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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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| 5 | // + Copyright (c) 04.2007 Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + www.MikroKopter.com |
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| 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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| 1051 | killagreg | 27 | // + Die Portierung 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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| 831 | hbuss | 42 | // + * porting to systems other than 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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| 492 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 1 | ingob | 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 1051 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 54 | |||
| 55 | #include "main.h" |
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| 395 | hbuss | 56 | #include "eeprom.c" |
| 1 | ingob | 57 | |
| 58 | unsigned char h,m,s; |
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| 173 | holgerb | 59 | volatile unsigned int I2CTimeout = 100; |
| 1153 | hbuss | 60 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 61 | int TrimNick, TrimRoll; |
| 1051 | killagreg | 62 | int AdNeutralGierBias; |
| 927 | hbuss | 63 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 64 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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| 805 | hbuss | 65 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1 | ingob | 66 | volatile float NeutralAccZ = 0; |
| 67 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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| 693 | hbuss | 68 | long IntegralNick = 0,IntegralNick2 = 0; |
| 69 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 70 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 71 | long Integral_Gier = 0; |
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| 72 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 73 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 74 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 75 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1 | ingob | 76 | volatile long Mess_Integral_Hoch = 0; |
| 1153 | hbuss | 77 | int KompassValue = 0; |
| 78 | int KompassStartwert = 0; |
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| 79 | int KompassRichtung = 0; |
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| 693 | hbuss | 80 | unsigned int KompassSignalSchlecht = 500; |
| 855 | hbuss | 81 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 82 | unsigned char HoehenReglerAktiv = 0; |
| 880 | hbuss | 83 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 84 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 85 | long ErsatzKompass; |
| 86 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 87 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 88 | char GyroFaktor,GyroFaktorGier; |
| 89 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 90 | int DiffNick,DiffRoll; |
| 1051 | killagreg | 91 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| 1 | ingob | 92 | volatile unsigned char SenderOkay = 0; |
| 1243 | killagreg | 93 | volatile unsigned char SenderRSSI = 0; |
| 595 | hbuss | 94 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1 | ingob | 95 | char MotorenEin = 0; |
| 1246 | killagreg | 96 | long HoehenWert = 0; |
| 97 | long SollHoehe = 0; |
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| 498 | hbuss | 98 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 1153 | hbuss | 99 | //float Ki = FAKTOR_I; |
| 100 | int Ki = 10300 / 33; |
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| 395 | hbuss | 101 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 102 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 103 | |
| 104 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 105 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 106 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 107 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 108 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 109 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 110 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 111 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 112 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 113 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
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| 114 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 115 | unsigned char Parameter_UserParam1 = 0; |
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| 116 | unsigned char Parameter_UserParam2 = 0; |
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| 117 | unsigned char Parameter_UserParam3 = 0; |
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| 118 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 119 | unsigned char Parameter_UserParam5 = 0; |
| 120 | unsigned char Parameter_UserParam6 = 0; |
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| 121 | unsigned char Parameter_UserParam7 = 0; |
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| 122 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 123 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 124 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 125 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 126 | unsigned char Parameter_AchsKopplung1 = 90; |
| 127 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 128 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 129 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 130 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 131 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 132 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 133 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 134 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 135 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 136 | unsigned char Parameter_NaviGpsGain; |
| 137 | unsigned char Parameter_NaviGpsP; |
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| 138 | unsigned char Parameter_NaviGpsI; |
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| 139 | unsigned char Parameter_NaviGpsD; |
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| 140 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 141 | unsigned char Parameter_NaviOperatingRadius; |
| 142 | unsigned char Parameter_NaviWindCorrection; |
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| 143 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 144 | unsigned char Parameter_ExternalControl; |
| 1 | ingob | 145 | struct mk_param_struct EE_Parameter; |
| 492 | hbuss | 146 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 147 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 148 | unsigned int modell_fliegt = 0; |
| 1209 | hbuss | 149 | volatile unsigned char MikroKopterFlags = 0; |
| 1121 | hbuss | 150 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 151 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 152 | unsigned char RequiredMotors = 4; |
| 153 | unsigned char Motor[MAX_MOTORS]; |
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| 154 | signed int tmp_motorwert[MAX_MOTORS]; |
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| 1155 | hbuss | 155 | |
| 1166 | hbuss | 156 | int MotorSmoothing(int neu, int alt) |
| 157 | { |
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| 158 | int motor; |
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| 159 | if(neu > alt) motor = (1*(int)alt + neu) / 2; |
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| 160 | else motor = neu - (alt - neu)*1; |
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| 161 | //if(Poti2 < 20) return(neu); |
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| 162 | return(motor); |
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| 163 | } |
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| 164 | |||
| 1232 | hbuss | 165 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 166 | { |
| 1232 | hbuss | 167 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 168 | while(Anzahl--) |
| 169 | { |
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| 1232 | hbuss | 170 | beeptime = dauer; |
| 171 | while(beeptime); |
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| 172 | Delay_ms(dauer * 2); |
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| 1 | ingob | 173 | } |
| 174 | } |
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| 175 | |||
| 176 | //############################################################################ |
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| 177 | // Nullwerte ermitteln |
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| 178 | void SetNeutral(void) |
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| 179 | //############################################################################ |
