | } |
||
| 921 | hbuss | 583 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 584 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 585 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 586 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 587 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 1403 | hbuss | 588 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 589 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 590 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1377 | hbuss | 591 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1403 | hbuss | 592 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1377 | hbuss | 593 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| 594 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
| 595 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
| 596 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
| 597 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
| 598 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
| 599 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
| 600 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
| 601 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
| 602 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
| 603 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
| 604 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
| 605 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
| 606 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
| 607 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
| 608 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
| 609 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
| 610 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
| 611 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
| 1668 | holgerb | 612 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| 613 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
| 1377 | hbuss | 614 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| 615 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 616 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 617 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1676 | holgerb | 618 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 619 | MAX_GAS = EE_Parameter.Gas_Max; |
| 1662 | killagreg | 620 | MIN_GAS = EE_Parameter.Gas_Min; |
| 1668 | holgerb | 621 | |
| 622 | tmp = EE_Parameter.OrientationModeControl; |
||
| 1690 | holgerb | 623 | if(tmp > 50) |
| 1668 | holgerb | 624 | { |
| 1682 | holgerb | 625 | #ifdef SWITCH_LEARNS_CAREFREE |
| 626 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
||
| 627 | #endif |
||
| 628 | CareFree = 1; |
||
| 1668 | holgerb | 629 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 1765 | killagreg | 630 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| 1669 | killagreg | 631 | } |
| 1668 | holgerb | 632 | else CareFree = 0; |
| 633 | |||
| 1691 | holgerb | 634 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| 1690 | holgerb | 635 | { |
| 636 | beeptime = 15000; |
||
| 637 | BeepMuster = 0xA400; |
||
| 638 | CareFree = 0; |
||
| 1765 | killagreg | 639 | } |
| 1702 | holgerb | 640 | |
| 1668 | holgerb | 641 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| 1 | ingob | 642 | } |
| 643 | |||
| 644 | //############################################################################ |
||
| 645 | // |
||
| 646 | void MotorRegler(void) |
||
| 647 | //############################################################################ |
||
| 648 | { |
||
| 1330 | killagreg | 649 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 650 | int GierMischanteil,GasMischanteil; |
| 651 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 652 | static long IntegralFehlerNick = 0; |
| 653 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 654 | static unsigned int RcLostTimer; |
| 655 | static unsigned char delay_neutral = 0; |
||
| 656 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 657 | static unsigned char calibration_done = 0; |
| 1 | ingob | 658 | static char NeueKompassRichtungMerken = 0; |
| 395 | hbuss | 659 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 660 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 661 | unsigned char i; |
| 1051 | killagreg | 662 | Mittelwert(); |
| 1 | ingob | 663 | GRN_ON; |
| 1051 | killagreg | 664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 665 | // Gaswert ermitteln |
| 1051 | killagreg | 666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 667 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 668 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 669 | |
| 1051 | killagreg | 670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 671 | // Empfang schlecht |
| 1051 | killagreg | 672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 673 | if(SenderOkay < 100) |
| 674 | { |
||
| 1051 | killagreg | 675 | if(RcLostTimer) RcLostTimer--; |
| 676 | else |
||
| 1 | ingob | 677 | { |
| 678 | MotorenEin = 0; |
||
| 1765 | killagreg | 679 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| 1051 | killagreg | 680 | } |
| 1 | ingob | 681 | ROT_ON; |
| 693 | hbuss | 682 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 683 | { |
| 684 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1765 | killagreg | 685 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| 744 | hbuss | 686 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 687 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 688 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 689 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 690 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 691 | } |
| 1 | ingob | 692 | else MotorenEin = 0; |
| 693 | } |
||
| 1051 | killagreg | 694 | else |
| 695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 696 | // Emfang gut |
| 1051 | killagreg | 697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 698 | if(SenderOkay > 140) |
| 699 | { |
||
| 1765 | killagreg | 700 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| 1 | ingob | 701 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 702 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 703 | { |
| 704 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 705 | } |
||
| 871 | hbuss | 706 | if((modell_fliegt < 256)) |
| 1 | ingob | 707 | { |
| 708 | SummeNick = 0; |
||
| 709 | SummeRoll = 0; |
||
| 1682 | holgerb | 710 | sollGier = 0; |
| 711 | Mess_Integral_Gier = 0; |
||
| 1051 | killagreg | 712 | if(modell_fliegt == 250) |
| 918 | hbuss | 713 | { |
| 1051 | killagreg | 714 | NeueKompassRichtungMerken = 1; |
| 715 | } |
||
| 1765 | killagreg | 716 | } else FC_StatusFlags |= FC_STATUS_FLY; |