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| 180 | { |
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| 1111 | hbuss | 181 | unsigned char i; |
| 182 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1171 | hbuss | 183 | ServoActive = 0; HEF4017R_ON; |
| 1051 | killagreg | 184 | NeutralAccX = 0; |
| 1 | ingob | 185 | NeutralAccY = 0; |
| 186 | NeutralAccZ = 0; |
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| 1051 | killagreg | 187 | AdNeutralNick = 0; |
| 188 | AdNeutralRoll = 0; |
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| 1 | ingob | 189 | AdNeutralGier = 0; |
| 927 | hbuss | 190 | AdNeutralGierBias = 0; |
| 395 | hbuss | 191 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 192 | Parameter_AchsKopplung2 = 0; |
| 1036 | hbuss | 193 | ExpandBaro = 0; |
| 1051 | killagreg | 194 | CalibrierMittelwert(); |
| 395 | hbuss | 195 | Delay_ms_Mess(100); |
| 1 | ingob | 196 | CalibrierMittelwert(); |
| 197 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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| 1051 | killagreg | 198 | { |
| 1 | ingob | 199 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 200 | } |
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| 1166 | hbuss | 201 | #define NEUTRAL_FILTER 32 |
| 202 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 203 | { |
| 204 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 205 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 206 | nick_neutral += AdWertNick; |
| 207 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 208 | } |
| 1173 | hbuss | 209 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 210 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 211 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1111 | hbuss | 212 | AdNeutralGierBias = AdNeutralGier; |
| 401 | hbuss | 213 | StartNeutralRoll = AdNeutralRoll; |
| 214 | StartNeutralNick = AdNeutralNick; |
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| 1051 | killagreg | 215 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| 513 | hbuss | 216 | { |
| 1171 | hbuss | 217 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| 218 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 513 | hbuss | 219 | NeutralAccZ = Aktuell_az; |
| 220 | } |
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| 1051 | killagreg | 221 | else |
| 513 | hbuss | 222 | { |
| 223 | NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
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| 224 | NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
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| 225 | NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
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| 226 | } |
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| 1051 | killagreg | 227 | |
| 1 | ingob | 228 | MesswertNick = 0; |
| 229 | MesswertRoll = 0; |
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| 230 | MesswertGier = 0; |
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| 1111 | hbuss | 231 | Delay_ms_Mess(100); |
| 1174 | hbuss | 232 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| 233 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 1173 | hbuss | 234 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 235 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 236 | Mess_IntegralNick2 = IntegralNick; |
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| 237 | Mess_IntegralRoll2 = IntegralRoll; |
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| 238 | Mess_Integral_Gier = 0; |
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| 1 | ingob | 239 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 240 | VarioMeter = 0; |
| 1 | ingob | 241 | Mess_Integral_Hoch = 0; |
| 242 | KompassStartwert = KompassValue; |
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| 243 | GPS_Neutral(); |
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| 1051 | killagreg | 244 | beeptime = 50; |
| 882 | hbuss | 245 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 246 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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| 492 | hbuss | 247 | ExternHoehenValue = 0; |
| 693 | hbuss | 248 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 249 | GierGyroFehler = 0; |
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| 723 | hbuss | 250 | SendVersionToNavi = 1; |
| 921 | hbuss | 251 | LED_Init(); |
| 252 | MikroKopterFlags |= FLAG_CALIBRATE; |
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| 992 | hbuss | 253 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 254 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 255 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1172 | hbuss | 256 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
| 257 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
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| 258 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
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| 259 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
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| 1232 | hbuss | 260 | // ServoActive = 1; |
| 1171 | hbuss | 261 | SenderOkay = 100; |
| 1 | ingob | 262 | } |
| 263 | |||
| 264 | //############################################################################ |
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| 395 | hbuss | 265 | // Bearbeitet die Messwerte |
| 1 | ingob | 266 | void Mittelwert(void) |
| 267 | //############################################################################ |
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| 1051 | killagreg | 268 | { |
| 1111 | hbuss | 269 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 270 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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| 1153 | hbuss | 271 | signed long winkel_nick, winkel_roll; |
| 1171 | hbuss | 272 | |
| 1111 | hbuss | 273 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 274 | // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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| 1171 | hbuss | 275 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 276 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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| 1153 | hbuss | 277 | RohMesswertNick = MesswertNick; |
| 278 | RohMesswertRoll = MesswertRoll; |
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| 1120 | hbuss | 279 | //DebugOut.Analog[21] = MesswertNick; |
| 280 | //DebugOut.Analog[22] = MesswertRoll; |
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| 1121 | hbuss | 281 | //DebugOut.Analog[22] = Mess_Integral_Gier; |
| 1216 | killagreg | 282 | //DebugOut.Analog[21] = MesswertNick; |
| 283 | //DebugOut.Analog[22] = MesswertRoll; |
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| 1166 | hbuss | 284 | |
| 395 | hbuss | 285 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 286 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 287 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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| 288 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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| 395 | hbuss | 289 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 290 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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| 805 | hbuss | 291 | NaviAccNick += AdWertAccNick; |
| 292 | NaviAccRoll += AdWertAccRoll; |
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| 293 | NaviCntAcc++; |
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| 1153 | hbuss | 294 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 295 | |||
| 1155 | hbuss | 296 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 297 | // ADC einschalten |
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| 1171 | hbuss | 298 | ANALOG_ON; |
| 1155 | hbuss | 299 | AdReady = 0; |
| 300 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 301 | |||
| 1216 | killagreg | 302 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 303 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
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| 1153 | hbuss | 304 | else winkel_roll = Mess_IntegralRoll; |
| 305 | |||
| 1216 | killagreg | 306 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 307 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
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| 1153 | hbuss | 308 | else winkel_nick = Mess_IntegralNick; |
| 309 | |||
| 1120 | hbuss | 310 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 311 | Mess_Integral_Gier += MesswertGier; |
| 312 | ErsatzKompass += MesswertGier; |
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| 395 | hbuss | 313 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 314 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
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| 315 | { |