| 1051 | killagreg | 717 | |
| 595 | hbuss | 718 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 719 | { |
| 1051 | killagreg | 720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 721 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 723 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 724 | { |
||
| 725 | if(++delay_neutral > 200) // nicht sofort |
||
| 726 | { |
||
| 727 | GRN_OFF; |
||
| 728 | MotorenEin = 0; |
||
| 729 | delay_neutral = 0; |
||
| 730 | modell_fliegt = 0; |
||
| 731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 732 | { |
||
| 304 | ingob | 733 | unsigned char setting=1; |
| 1 | ingob | 734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 735 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 739 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 740 | } |
| 1051 | killagreg | 741 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 742 | { |
||
| 819 | hbuss | 743 | WinkelOut.CalcState = 1; |
| 744 | beeptime = 1000; |
||
| 745 | } |
||
| 746 | else |
||
| 1 | ingob | 747 | { |
| 1622 | killagreg | 748 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 749 | LipoDetection(0); |
| 1626 | killagreg | 750 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 819 | hbuss | 751 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 752 | { |
||
| 1 | ingob | 753 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 754 | } |
| 1330 | killagreg | 755 | ServoActive = 0; |
| 1622 | killagreg | 756 | SetNeutral(0); |
| 1765 | killagreg | 757 | calibration_done = 1; |
| 1232 | hbuss | 758 | ServoActive = 1; |
| 759 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 760 | Piep(GetActiveParamSet(),120); |
| 819 | hbuss | 761 | } |
| 1051 | killagreg | 762 | } |
| 1 | ingob | 763 | } |
| 1051 | killagreg | 764 | else |
| 513 | hbuss | 765 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 766 | { |
||
| 767 | if(++delay_neutral > 200) // nicht sofort |
||
| 768 | { |
||
| 769 | GRN_OFF; |
||
| 770 | MotorenEin = 0; |
||
| 771 | delay_neutral = 0; |
||
| 772 | modell_fliegt = 0; |
||
| 1622 | killagreg | 773 | SetNeutral(1); |
| 774 | calibration_done = 1; |
||
| 775 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 776 | } |
| 513 | hbuss | 777 | } |
| 1 | ingob | 778 | else delay_neutral = 0; |
| 779 | } |
||
| 1051 | killagreg | 780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 781 | // Gas ist unten |
| 1051 | killagreg | 782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1760 | holgerb | 783 | |
| 595 | hbuss | 784 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 785 | { |
| 1521 | killagreg | 786 | // Motoren Starten |
| 787 | if(!MotorenEin) |
||
| 788 | { |
||
| 1760 | holgerb | 789 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| 1521 | killagreg | 790 | { |
| 1051 | killagreg | 791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 792 | // Einschalten |
| 1051 | killagreg | 793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 794 | if(++delay_einschalten > 200) |
| 795 | { |
||
| 796 | delay_einschalten = 0; |
||
| 1702 | holgerb | 797 | if(!VersionInfo.HardwareError[0] && calibration_done) |
| 1622 | killagreg | 798 | { |
| 799 | modell_fliegt = 1; |
||
| 800 | MotorenEin = 1; |
||
| 801 | sollGier = 0; |
||
| 802 | Mess_Integral_Gier = 0; |
||
| 803 | Mess_Integral_Gier2 = 0; |
||
| 804 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 805 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 806 | Mess_IntegralNick2 = IntegralNick; |
||
| 807 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 808 | SummeNick = 0; |
||
| 809 | SummeRoll = 0; |
||
| 1765 | killagreg | 810 | FC_StatusFlags |= FC_STATUS_START; |
| 1669 | killagreg | 811 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 1622 | killagreg | 812 | } |
| 813 | else |
||
| 814 | { |
||
| 815 | beeptime = 1500; // indicate missing calibration |
||
| 816 | } |
||
| 1521 | killagreg | 817 | } |
| 818 | } |
||
| 819 | else delay_einschalten = 0; |
||
| 820 | } |
||
| 1051 | killagreg | 821 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 822 | // Auschalten |
| 1051 | killagreg | 823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 824 | else // only if motors are running |
| 825 | { |
||
| 1760 | holgerb | 826 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| 1521 | killagreg | 827 | { |
| 828 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 829 | { |
||
| 830 | MotorenEin = 0; |
||
| 831 | delay_ausschalten = 0; |
||
| 832 | modell_fliegt = 0; |
||
| 833 | } |
||
| 834 | } |
||
| 835 | else delay_ausschalten = 0; |
||
| 836 | } |
||
| 1 | ingob | 837 | } |
| 838 | } |
||
| 1051 | killagreg | 839 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 840 | // neue Werte von der Funke |
| 1051 | killagreg | 841 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 842 | |
| 1765 | killagreg | 843 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1 | ingob | 844 | { |
| 604 | hbuss | 845 | static int stick_nick,stick_roll; |
| 1 | ingob | 846 | ParameterZuordnung(); |
| 1051 | killagreg | 847 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 848 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 849 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
| 850 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 851 | |||
| 1707 | holgerb | 852 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 853 | // CareFree und freie Wahl der vorderen Richtung |
||
| 854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1668 | holgerb | 855 | if(CareFree) |
| 1658 | holgerb | 856 | { |
| 1664 | holgerb | 857 | signed int nick, roll; |
| 858 | nick = stick_nick / 4; |
||
| 859 | roll = stick_roll / 4; |
||
| 860 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
| 861 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
| 1658 | holgerb | 862 | } |
| 1662 | killagreg | 863 | else |
| 1658 | holgerb | 864 | { |
| 1668 | holgerb | 865 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| 866 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
| 867 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
| 868 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
| 1658 | holgerb | 869 | } |
| 1662 | killagreg | 870 | |
| 1 | ingob | 871 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 872 | if(StickGier > 2) StickGier -= 2; else |
| 873 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 874 | |||
| 1658 | holgerb | 875 | StickNick -= (GPS_Nick + GPS_Nick2); |
| 876 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
| 1350 | hbuss | 877 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1330 | killagreg | 878 | |