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| 1153 | hbuss | 316 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 317 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 318 | tmpl3 /= 4096L; |
| 1153 | hbuss | 319 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 320 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 321 | tmpl4 /= 4096L; |
| 1153 | hbuss | 322 | KopplungsteilNickRoll = tmpl3; |
| 323 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 324 | tmpl4 -= tmpl3; |
| 325 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 326 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 327 | |
| 1153 | hbuss | 328 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 329 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 330 | tmpl /= 4096L; |
| 1153 | hbuss | 331 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 332 | tmpl2 *= Parameter_AchsKopplung1; |
| 880 | hbuss | 333 | tmpl2 /= 4096L; |
| 1225 | hbuss | 334 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 335 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 336 | } |
| 1166 | hbuss | 337 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1111 | hbuss | 338 | |
| 1166 | hbuss | 339 | TrimRoll = tmpl - tmpl2 / 100L; |
| 340 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 341 | |||
| 1111 | hbuss | 342 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 343 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 344 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 345 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 346 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 347 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 348 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 349 | { |
| 882 | hbuss | 350 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 351 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 352 | } |
| 395 | hbuss | 353 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 354 | { |
||
| 882 | hbuss | 355 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 356 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 357 | } |
| 395 | hbuss | 358 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 359 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 360 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 361 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 362 | { |
| 363 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 364 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 365 | } |
| 366 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 367 | { |
| 882 | hbuss | 368 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 369 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 370 | } |
| 1111 | hbuss | 371 | |
| 1 | ingob | 372 | Integral_Gier = Mess_Integral_Gier; |
| 373 | IntegralNick = Mess_IntegralNick; |
||
| 374 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 375 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 376 | IntegralRoll2 = Mess_IntegralRoll2; |
| 377 | |||
| 1166 | hbuss | 378 | #define D_LIMIT 128 |
| 379 | |||
| 1171 | hbuss | 380 | MesswertNick = HiResNick / 8; |
| 381 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 382 | |
| 1167 | hbuss | 383 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 384 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 385 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 386 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 387 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 388 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 389 | |||
| 1216 | killagreg | 390 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 391 | { |
| 1166 | hbuss | 392 | d2Nick = HiResNick - oldNick; |
| 393 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 394 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 395 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 396 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 397 | d2Roll = HiResRoll - oldRoll; |
||
| 398 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 399 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 400 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 401 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 402 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 403 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 404 | } |
| 1111 | hbuss | 405 | |
| 1166 | hbuss | 406 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 407 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 408 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 409 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 410 | |
| 411 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 412 | { |
||
| 413 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 414 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 415 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 416 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 417 | } |
||
| 418 | |||
| 1 | ingob | 419 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 420 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 421 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 422 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 423 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 424 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 425 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 426 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 427 | } |
||
| 428 | |||
| 429 | //############################################################################ |
||
| 430 | // Messwerte beim Ermitteln der Nullage |
||
| 431 | void CalibrierMittelwert(void) |
||
| 432 | //############################################################################ |
||
| 1051 | killagreg | 433 | { |
| 1021 | hbuss | 434 | if(PlatinenVersion == 13) SucheGyroOffset(); |
| 1 | ingob | 435 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| 436 | ANALOG_OFF; |
||
| 395 | hbuss | 437 | MesswertNick = AdWertNick; |
| 438 | MesswertRoll = AdWertRoll; |
||
| 439 | MesswertGier = AdWertGier; |
||
| 440 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 441 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 442 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 443 | // ADC einschalten |
||
| 1051 | killagreg | 444 | ANALOG_ON; |
| 1 | ingob | 445 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 446 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 447 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 448 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 449 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 450 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 451 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 452 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 395 | hbuss | 453 | |
| 454 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 720 | ingob | 455 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 1 | ingob | 456 | } |
| 457 | |||
| 458 | //############################################################################ |
||
| 459 | // Senden der Motorwerte per I2C-Bus |
||
| 460 | void SendMotorData(void) |
||
| 461 | //############################################################################ |
||
| 1051 | killagreg | 462 | { |
| 1209 | hbuss | 463 | unsigned char i; |
| 921 | hbuss | 464 | if(!MotorenEin) |
| 1 | ingob | 465 | { |
| 1212 | hbuss | 466 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| 1216 | killagreg | 467 | for(i=0;i<MAX_MOTORS;i++) |
| 468 | { |
||
| 469 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1212 | hbuss | 470 | Motor[i] = MotorTest[i]; |
| 1216 | killagreg | 471 | } |
| 1212 | hbuss | 472 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 473 | } |
| 1212 | hbuss | 474 | else MikroKopterFlags |= FLAG_MOTOR_RUN; |
| 1111 | hbuss | 475 | |
| 1212 | hbuss | 476 | DebugOut.Analog[12] = Motor[0]; |
| 477 | DebugOut.Analog[13] = Motor[1]; |
||
| 478 | DebugOut.Analog[14] = Motor[3]; |
||
| 479 | DebugOut.Analog[15] = Motor[2]; |
||
| 1 | ingob | 480 | |
| 481 | //Start I2C Interrupt Mode |
||
| 482 | twi_state = 0; |
||
| 483 | motor = 0; |
||
| 1051 | killagreg | 484 | i2c_start(); |
| 1 | ingob | 485 | } |
| 486 | |||
| 487 | |||
| 488 | |||
| 489 | //############################################################################ |
||
| 490 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 491 | void ParameterZuordnung(void) |
| 1 | ingob | 492 | //############################################################################ |
| 493 | { |
||
| 921 | hbuss | 494 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| 495 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; } |
||
| 1 | ingob | 496 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| 921 | hbuss | 497 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 498 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 1 | ingob | 499 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| 1283 | hbuss | 500 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255); |
| 1 | ingob | 501 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| 921 | hbuss | 502 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| 1 | ingob | 503 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| 1120 | hbuss | 504 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
| 1051 | killagreg | 505 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| 506 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 507 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 508 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 509 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 510 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 511 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 512 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 513 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 1 | ingob | 514 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| 1232 | hbuss | 515 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255); |
| 173 | holgerb | 516 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| 395 | hbuss | 517 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| 1120 | hbuss | 518 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
| 519 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
||
| 520 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 499 | hbuss | 521 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| 921 | hbuss | 522 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| 523 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 524 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
| 1153 | hbuss | 525 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 526 | MAX_GAS = EE_Parameter.Gas_Max; |
| 527 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 528 | } |
||
| 529 | |||
| 530 | |||
| 819 | hbuss | 531 | |
| 1 | ingob | 532 | //############################################################################ |
| 533 | // |
||
| 534 | void MotorRegler(void) |
||
| 535 | //############################################################################ |
||
| 536 | { |
||
| 1209 | hbuss | 537 | int pd_ergebnis_nick,pd_ergebnis_roll,h,tmp_int; |
| 1 | ingob | 538 | int GierMischanteil,GasMischanteil; |
| 539 | static long SummeNick=0,SummeRoll=0; |
||
| 540 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 541 | static long IntegralFehlerNick = 0; |
| 542 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 543 | static unsigned int RcLostTimer; |
| 544 | static unsigned char delay_neutral = 0; |
||
| 545 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 546 | static int hoehenregler = 0; |
||
| 547 | static char TimerWerteausgabe = 0; |
||
| 548 | static char NeueKompassRichtungMerken = 0; |
||
| 395 | hbuss | 549 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 550 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 551 | unsigned char i; |
| 1051 | killagreg | 552 | Mittelwert(); |
| 553 | |||
| 1 | ingob | 554 | GRN_ON; |
| 1051 | killagreg | 555 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 556 | // Gaswert ermitteln |
| 1051 | killagreg | 557 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 558 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 559 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1051 | killagreg | 560 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 561 | // Empfang schlecht |
| 1051 | killagreg | 562 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 563 | if(SenderOkay < 100) |
| 564 | { |
||
| 1051 | killagreg | 565 | if(!PcZugriff) |
| 173 | holgerb | 566 | { |
| 1051 | killagreg | 567 | if(BeepMuster == 0xffff) |
| 568 | { |
||
| 173 | holgerb | 569 | beeptime = 15000; |
| 570 | BeepMuster = 0x0c00; |
||
| 1051 | killagreg | 571 | } |
| 173 | holgerb | 572 | } |
| 1051 | killagreg | 573 | if(RcLostTimer) RcLostTimer--; |
| 574 | else |
||
| 1 | ingob | 575 | { |
| 576 | MotorenEin = 0; |
||
| 1254 | killagreg | 577 | MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
| 1051 | killagreg | 578 | } |
| 1 | ingob | 579 | ROT_ON; |
| 693 | hbuss | 580 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 581 | { |
| 582 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1254 | killagreg | 583 | MikroKopterFlags |= FLAG_NOTLANDUNG; |
| 744 | hbuss | 584 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 585 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 586 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 587 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 588 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 589 | } |
| 1 | ingob | 590 | else MotorenEin = 0; |
| 591 | } |
||
| 1051 | killagreg | 592 | else |
| 593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 594 | // Emfang gut |
| 1051 | killagreg | 595 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 596 | if(SenderOkay > 140) |
| 597 | { |
||
| 1254 | killagreg | 598 | MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
| 1 | ingob | 599 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 600 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 601 | { |
| 602 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 603 | } |
||
| 871 | hbuss | 604 | if((modell_fliegt < 256)) |
| 1 | ingob | 605 | { |
| 606 | SummeNick = 0; |
||
| 607 | SummeRoll = 0; |
||
| 1051 | killagreg | 608 | if(modell_fliegt == 250) |
| 918 | hbuss | 609 | { |
| 1051 | killagreg | 610 | NeueKompassRichtungMerken = 1; |
| 918 | hbuss | 611 | sollGier = 0; |
| 1051 | killagreg | 612 | Mess_Integral_Gier = 0; |
| 927 | hbuss | 613 | // Mess_Integral_Gier2 = 0; |
| 1051 | killagreg | 614 | } |
| 921 | hbuss | 615 | } else MikroKopterFlags |= FLAG_FLY; |
| 1051 | killagreg | 616 | |
| 595 | hbuss | 617 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 618 | { |
| 1051 | killagreg | 619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 620 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 621 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 622 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 623 | { |
||
| 624 | if(++delay_neutral > 200) // nicht sofort |
||
| 625 | { |
||
| 626 | GRN_OFF; |
||
| 627 | MotorenEin = 0; |
||
| 628 | delay_neutral = 0; |
||
| 629 | modell_fliegt = 0; |
||
| 630 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 631 | { |
||
| 304 | ingob | 632 | unsigned char setting=1; |
| 1 | ingob | 633 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 634 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 635 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 636 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 637 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1063 | killagreg | 638 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
| 1 | ingob | 639 | } |
| 820 | hbuss | 640 | // else |
| 1051 | killagreg | 641 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 642 | { |
||
| 819 | hbuss | 643 | WinkelOut.CalcState = 1; |
| 644 | beeptime = 1000; |
||
| 645 | } |
||
| 646 | else |
||
| 1 | ingob | 647 | { |
| 819 | hbuss | 648 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 649 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 650 | { |
||
| 1 | ingob | 651 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 652 | } |
| 819 | hbuss | 653 | SetNeutral(); |
| 1232 | hbuss | 654 | ServoActive = 1; |
| 655 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 656 | Piep(GetActiveParamSetNumber(),120); |
||
| 819 | hbuss | 657 | } |
| 1051 | killagreg | 658 | } |
| 1 | ingob | 659 | } |
| 1051 | killagreg | 660 | else |
| 513 | hbuss | 661 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 662 | { |
||
| 663 | if(++delay_neutral > 200) // nicht sofort |
||
| 664 | { |
||
| 665 | GRN_OFF; |
||
| 666 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 667 | MotorenEin = 0; |
||
| 668 | delay_neutral = 0; |
||
| 669 | modell_fliegt = 0; |
||
| 670 | SetNeutral(); |
||
| 671 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
| 672 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 673 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 674 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 675 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 676 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 1232 | hbuss | 677 | Piep(GetActiveParamSetNumber(),120); |
| 1051 | killagreg | 678 | } |
| 513 | hbuss | 679 | } |
| 1 | ingob | 680 | else delay_neutral = 0; |
| 681 | } |
||
| 1051 | killagreg | 682 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 683 | // Gas ist unten |
| 1051 | killagreg | 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 685 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 686 | { |
| 687 | // Starten |
||
| 688 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 689 | { |
||
| 1051 | killagreg | 690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 691 | // Einschalten |
| 1051 | killagreg | 692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 693 | if(++delay_einschalten > 200) |
| 694 | { |
||
| 695 | delay_einschalten = 200; |
||
| 696 | modell_fliegt = 1; |
||
| 697 | MotorenEin = 1; |
||
| 698 | sollGier = 0; |
||