| 1153 | hbuss | 879 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 880 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 881 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 882 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 883 | |
| 595 | hbuss | 884 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 885 | //+ Analoge Steuerung per Seriell |
||
| 886 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 887 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 888 | { |
| 889 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 890 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 891 | StickGier += ExternControl.Gier; |
||
| 892 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 893 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 894 | } |
||
| 855 | hbuss | 895 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 896 | |
| 1 | ingob | 897 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 723 | hbuss | 898 | |
| 1051 | killagreg | 899 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 900 | { |
| 1051 | killagreg | 901 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 902 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 903 | } |
| 928 | hbuss | 904 | else MaxStickNick--; |
| 1051 | killagreg | 905 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 906 | { |
| 1051 | killagreg | 907 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 908 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 909 | } |
| 928 | hbuss | 910 | else MaxStickRoll--; |
| 1765 | killagreg | 911 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 912 | |
| 1051 | killagreg | 913 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 914 | // Looping? |
| 1051 | killagreg | 915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 916 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 917 | else |
| 918 | { |
||
| 395 | hbuss | 919 | { |
| 1051 | killagreg | 920 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 921 | } |
||
| 922 | } |
||
| 993 | hbuss | 923 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 924 | else |
| 395 | hbuss | 925 | { |
| 926 | if(Looping_Rechts) // Hysterese |
||
| 927 | { |
||
| 928 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 929 | } |
||
| 1051 | killagreg | 930 | } |
| 173 | holgerb | 931 | |
| 993 | hbuss | 932 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 933 | else |
| 934 | { |
||
| 395 | hbuss | 935 | if(Looping_Oben) // Hysterese |
| 936 | { |
||
| 1051 | killagreg | 937 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 938 | } |
||
| 939 | } |
||
| 993 | hbuss | 940 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 941 | else |
| 395 | hbuss | 942 | { |
| 943 | if(Looping_Unten) // Hysterese |
||
| 944 | { |
||
| 945 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 946 | } |
||
| 1051 | killagreg | 947 | } |
| 395 | hbuss | 948 | |
| 949 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 950 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 951 | } // Ende neue Funken-Werte |
| 952 | |||
| 953 | if(Looping_Roll || Looping_Nick) |
||
| 954 | { |
||
| 173 | holgerb | 955 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 956 | TrichterFlug = 1; |
| 173 | holgerb | 957 | } |
| 958 | |||
| 1051 | killagreg | 959 | |
| 960 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 961 | // Bei Empfangsausfall im Flug |
||
| 962 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1765 | killagreg | 963 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| 1 | ingob | 964 | { |
| 965 | StickGier = 0; |
||
| 966 | StickNick = 0; |
||
| 967 | StickRoll = 0; |
||
| 1211 | hbuss | 968 | GyroFaktor = 90; |
| 969 | IntegralFaktor = 120; |
||
| 970 | GyroFaktorGier = 90; |
||
| 971 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 972 | Looping_Roll = 0; |
| 973 | Looping_Nick = 0; |
||
| 1051 | killagreg | 974 | } |
| 395 | hbuss | 975 | |
| 976 | |||
| 1051 | killagreg | 977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 978 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 980 | #define ABGLEICH_ANZAHL 256L |
| 981 | |||
| 982 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 983 | MittelIntegralRoll += IntegralRoll; |
||
| 984 | MittelIntegralNick2 += IntegralNick2; |
||
| 985 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 986 | |||
| 987 | if(Looping_Nick || Looping_Roll) |
||
| 988 | { |
||
| 989 | IntegralAccNick = 0; |
||
| 990 | IntegralAccRoll = 0; |
||
| 991 | MittelIntegralNick = 0; |
||
| 992 | MittelIntegralRoll = 0; |
||
| 993 | MittelIntegralNick2 = 0; |
||
| 994 | MittelIntegralRoll2 = 0; |
||
| 995 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 996 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 997 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 998 | LageKorrekturNick = 0; |
| 999 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 1000 | } |
| 1001 | |||
| 1051 | killagreg | 1002 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 1003 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 1004 | { |
| 1005 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 1006 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 1007 | { |
| 1008 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1009 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 1010 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 1011 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 1012 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 1013 | { |
||
| 1014 | tmp_long /= 2; |
||
| 1015 | tmp_long2 /= 2; |
||
| 1016 | } |
||
| 1017 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 1018 | { |
||
| 1019 | tmp_long /= 3; |
||
| 1020 | tmp_long2 /= 3; |
||
| 1021 | } |
||
| 1022 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1023 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1024 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1025 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1026 | } |
||
| 1051 | killagreg | 1027 | else |
| 992 | hbuss | 1028 | { |
| 1029 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1030 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 1031 | tmp_long /= 16; |
| 1032 | tmp_long2 /= 16; |
||
| 1033 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1034 | { |
||
| 1035 | tmp_long /= 3; |
||
| 1036 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 1037 | } |
| 1038 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 1039 | { |
| 1040 | tmp_long /= 3; |
||
| 1041 | tmp_long2 /= 3; |
||
| 1042 | } |
||
| 1155 | hbuss | 1043 | |
| 1044 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 1045 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1046 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1047 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1048 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 1049 | } |
||
| 1166 | hbuss | 1050 | |
| 1111 | hbuss | 1051 | Mess_IntegralNick -= tmp_long; |
| 1052 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1053 | } |
| 1051 | killagreg | 1054 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1055 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1056 | { |
||
| 1057 | static int cnt = 0; |
||
| 1058 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1059 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 1060 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 1061 | { |
| 395 | hbuss | 1062 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1063 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1064 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1065 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1066 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 1707 | holgerb | 1067 | #define MAX_I 0 |
| 395 | hbuss | 1068 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1069 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1070 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1071 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1072 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1073 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1074 | |
| 1075 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1076 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1077 | |
| 992 | hbuss | 1078 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1079 | { |
| 1080 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1081 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1082 | } |
| 498 | hbuss | 1083 | |
| 1051 | killagreg | 1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1085 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1086 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1087 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1088 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1089 | tmp_long = IntegralNick2 - IntegralNick; |
| 1090 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1091 | |
| 1092 | IntegralFehlerNick = tmp_long; |
||
| 1093 | IntegralFehlerRoll = tmp_long2; |
||
| 1094 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1095 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1096 | |||
| 1111 | hbuss | 1097 | if(EE_Parameter.Driftkomp) |
| 1098 | { |
||
| 1622 | killagreg | 1099 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1100 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1101 | } |
| 693 | hbuss | 1102 | GierGyroFehler = 0; |
| 720 | ingob | 1103 | |
| 1243 | killagreg | 1104 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1105 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1106 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1107 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1108 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1109 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1110 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1111 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1112 | { |
| 1051 | killagreg | 1113 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1114 | { |
| 1051 | killagreg | 1115 | if(last_n_p) |
| 395 | hbuss | 1116 | { |
| 1173 | hbuss | 1117 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1118 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1119 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1120 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1121 | } |
| 395 | hbuss | 1122 | else last_n_p = 1; |
| 1123 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1124 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1125 | { |
| 1126 | if(last_n_n) |
||
| 1051 | killagreg | 1127 | { |
| 1173 | hbuss | 1128 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1129 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1130 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1131 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1132 | } |
| 395 | hbuss | 1133 | else last_n_n = 1; |
| 1134 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1135 | } |
| 1136 | else |
||
| 847 | hbuss | 1137 | { |
| 1138 | cnt = 0; |
||
| 921 | hbuss | 1139 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1140 | } |
| 499 | hbuss | 1141 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1142 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1143 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1144 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1145 | |
| 395 | hbuss | 1146 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1695 | holgerb | 1147 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| 1225 | hbuss | 1148 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1149 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1150 | { |
| 1051 | killagreg | 1151 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1152 | { |
| 1051 | killagreg | 1153 | if(last_r_p) |
| 395 | hbuss | 1154 | { |
| 1173 | hbuss | 1155 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1156 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1157 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1158 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1159 | } |
| 395 | hbuss | 1160 | else last_r_p = 1; |
| 1161 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1162 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1163 | { |
| 1051 | killagreg | 1164 | if(last_r_n) |
| 395 | hbuss | 1165 | { |
| 1173 | hbuss | 1166 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1167 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1168 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1169 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1170 | } |
| 1171 | else last_r_n = 1; |
||
| 1172 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1173 | } else |
| 492 | hbuss | 1174 | { |
| 1175 | cnt = 0; |
||
| 921 | hbuss | 1176 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1177 | } |
| 499 | hbuss | 1178 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1179 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1180 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1181 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1182 | } |
| 1051 | killagreg | 1183 | else |
| 498 | hbuss | 1184 | { |
| 1185 | LageKorrekturRoll = 0; |
||
| 1186 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1187 | TrichterFlug = 0; |
| 498 | hbuss | 1188 | } |
| 1051 | killagreg | 1189 | |