| 1051 | killagreg | 699 | Mess_Integral_Gier = 0; |
| 1 | ingob | 700 | Mess_Integral_Gier2 = 0; |
| 1173 | hbuss | 701 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 702 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 1 | ingob | 703 | Mess_IntegralNick2 = IntegralNick; |
| 704 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 705 | SummeNick = 0; |
||
| 706 | SummeRoll = 0; |
||
| 921 | hbuss | 707 | MikroKopterFlags |= FLAG_START; |
| 1051 | killagreg | 708 | } |
| 709 | } |
||
| 1 | ingob | 710 | else delay_einschalten = 0; |
| 711 | //Auf Neutralwerte setzen |
||
| 1051 | killagreg | 712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 713 | // Auschalten |
| 1051 | killagreg | 714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 715 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| 716 | { |
||
| 717 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 718 | { |
||
| 1298 | hbuss | 719 | MotorenEin = 0; |
| 720 | delay_ausschalten = 200; |
||
| 721 | modell_fliegt = 0; |
||
| 1051 | killagreg | 722 | } |
| 1 | ingob | 723 | } |
| 724 | else delay_ausschalten = 0; |
||
| 725 | } |
||
| 726 | } |
||
| 727 | |||
| 1051 | killagreg | 728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 729 | // neue Werte von der Funke |
| 1051 | killagreg | 730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 731 | |
| 1254 | killagreg | 732 | if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG)) |
| 1 | ingob | 733 | { |
| 604 | hbuss | 734 | static int stick_nick,stick_roll; |
| 1 | ingob | 735 | ParameterZuordnung(); |
| 1051 | killagreg | 736 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 737 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 805 | hbuss | 738 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| 604 | hbuss | 739 | |
| 723 | hbuss | 740 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 741 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 805 | hbuss | 742 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| 723 | hbuss | 743 | |
| 1 | ingob | 744 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 745 | if(StickGier > 2) StickGier -= 2; else |
| 746 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 747 | |||
| 595 | hbuss | 748 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1153 | hbuss | 749 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 750 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1211 | hbuss | 751 | GyroFaktorGier = (Parameter_Gyro_P + 10.0); |
| 752 | IntegralFaktorGier = Parameter_Gyro_I; |
||
| 1 | ingob | 753 | |
| 595 | hbuss | 754 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 755 | //+ Analoge Steuerung per Seriell |
||
| 756 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 757 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 758 | { |
| 759 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 760 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 761 | StickGier += ExternControl.Gier; |
||
| 762 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 763 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 764 | } |
||
| 855 | hbuss | 765 | if(StickGas < 0) StickGas = 0; |
| 492 | hbuss | 766 | |
| 1 | ingob | 767 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 768 | if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 769 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 723 | hbuss | 770 | |
| 1051 | killagreg | 771 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 772 | { |
| 1051 | killagreg | 773 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 774 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 775 | } |
| 928 | hbuss | 776 | else MaxStickNick--; |
| 1051 | killagreg | 777 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 778 | { |
| 1051 | killagreg | 779 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 780 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 781 | } |
| 928 | hbuss | 782 | else MaxStickRoll--; |
| 1254 | killagreg | 783 | if(MikroKopterFlags & FLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 784 | |
| 1051 | killagreg | 785 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 786 | // Looping? |
| 1051 | killagreg | 787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 788 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 789 | else |
| 790 | { |
||
| 395 | hbuss | 791 | { |
| 1051 | killagreg | 792 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 793 | } |
||
| 794 | } |
||
| 993 | hbuss | 795 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 796 | else |
| 395 | hbuss | 797 | { |
| 798 | if(Looping_Rechts) // Hysterese |
||
| 799 | { |
||
| 800 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 801 | } |
||
| 1051 | killagreg | 802 | } |
| 173 | holgerb | 803 | |
| 993 | hbuss | 804 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 805 | else |
| 806 | { |
||
| 395 | hbuss | 807 | if(Looping_Oben) // Hysterese |
| 808 | { |
||
| 1051 | killagreg | 809 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 810 | } |
||
| 811 | } |
||
| 993 | hbuss | 812 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 813 | else |
| 395 | hbuss | 814 | { |
| 815 | if(Looping_Unten) // Hysterese |
||
| 816 | { |
||
| 817 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 818 | } |
||
| 1051 | killagreg | 819 | } |
| 395 | hbuss | 820 | |
| 821 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 822 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 823 | } // Ende neue Funken-Werte |
| 824 | |||
| 825 | if(Looping_Roll || Looping_Nick) |
||
| 826 | { |
||
| 173 | holgerb | 827 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 828 | TrichterFlug = 1; |
| 173 | holgerb | 829 | } |
| 830 | |||
| 1051 | killagreg | 831 | |
| 832 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 833 | // Bei Empfangsausfall im Flug |
||
| 834 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1254 | killagreg | 835 | if(MikroKopterFlags & FLAG_NOTLANDUNG) |
| 1 | ingob | 836 | { |
| 837 | StickGier = 0; |
||
| 838 | StickNick = 0; |
||
| 839 | StickRoll = 0; |
||
| 1211 | hbuss | 840 | GyroFaktor = 90; |
| 841 | IntegralFaktor = 120; |
||
| 842 | GyroFaktorGier = 90; |
||
| 843 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 844 | Looping_Roll = 0; |
| 845 | Looping_Nick = 0; |
||
| 1051 | killagreg | 846 | } |
| 395 | hbuss | 847 | |
| 848 | |||
| 1051 | killagreg | 849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 850 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 852 | #define ABGLEICH_ANZAHL 256L |
| 853 | |||
| 854 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 855 | MittelIntegralRoll += IntegralRoll; |
||
| 856 | MittelIntegralNick2 += IntegralNick2; |
||
| 857 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 858 | |||
| 859 | if(Looping_Nick || Looping_Roll) |
||
| 860 | { |
||
| 861 | IntegralAccNick = 0; |
||
| 862 | IntegralAccRoll = 0; |
||
| 863 | MittelIntegralNick = 0; |
||
| 864 | MittelIntegralRoll = 0; |
||
| 865 | MittelIntegralNick2 = 0; |
||
| 866 | MittelIntegralRoll2 = 0; |
||
| 867 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 868 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 869 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 870 | LageKorrekturNick = 0; |
| 871 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 872 | } |
| 873 | |||
| 1051 | killagreg | 874 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 875 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 876 | { |
| 877 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 878 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 879 | { |
| 880 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 881 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 882 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 883 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 884 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 885 | { |
||
| 886 | tmp_long /= 2; |
||
| 887 | tmp_long2 /= 2; |
||
| 888 | } |
||
| 889 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 890 | { |
||
| 891 | tmp_long /= 3; |
||
| 892 | tmp_long2 /= 3; |
||
| 893 | } |
||
| 894 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 895 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 896 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 897 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 898 | } |
||
| 1051 | killagreg | 899 | else |
| 992 | hbuss | 900 | { |
| 901 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 902 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 903 | tmp_long /= 16; |
| 904 | tmp_long2 /= 16; |
||
| 905 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 906 | { |
||
| 907 | tmp_long /= 3; |
||
| 908 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 909 | } |
| 910 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 911 | { |
| 912 | tmp_long /= 3; |
||
| 913 | tmp_long2 /= 3; |
||
| 914 | } |
||
| 1155 | hbuss | 915 | |