| 498 | hbuss | 1190 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1191 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1192 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1193 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1195 | IntegralAccNick = 0; |
| 1196 | IntegralAccRoll = 0; |
||
| 1197 | IntegralAccZ = 0; |
||
| 1198 | MittelIntegralNick = 0; |
||
| 1199 | MittelIntegralRoll = 0; |
||
| 1200 | MittelIntegralNick2 = 0; |
||
| 1201 | MittelIntegralRoll2 = 0; |
||
| 1202 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1203 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1204 | |
| 1051 | killagreg | 1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1206 | // Gieren |
| 1051 | killagreg | 1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1208 | if(abs(StickGier) > 15) // war 35 |
||
| 1 | ingob | 1209 | { |
| 921 | hbuss | 1210 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1211 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1212 | { |
||
| 1213 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1214 | }; |
| 1 | ingob | 1215 | } |
| 395 | hbuss | 1216 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1217 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1218 | sollGier = tmp_int; |
| 1051 | killagreg | 1219 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1220 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1221 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1222 | |
| 1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1224 | // Kompass |
| 1051 | killagreg | 1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1226 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
| 1 | ingob | 1227 | { |
| 819 | hbuss | 1228 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1229 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1230 | v = abs(IntegralRoll /512); |
||
| 1231 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1658 | holgerb | 1232 | korrektur = w / 8 + 2; |
| 921 | hbuss | 1233 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1664 | holgerb | 1234 | //fehler += MesswertGier / 12; |
| 1662 | killagreg | 1235 | |
| 921 | hbuss | 1236 | if(!KompassSignalSchlecht && w < 25) |
| 1237 | { |
||
| 1238 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1239 | if(NeueKompassRichtungMerken) |
| 1240 | { |
||
| 1171 | hbuss | 1241 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1242 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1243 | NeueKompassRichtungMerken = 0; |
||
| 1244 | } |
||
| 1 | ingob | 1245 | } |
| 1658 | holgerb | 1246 | ErsatzKompass += (fehler * 16) / korrektur; |
| 921 | hbuss | 1247 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1248 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1249 | if(w >= 0) |
| 1 | ingob | 1250 | { |
| 1051 | killagreg | 1251 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1252 | { |
| 1051 | killagreg | 1253 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1254 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 819 | hbuss | 1255 | v = (r * w) / v; // nach Kompass ausrichten |
| 1256 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1257 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1258 | else |
| 693 | hbuss | 1259 | if(v < -w) v = -w; |
| 1260 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1261 | } |
| 693 | hbuss | 1262 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1263 | } |
| 921 | hbuss | 1264 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1265 | } |
| 1 | ingob | 1266 | |
| 1051 | killagreg | 1267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1268 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1269 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1270 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1271 | |
| 1171 | hbuss | 1272 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1273 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1274 | |
| 1167 | hbuss | 1275 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1276 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1277 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1278 | |
| 1166 | hbuss | 1279 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1280 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1281 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1282 | |
| 1 | ingob | 1283 | // Maximalwerte abfangen |
| 1153 | hbuss | 1284 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1685 | holgerb | 1285 | #define MAX_SENSOR (4096) |
| 1216 | killagreg | 1286 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1287 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1288 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1289 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1290 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1291 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1292 | |||
| 1051 | killagreg | 1293 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1294 | // Höhenregelung |
| 1295 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1297 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1298 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1299 | // if height control is activated |
| 1322 | hbuss | 1300 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1301 | { |
| 1698 | holgerb | 1302 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| 1332 | hbuss | 1303 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1304 | |
| 1305 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1306 | #define OPA_OFFSET_STEP 15 |
||
| 1642 | killagreg | 1307 | #else |
| 1638 | holgerb | 1308 | #define OPA_OFFSET_STEP 10 |
| 1309 | #endif |
||
| 1697 | holgerb | 1310 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
| 1309 | hbuss | 1311 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1312 | static int FilterHCGas = 0; |
||
| 1692 | holgerb | 1313 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| 1587 | killagreg | 1314 | static unsigned long HoverGasFilter = 0; |
| 1322 | hbuss | 1315 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1320 | hbuss | 1316 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1317 | |
| 1309 | hbuss | 1318 | // get the current hooverpoint |
| 1587 | killagreg | 1319 | DebugOut.Analog[21] = HoverGas; |
| 1642 | killagreg | 1320 | |
| 1322 | hbuss | 1321 | // Expand the measurement |
| 1322 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1323 | if(!BaroExpandActive) |
||
| 1324 | { |
||
| 1325 | if(MessLuftdruck > 920) |
||
| 1326 | { // increase offset |
||
| 1330 | killagreg | 1327 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1328 | { |
| 1329 | ExpandBaro -= 1; |
||
| 1330 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1331 | beeptime = 300; |
||
| 1352 | hbuss | 1332 | BaroExpandActive = 350; |
| 1330 | killagreg | 1333 | } |
| 1334 | else |
||
| 1322 | hbuss | 1335 | { |
| 1336 | BaroAtLowerLimit = 1; |
||
| 1337 | } |
||
| 1338 | } |
||
| 1339 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1340 | else |
| 1322 | hbuss | 1341 | if(MessLuftdruck < 100) |
| 1342 | { // decrease offset |
||
| 1330 | killagreg | 1343 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1344 | { |
| 1345 | ExpandBaro += 1; |
||
| 1346 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1347 | beeptime = 300; |
||
| 1352 | hbuss | 1348 | BaroExpandActive = 350; |
| 1330 | killagreg | 1349 | } |
| 1350 | else |
||
| 1322 | hbuss | 1351 | { |
| 1352 | BaroAtUpperLimit = 1; |
||
| 1353 | } |
||
| 1354 | } |
||
| 1330 | killagreg | 1355 | else |
| 1322 | hbuss | 1356 | { |
| 1357 | BaroAtUpperLimit = 0; |
||
| 1358 | BaroAtLowerLimit = 0; |
||
| 1359 | } |
||
| 1360 | } |
||
| 1361 | else // delay, because of expanding the Baro-Range |
||
| 1362 | { |
||
| 1363 | // now clear the D-values |
||
| 1364 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1365 | VarioMeter = 0; |
||
| 1366 | BaroExpandActive--; |
||
| 1367 | } |
||
| 1328 | hbuss | 1368 | |
| 1369 | // if height control is activated by an rc channel |
||
| 1370 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1371 | { // check if parameter is less than activation threshold |
||
| 1372 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1373 | { //height control not active |
||
| 1374 | if(!delay--) |
||
| 1375 | { |
||
| 1376 | HoehenReglerAktiv = 0; // disable height control |
||
| 1377 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1378 | delay = 1; |
||
| 1379 | } |
||
| 1380 | } |
||
| 1381 | else |
||
| 1382 | { //height control is activated |
||
| 1383 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1384 | delay = 200; |
| 1328 | hbuss | 1385 | } |
| 1051 | killagreg | 1386 | } |
| 1309 | hbuss | 1387 | else // no switchable height control |
| 1388 | { |
||
| 1389 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1390 | HoehenReglerAktiv = 1; |
||
| 1051 | killagreg | 1391 | } |
| 1322 | hbuss | 1392 | |
| 1320 | hbuss | 1393 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1394 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1395 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1396 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1397 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1398 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1399 | VarioCharacter = ' '; |
| 1765 | killagreg | 1400 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1309 | hbuss | 1401 | { |
| 1330 | killagreg | 1402 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1403 | // Holger original version |
| 1404 | // start of height control algorithm |
||
| 1405 | // the height control is only an attenuation of the actual gas stick. |
||
| 1406 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1407 | // and the hover height will be allways larger than height setpoint. |
||
| 1314 | killagreg | 1408 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1409 | { // old version |
||
| 1309 | hbuss | 1410 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1411 | HeightTrimming = 0; |
||
| 1773 | killagreg | 1412 | // set both flags to indicate no vario mode |
| 1413 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1309 | hbuss | 1414 | } |
| 1314 | killagreg | 1415 | else |
| 1309 | hbuss | 1416 | { |
| 1417 | // alternative height control |
||
| 1418 | // PD-Control with respect to hoover point |
||
| 1419 | // the thrust loss out of horizontal attitude is compensated |
||
| 1420 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1765 | killagreg | 1421 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1422 | { // gas stick is above hoover point |
| 1587 | killagreg | 1423 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1424 | { |
| 1767 | killagreg | 1425 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| 1309 | hbuss | 1426 | { |
| 1767 | killagreg | 1427 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| 1309 | hbuss | 1428 | SollHoehe = HoehenWert; // update setpoint to current heigth |
| 1429 | } |
||
| 1767 | killagreg | 1430 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| 1587 | killagreg | 1431 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1432 | VarioCharacter = '+'; |
| 1309 | hbuss | 1433 | } // gas stick is below hoover point |
| 1587 | killagreg | 1434 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1435 | { |
| 1767 | killagreg | 1436 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
| 1309 | hbuss | 1437 | { |
| 1767 | killagreg | 1438 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| 1309 | hbuss | 1439 | SollHoehe = HoehenWert; // update setpoint to current heigth |
| 1440 | } |
||
| 1767 | killagreg | 1441 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| 1587 | killagreg | 1442 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1443 | VarioCharacter = '-'; |
| 1309 | hbuss | 1444 | } |
| 1587 | killagreg | 1445 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1446 | { |
| 1767 | killagreg | 1447 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| 1309 | hbuss | 1448 | { |
| 1767 | killagreg | 1449 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| 1309 | hbuss | 1450 | HeightTrimming = 0; |
| 1451 | SollHoehe = HoehenWert; // update setpoint to current height |
||
| 1452 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1698 | holgerb | 1453 | if(!StartTrigger && HoehenWert > 50) |
| 1454 | { |
||
| 1455 | StartTrigger = 1; |
||
| 1765 | killagreg | 1456 | } |
| 1309 | hbuss | 1457 | } |
| 1591 | holgerb | 1458 | VarioCharacter = '='; |
| 1309 | hbuss | 1459 | } |
| 1460 | // Trim height set point |
||
| 1334 | killagreg | 1461 | if(abs(HeightTrimming) > 512) |
| 1309 | hbuss | 1462 | { |
| 1332 | hbuss | 1463 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1309 | hbuss | 1464 | HeightTrimming = 0; |
| 1587 | killagreg | 1465 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1720 | holgerb | 1466 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| 1320 | hbuss | 1467 | //update hoover gas stick value when setpoint is shifted |
| 1332 | hbuss | 1468 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1469 | { |
||
| 1587 | killagreg | 1470 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1471 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1472 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1473 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1474 | } |
| 1309 | hbuss | 1475 | } |