| 916 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 917 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 918 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 919 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 920 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 921 | } |
||
| 1166 | hbuss | 922 | |
| 923 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 1111 | hbuss | 924 | Mess_IntegralNick -= tmp_long; |
| 925 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 926 | } |
| 1051 | killagreg | 927 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 928 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 929 | { |
||
| 930 | static int cnt = 0; |
||
| 931 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 932 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 933 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 934 | { |
| 395 | hbuss | 935 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 936 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 937 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 938 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 939 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 492 | hbuss | 940 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 941 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 942 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 943 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 944 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 945 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 946 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 947 | |
| 948 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 949 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 950 | |
| 992 | hbuss | 951 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 952 | { |
| 953 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 954 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 955 | } |
| 498 | hbuss | 956 | |
| 1051 | killagreg | 957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 958 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 960 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 961 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 962 | tmp_long = IntegralNick2 - IntegralNick; |
| 963 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 964 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 965 | |||
| 966 | IntegralFehlerNick = tmp_long; |
||
| 967 | IntegralFehlerRoll = tmp_long2; |
||
| 968 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 969 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 970 | |||
| 971 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
| 972 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 1111 | hbuss | 973 | if(EE_Parameter.Driftkomp) |
| 974 | { |
||
| 927 | hbuss | 975 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
| 976 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 1111 | hbuss | 977 | } |
| 1153 | hbuss | 978 | //DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| 921 | hbuss | 979 | //DebugOut.Analog[24] = GierGyroFehler; |
| 693 | hbuss | 980 | GierGyroFehler = 0; |
| 720 | ingob | 981 | |
| 982 | |||
| 983 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
||
| 395 | hbuss | 984 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
| 985 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 986 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 720 | ingob | 987 | */ |
| 988 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 989 | //MittelIntegralRoll = MittelIntegralRoll; |
||
| 469 | hbuss | 990 | //DebugOut.Analog[28] = ausgleichNick; |
| 720 | ingob | 991 | /* |
| 395 | hbuss | 992 | DebugOut.Analog[29] = ausgleichRoll; |
| 498 | hbuss | 993 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| 720 | ingob | 994 | */ |
| 395 | hbuss | 995 | |
| 1243 | killagreg | 996 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 997 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 998 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 999 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1000 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1001 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1002 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1003 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1004 | { |
| 1051 | killagreg | 1005 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1006 | { |
| 1051 | killagreg | 1007 | if(last_n_p) |
| 395 | hbuss | 1008 | { |
| 1173 | hbuss | 1009 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1010 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1011 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1012 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1013 | } |
| 395 | hbuss | 1014 | else last_n_p = 1; |
| 1015 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1016 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1017 | { |
| 1018 | if(last_n_n) |
||
| 1051 | killagreg | 1019 | { |
| 1173 | hbuss | 1020 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1021 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1022 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1023 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1024 | } |
| 395 | hbuss | 1025 | else last_n_n = 1; |
| 1026 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1027 | } |
| 1028 | else |
||
| 847 | hbuss | 1029 | { |
| 1030 | cnt = 0; |
||
| 921 | hbuss | 1031 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1032 | } |
| 499 | hbuss | 1033 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1034 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1035 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1036 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1037 | |
| 395 | hbuss | 1038 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 492 | hbuss | 1039 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| 1225 | hbuss | 1040 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 498 | hbuss | 1041 | ausgleichRoll = 0; |
| 1173 | hbuss | 1042 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1043 | { |
| 1051 | killagreg | 1044 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1045 | { |
| 1051 | killagreg | 1046 | if(last_r_p) |
| 395 | hbuss | 1047 | { |
| 1173 | hbuss | 1048 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1049 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1050 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1051 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1052 | } |
| 395 | hbuss | 1053 | else last_r_p = 1; |
| 1054 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1055 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1056 | { |
| 1051 | killagreg | 1057 | if(last_r_n) |
| 395 | hbuss | 1058 | { |
| 1173 | hbuss | 1059 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1060 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1061 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1062 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1063 | } |
| 1064 | else last_r_n = 1; |
||
| 1065 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1066 | } else |
| 492 | hbuss | 1067 | { |
| 1068 | cnt = 0; |
||
| 921 | hbuss | 1069 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1070 | } |
| 499 | hbuss | 1071 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1072 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1073 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1074 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1075 | } |
| 1051 | killagreg | 1076 | else |
| 498 | hbuss | 1077 | { |
| 1078 | LageKorrekturRoll = 0; |
||
| 1079 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1080 | TrichterFlug = 0; |
| 498 | hbuss | 1081 | } |
| 1051 | killagreg | 1082 | |
| 498 | hbuss | 1083 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1085 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1086 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1088 | IntegralAccNick = 0; |
| 1089 | IntegralAccRoll = 0; |
||
| 1090 | IntegralAccZ = 0; |
||
| 1091 | MittelIntegralNick = 0; |
||
| 1092 | MittelIntegralRoll = 0; |
||
| 1093 | MittelIntegralNick2 = 0; |
||
| 1094 | MittelIntegralRoll2 = 0; |
||
| 1095 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1096 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1097 | |
| 1173 | hbuss | 1098 | |
| 1051 | killagreg | 1099 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1100 | // Gieren |
| 1051 | killagreg | 1101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 1102 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| 1051 | killagreg | 1103 | if(abs(StickGier) > 15) // war 35 |
| 1 | ingob | 1104 | { |
| 921 | hbuss | 1105 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1106 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1107 | { |
||
| 1108 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1109 | }; |
| 1 | ingob | 1110 | } |
| 395 | hbuss | 1111 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1112 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1113 | sollGier = tmp_int; |
| 1051 | killagreg | 1114 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1115 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1116 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1117 | |
| 1118 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1119 | // Kompass |
| 1051 | killagreg | 1120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1175 | hbuss | 1121 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
| 819 | hbuss | 1122 | |
| 1051 | killagreg | 1123 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1 | ingob | 1124 | { |
| 819 | hbuss | 1125 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1126 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1127 | v = abs(IntegralRoll /512); |
||
| 1128 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 824 | hbuss | 1129 | korrektur = w / 8 + 1; |
| 921 | hbuss | 1130 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1171 | hbuss | 1131 | if(abs(MesswertGier) > 128) |
| 1036 | hbuss | 1132 | { |
| 1133 | fehler = 0; |
||
| 1051 | killagreg | 1134 | } |
| 921 | hbuss | 1135 | if(!KompassSignalSchlecht && w < 25) |
| 1136 | { |
||
| 1137 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1138 | if(NeueKompassRichtungMerken) |
| 1139 | { |
||
| 921 | hbuss | 1140 | beeptime = 200; |
| 847 | hbuss | 1141 | // KompassStartwert = KompassValue; |
| 1171 | hbuss | 1142 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1143 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1144 | NeueKompassRichtungMerken = 0; |
||
| 1145 | } |
||
| 1 | ingob | 1146 | } |
| 824 | hbuss | 1147 | ErsatzKompass += (fehler * 8) / korrektur; |
| 921 | hbuss | 1148 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1149 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1150 | if(w >= 0) |
| 1 | ingob | 1151 | { |
| 1051 | killagreg | 1152 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1153 | { |
| 1051 | killagreg | 1154 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1155 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 1156 | // r = KompassRichtung; |
||
| 819 | hbuss | 1157 | v = (r * w) / v; // nach Kompass ausrichten |
| 1158 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1159 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1160 | else |
| 693 | hbuss | 1161 | if(v < -w) v = -w; |
| 1162 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1163 | } |
| 693 | hbuss | 1164 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1165 | } |
| 921 | hbuss | 1166 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1167 | } |
| 1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1169 | |
| 1051 | killagreg | 1170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1171 | // Debugwerte zuordnen |
| 1051 | killagreg | 1172 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1173 | if(!TimerWerteausgabe--) |
| 1174 | { |
||
| 395 | hbuss | 1175 | TimerWerteausgabe = 24; |
| 805 | hbuss | 1176 | |
| 1171 | hbuss | 1177 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| 1178 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
| 1179 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
| 1180 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
| 1 | ingob | 1181 | DebugOut.Analog[4] = MesswertGier; |
| 1283 | hbuss | 1182 | DebugOut.Analog[5] = HoehenWert/5; |
| 1224 | hbuss | 1183 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| 1 | ingob | 1184 | DebugOut.Analog[8] = KompassValue; |
| 297 | holgerb | 1185 | DebugOut.Analog[9] = UBat; |
| 1283 | hbuss | 1186 | DebugOut.Analog[10] = SenderOkay; |
| 1051 | killagreg | 1187 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 929 | hbuss | 1188 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
| 1083 | killagreg | 1189 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| 1253 | killagreg | 1190 | DebugOut.Analog[18] = VarioMeter; |
| 819 | hbuss | 1191 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 854 | hbuss | 1192 | DebugOut.Analog[20] = ServoValue; |
| 1283 | hbuss | 1193 | DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| 1171 | hbuss | 1194 | // DebugOut.Analog[24] = MesswertNick/2; |
| 1195 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
| 1173 | hbuss | 1196 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
| 1172 | hbuss | 1197 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
| 1198 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1215 | hbuss | 1199 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 1216 | killagreg | 1200 | DebugOut.Analog[30] = GPS_Nick; |
| 720 | ingob | 1201 | DebugOut.Analog[31] = GPS_Roll; |
| 1202 | |||
| 805 | hbuss | 1203 | |
| 1204 | // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
||
| 1205 | // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
||
| 1206 | |||
| 173 | holgerb | 1207 | /* DebugOut.Analog[16] = motor_rx[0]; |
| 1208 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1209 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1210 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1211 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1212 | DebugOut.Analog[20] /= 14; |
||
| 1213 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1214 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1215 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1216 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1217 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1218 | */ |
||
| 1219 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1 | ingob | 1220 | // DebugOut.Analog[9] = SollHoehe; |
| 1221 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 1222 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 1051 | killagreg | 1223 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
| 1224 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
||
| 1225 | // DebugOut.Analog[9] = KompassRichtung; |
||
| 1 | ingob | 1226 | // DebugOut.Analog[10] = GasMischanteil; |
| 1227 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 1228 | // DebugOut.Analog[4] = hoehenregler; |
||
| 1229 | } |
||
| 1230 | |||
| 1051 | killagreg | 1231 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1232 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1233 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1234 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1235 | |
| 1171 | hbuss | 1236 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1237 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1238 | |
| 1167 | hbuss | 1239 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1240 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1241 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1242 | |
| 1166 | hbuss | 1243 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1244 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1245 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1246 | |
| 1 | ingob | 1247 | // Maximalwerte abfangen |
| 1153 | hbuss | 1248 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1249 | #define MAX_SENSOR (4096*4) |
||
| 1216 | killagreg | 1250 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1251 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1252 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1253 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1254 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1255 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1256 | |||
| 1051 | killagreg | 1257 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1210 | hbuss | 1258 | // all BL-Ctrl connected? |
| 1259 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1216 | killagreg | 1260 | if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1261 | { |
||
| 1262 | modell_fliegt = 1; |
||
| 1263 | GasMischanteil = MIN_GAS; |
||
| 1264 | } |
||
| 1210 | hbuss | 1265 | |
| 1266 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1267 | // Höhenregelung |
| 1268 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1269 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1278 | hbuss | 1270 | if(UBat > BattLowVoltageWarning) GasMischanteil = (GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1271 | GasMischanteil *= STICK_GAIN; |
| 1278 | hbuss | 1272 | |
| 1 | ingob | 1273 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| 1274 | { |
||
| 1275 | int tmp_int; |
||
| 1276 | hbuss | 1276 | long tmp_long_h; |
| 1283 | hbuss | 1277 | static int hoover = 400, maxhoover,minhoover,gas_old; |
| 1036 | hbuss | 1278 | static char delay = 100; |
| 1276 | hbuss | 1279 | unsigned char angle_gas = 0; |
| 1 | ingob | 1280 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| 1281 | { |
||
| 1216 | killagreg | 1282 | if(Parameter_MaxHoehe < 50) |
| 1 | ingob | 1283 | { |
| 1036 | hbuss | 1284 | if(!delay--) |
| 1285 | { |
||
| 1246 | killagreg | 1286 | #define OPA_OFFSET_STEP 10 |
| 1287 | if((MessLuftdruck > 1000) && (OCR0A < (255 - OPA_OFFSET_STEP)) ) |
||
| 1036 | hbuss | 1288 | { |
| 1246 | killagreg | 1289 | ExpandBaro -= 1; |
| 1290 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; |
||
| 1225 | hbuss | 1291 | beeptime = 300; |