| 1352 | hbuss | 1476 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1477 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1478 | else |
| 1479 | { |
||
| 1322 | hbuss | 1480 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1481 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1482 | else StickGasHover = 120; |
||
| 1698 | holgerb | 1483 | HoverGas = GasMischanteil; |
| 1320 | hbuss | 1484 | } |
| 1590 | killagreg | 1485 | HCGas = HoverGas; // take hover gas (neutral point) |
| 1486 | } |
||
| 1314 | killagreg | 1487 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1283 | hbuss | 1488 | { |
| 1590 | killagreg | 1489 | // from this point the Heigth Control Algorithm is identical for both versions |
| 1490 | if(BaroExpandActive) // baro range expanding active |
||
| 1491 | { |
||
| 1492 | HCGas = HoverGas; // hover while expanding baro adc range |
||
| 1493 | HeightDeviation = 0; |
||
| 1494 | } // EOF // baro range expanding active |
||
| 1495 | else // valid data from air pressure sensor |
||
| 1496 | { |
||
| 1497 | // ------------------------- P-Part ---------------------------- |
||
| 1498 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
| 1499 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
| 1500 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
| 1695 | holgerb | 1501 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| 1698 | holgerb | 1502 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| 1503 | GasReduction = tmp_long; |
||
| 1590 | killagreg | 1504 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| 1505 | tmp_int = VarioMeter / 8; |
||
| 1765 | killagreg | 1506 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
| 1705 | holgerb | 1507 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| 1508 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1767 | killagreg | 1509 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| 1765 | killagreg | 1510 | else |
| 1722 | holgerb | 1511 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| 1698 | holgerb | 1512 | GasReduction += tmp_int; |
| 1590 | killagreg | 1513 | } // EOF no baro range expanding |
| 1309 | hbuss | 1514 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1698 | holgerb | 1515 | if(Parameter_Hoehe_ACC_Wirkung) |
| 1516 | { |
||
| 1517 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
| 1518 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1519 | GasReduction += tmp_long; |
||
| 1765 | killagreg | 1520 | } |
| 1587 | killagreg | 1521 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| 1588 | killagreg | 1522 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 1523 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1698 | holgerb | 1524 | GasReduction += tmp_int; |
| 1701 | holgerb | 1525 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| 1526 | // ------------------------ ---------------------------------- |
||
| 1527 | HCGas -= GasReduction; |
||
| 1309 | hbuss | 1528 | // limit deviation from hoover point within the target region |
| 1692 | holgerb | 1529 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1530 | { |
| 1765 | killagreg | 1531 | unsigned int tmp; |
| 1705 | holgerb | 1532 | tmp = abs(HeightDeviation); |
| 1533 | if(tmp <= 60) |
||
| 1534 | { |
||
| 1535 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
| 1536 | } |
||
| 1537 | else |
||
| 1765 | killagreg | 1538 | { |
| 1705 | holgerb | 1539 | tmp = (tmp - 60) / 32; |
| 1692 | holgerb | 1540 | if(tmp > 15) tmp = 15; |
| 1705 | holgerb | 1541 | if(HeightDeviation > 0) |
| 1693 | holgerb | 1542 | { |
| 1705 | holgerb | 1543 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
| 1544 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
| 1693 | holgerb | 1545 | } |
| 1705 | holgerb | 1546 | else |
| 1547 | { |
||
| 1548 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
| 1549 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
| 1550 | } |
||
| 1551 | } |
||
| 1309 | hbuss | 1552 | } |
| 1322 | hbuss | 1553 | // strech control output by inverse attitude projection 1/cos |
| 1554 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1555 | tmp_long2 = (int32_t)HCGas; |
| 1556 | tmp_long2 *= 8192L; |
||
| 1557 | tmp_long2 /= CosAttitude; |
||
| 1558 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1559 | // update height control gas averaging |
| 1560 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1561 | // limit height control gas pd-control output |
||
| 1562 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1563 | // set GasMischanteil to HeightControlGasFilter |
||
| 1314 | killagreg | 1564 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1565 | { // old version |
| 1566 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1719 | holgerb | 1567 | GasMischanteil = FilterHCGas; |
| 1765 | killagreg | 1568 | } |
| 1719 | holgerb | 1569 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| 1314 | killagreg | 1570 | } |
| 1309 | hbuss | 1571 | }// EOF height control active |
| 1320 | hbuss | 1572 | else // HC not active |
| 1573 | { |
||
| 1574 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1575 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1576 | { |
||
| 1577 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1578 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1579 | } |
| 1587 | killagreg | 1580 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1581 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1582 | FilterHCGas = GasMischanteil; |
| 1773 | killagreg | 1583 | // set both flags to indicate no vario mode |
| 1584 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1330 | killagreg | 1585 | } |
| 1283 | hbuss | 1586 | |
| 1587 | killagreg | 1587 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1588 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1765 | killagreg | 1589 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1309 | hbuss | 1590 | { |
| 1698 | holgerb | 1591 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1592 | if(StartTrigger == 1) StartTrigger = 2; |
||
| 1330 | killagreg | 1593 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1594 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1595 | tmp_long2 /= 8192; |
||
| 1309 | hbuss | 1596 | // average vertical projected thrust |
| 1698 | holgerb | 1597 | if(modell_fliegt < 4000) // the first 8 seconds |
| 1598 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1599 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
| 1600 | HoverGasFilter += 16L * tmp_long2; |
||
| 1309 | hbuss | 1601 | } |
| 1698 | holgerb | 1602 | if(modell_fliegt < 8000) // the first 16 seconds |
| 1603 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1604 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1605 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1606 | } |
| 1698 | holgerb | 1607 | else //later |
| 1608 | if(abs(VarioMeter) < 100) // only on small vertical speed |
||
| 1309 | hbuss | 1609 | { |
| 1590 | killagreg | 1610 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1611 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1612 | } |
| 1590 | killagreg | 1613 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1614 | if(EE_Parameter.Hoehe_HoverBand) |
| 1615 | { |
||
| 1616 | int16_t band; |
||
| 1587 | killagreg | 1617 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1618 | HoverGasMin = HoverGas - band; |
||
| 1619 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1620 | } |
| 1621 | else |
||
| 1622 | { // no limit |
||
| 1587 | killagreg | 1623 | HoverGasMin = 0; |
| 1624 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1625 | } |
| 1765 | killagreg | 1626 | } |
| 1627 | else |
||
| 1698 | holgerb | 1628 | { |
| 1629 | StartTrigger = 0; |
||
| 1630 | HoverGasFilter = 0; |
||
| 1631 | HoverGas = 0; |
||
| 1765 | killagreg | 1632 | } |
| 1309 | hbuss | 1633 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| 1773 | killagreg | 1634 | else |
| 1635 | { |
||
| 1636 | // set undefined state to indicate vario off |
||
| 1637 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1638 | } // EOF no height control |
||
| 1639 | |||
| 1309 | hbuss | 1640 | // limit gas to parameter setting |
| 1320 | hbuss | 1641 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1642 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1643 | |
| 1051 | killagreg | 1644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1645 | // all BL-Ctrl connected? |
| 1646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1675 | holgerb | 1647 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| 1320 | hbuss | 1648 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1649 | { |
||
| 1650 | modell_fliegt = 1; |
||
| 1675 | holgerb | 1651 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| 1320 | hbuss | 1652 | } |
| 1653 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1654 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1655 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1656 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1657 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1658 | // Gier-Anteil |
| 1051 | killagreg | 1659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1660 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1661 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1662 | if(GasMischanteil > MIN_GIERGAS) |
| 1663 | { |
||
| 1051 | killagreg | 1664 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1665 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1666 | } |
| 1051 | killagreg | 1667 | else |
| 693 | hbuss | 1668 | { |
| 1051 | killagreg | 1669 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1670 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1671 | } |
| 855 | hbuss | 1672 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1673 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1674 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1675 | |
| 1051 | killagreg | 1676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1677 | // Nick-Achse |
| 1051 | killagreg | 1678 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1679 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1680 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1681 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1682 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1683 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1791 | holgerb | 1684 | |
| 1685 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
| 1686 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
| 1687 | pd_ergebnis_nick += SummeNick / Ki; |
||
| 1688 | |||
| 1676 | holgerb | 1689 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1690 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1691 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1692 | |
| 1153 | hbuss | 1693 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1694 | // Roll-Achse |
||
| 1695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1696 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1697 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1698 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1699 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1700 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1791 | holgerb | 1701 | |
| 1702 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
| 1703 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
| 1704 | pd_ergebnis_roll += SummeRoll / Ki; |
||
| 1705 | |||
| 1676 | holgerb | 1706 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1707 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| 1708 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1709 | |||
| 1710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1711 | // Universal Mixer |
| 1155 | hbuss | 1712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | killagreg | 1713 | for(i=0; i<MAX_MOTORS; i++) |
| 1714 | { |
||
| 1715 | signed int tmp_int; |
||
| 1716 | if(Mixer.Motor[i][0] > 0) |
||
| 1717 | { |
||
| 1652 | holgerb | 1718 | // Gas |
| 1676 | holgerb | 1719 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| 1652 | holgerb | 1720 | // Nick |
| 1721 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
| 1722 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
| 1723 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1724 | // Roll |
||
| 1725 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
| 1726 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
| 1727 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1728 | // Gier |
||
| 1676 | holgerb | 1729 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| 1730 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
| 1731 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1675 | holgerb | 1732 | |
| 1680 | holgerb | 1733 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| 1734 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
| 1693 | holgerb | 1735 | |
| 1760 | holgerb | 1736 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| 1676 | holgerb | 1737 | Motor[i].SetPoint = tmp_int / 4; |
| 1677 | killagreg | 1738 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| 1652 | holgerb | 1739 | tmp_motorwert[i] = tmp_int; |
| 1642 | killagreg | 1740 | } |
| 1741 | else |
||
| 1742 | { |
||
| 1743 | Motor[i].SetPoint = 0; |
||
| 1744 | Motor[i].SetPointLowerBits = 0; |
||
| 1745 | } |
||
| 1746 | } |
||
| 1111 | hbuss | 1747 | } |