| 1292 | delay = 250; |
||
| 1036 | hbuss | 1293 | } |
| 1246 | killagreg | 1294 | else if((MessLuftdruck < 100) && (OCR0A > OPA_OFFSET_STEP)) |
| 1036 | hbuss | 1295 | { |
| 1246 | killagreg | 1296 | ExpandBaro += 1; |
| 1297 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; |
||
| 1298 | beeptime = 300; |
||
| 1299 | delay = 250; |
||
| 1036 | hbuss | 1300 | } |
| 1301 | else |
||
| 1051 | killagreg | 1302 | { |
| 1246 | killagreg | 1303 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| 1304 | HoehenReglerAktiv = 0; |
||
| 1305 | delay = 1; |
||
| 1036 | hbuss | 1306 | } |
| 1051 | killagreg | 1307 | } |
| 1 | ingob | 1308 | } |
| 1051 | killagreg | 1309 | else |
| 1310 | { |
||
| 1036 | hbuss | 1311 | HoehenReglerAktiv = 1; |
| 1312 | delay = 200; |
||
| 1051 | killagreg | 1313 | } |
| 1 | ingob | 1314 | } |
| 1051 | killagreg | 1315 | else |
| 1 | ingob | 1316 | { |
| 492 | hbuss | 1317 | SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| 1 | ingob | 1318 | HoehenReglerAktiv = 1; |
| 1319 | } |
||
| 1320 | |||
| 1254 | killagreg | 1321 | if(MikroKopterFlags & FLAG_NOTLANDUNG) SollHoehe = 0; |
| 1 | ingob | 1322 | h = HoehenWert; |
| 1323 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
||
| 1051 | killagreg | 1324 | { |
| 1276 | hbuss | 1325 | int vario; |
| 1279 | hbuss | 1326 | static char delay = 1; |
| 1327 | // + P-Part ++++++++++++++++++++++++++ |
||
| 1328 | h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
||
| 1329 | h = GasMischanteil - h; // vom Gas abziehen |
||
| 1330 | if(!delay--) |
||
| 1331 | { |
||
| 1332 | delay = 2; |
||
| 1283 | hbuss | 1333 | hoover = (15*hoover + h) / 16 + (GasMischanteil - gas_old); |
| 1334 | gas_old = GasMischanteil; |
||
| 1279 | hbuss | 1335 | if(hoover < h) hoover++; else hoover--; |
| 1283 | hbuss | 1336 | if(EE_Parameter.Hoehe_HoverBand) |
| 1337 | { |
||
| 1338 | unsigned int band; |
||
| 1339 | band = hoover / EE_Parameter.Hoehe_HoverBand; |
||
| 1340 | maxhoover = hoover + band; // max. 16% |
||
| 1341 | minhoover = hoover - band; // max. 16% |
||
| 1342 | } |
||
| 1343 | else |
||
| 1344 | { |
||
| 1345 | maxhoover = 1023; |
||
| 1346 | minhoover = 0; |
||
| 1347 | } |
||
| 1279 | hbuss | 1348 | } |
| 1349 | if(maxhoover < 200) maxhoover = 200; |
||
| 1350 | DebugOut.Analog[25] = hoover; |
||
| 1351 | DebugOut.Analog[26] = maxhoover; |
||
| 1352 | DebugOut.Analog[28] = minhoover; |
||
| 1353 | |||
| 1354 | // + D1-Part - Vario ++++++++++++++++++++++++++ |
||
| 1276 | hbuss | 1355 | vario = VarioMeter / 8; |
| 1356 | if(vario > 8) vario = 8; |
||
| 1357 | if(vario > 0) vario = VarioMeter + (vario * vario) / 4; |
||
| 1358 | else vario = VarioMeter - (vario * vario) / 4; |
||
| 1279 | hbuss | 1359 | vario = (Parameter_Luftdruck_D * (long)vario)/128L; // D-Anteil |
| 1360 | DebugOut.Analog[24] = -vario; |
||
| 1283 | hbuss | 1361 | if(vario > 255) vario = 255; |
| 1362 | else if(vario < -127) vario = -127; |
||
| 1279 | hbuss | 1363 | h -= vario; |
| 1364 | |||
| 1365 | // + D2-Part - ACC ++++++++++++++++++++++++++ |
||
| 1366 | // tmp_int = (((Mess_Integral_Hoch / 128)/*+AdWertAccHoch*/) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (32); |
||
| 871 | hbuss | 1367 | tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
| 1279 | hbuss | 1368 | DebugOut.Analog[23] = -tmp_int; |
| 1283 | hbuss | 1369 | if(tmp_int > 255) tmp_int = 255; |
| 1370 | else if(tmp_int < -127) tmp_int = -127; |
||
| 1 | ingob | 1371 | h -= tmp_int; |
| 1276 | hbuss | 1372 | |
| 1279 | hbuss | 1373 | if(h > maxhoover) h = maxhoover; |
| 1374 | else |
||
| 1375 | if(h < minhoover) h = minhoover; |
||
| 1283 | hbuss | 1376 | |
| 1377 | // + D3-Part - GPS ++++++++++++++++++++++++++ |
||
| 1378 | vario = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L; // D-Anteil |
||
| 1379 | DebugOut.Analog[24] = -vario; |
||
| 1380 | // if(vario > 127) vario = 127; |
||
| 1381 | // else |
||
| 1382 | // if(vario < -63) vario = -63; |
||
| 1383 | h -= vario; |
||
| 1384 | |||
| 1385 | |||
| 1279 | hbuss | 1386 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
| 1276 | hbuss | 1387 | const unsigned char GAS_TAB[31] = {128,128,128,129,129,130,131,132,133,135,136,138,140,142,145,148,151,154,158,162,167,172,178,184,191,199,208,218,229,241,255}; |
| 1388 | tmp_long_h = labs(IntegralNick) + labs(IntegralRoll); |
||
| 1389 | tmp_long_h /= 1500;//1024 * 2; |
||
| 1390 | if(tmp_long_h > 29) tmp_long_h = 29; |
||
| 1391 | h = ((long) h * GAS_TAB[tmp_long_h]) / 128L; |
||
| 1279 | hbuss | 1392 | |
| 1393 | // + Begrenzung ++++++++++++++++++++++++++ |
||
| 1394 | hoehenregler = (hoehenregler*3 + h) / 4; |
||
| 855 | hbuss | 1395 | if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
| 1 | ingob | 1396 | { |
| 855 | hbuss | 1397 | if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
| 1398 | if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
||
| 1051 | killagreg | 1399 | } |
| 1 | ingob | 1400 | if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| 1401 | GasMischanteil = hoehenregler; |
||
| 1051 | killagreg | 1402 | } |
| 1283 | hbuss | 1403 | else |
| 1404 | { |
||
| 1405 | hoover = GasMischanteil; |
||
| 1406 | gas_old = GasMischanteil; |
||
| 1407 | } |
||
| 1 | ingob | 1408 | } |
| 855 | hbuss | 1409 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1410 | |
| 1051 | killagreg | 1411 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1412 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1413 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1414 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1415 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1416 | // Gier-Anteil |
| 1051 | killagreg | 1417 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 188 | holgerb | 1418 | #define MUL_G 1.0 |
| 855 | hbuss | 1419 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 604 | hbuss | 1420 | // GierMischanteil = 0; |
| 855 | hbuss | 1421 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| 693 | hbuss | 1422 | if(GasMischanteil > MIN_GIERGAS) |
| 1423 | { |
||
| 1051 | killagreg | 1424 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1425 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1426 | } |
| 1051 | killagreg | 1427 | else |
| 693 | hbuss | 1428 | { |
| 1051 | killagreg | 1429 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1430 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1431 | } |
| 855 | hbuss | 1432 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1433 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1434 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1435 | |
| 1051 | killagreg | 1436 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1437 | // Nick-Achse |
| 1051 | killagreg | 1438 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1439 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1440 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1441 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1442 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1443 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1153 | hbuss | 1444 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1445 | // Motor Vorn |
| 499 | hbuss | 1446 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1447 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1448 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1449 | |
| 1153 | hbuss | 1450 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1451 | // Roll-Achse |
||
| 1452 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1453 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1454 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1455 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1456 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1457 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1458 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
| 1459 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1460 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 1461 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1462 | |||
| 1463 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1464 | // Universal Mixer |
| 1155 | hbuss | 1465 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1466 | for(i=0; i<MAX_MOTORS; i++) |
| 1209 | hbuss | 1467 | { |
| 1468 | signed int tmp_int; |
||
| 1469 | if(Mixer.Motor[i][0] > 0) |
||
| 1470 | { |
||
| 1471 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
| 1472 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1473 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1474 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1475 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
| 1216 | killagreg | 1476 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| 1209 | hbuss | 1477 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1216 | killagreg | 1478 | Motor[i] = tmp_int; |
| 1209 | hbuss | 1479 | } |
| 1480 | else Motor[i] = 0; |
||
| 1481 | } |
||
| 1167 | hbuss | 1482 | /* |
| 1153 | hbuss | 1483 | if(Poti1 > 20) Motor1 = 0; |
| 1484 | if(Poti1 > 90) Motor6 = 0; |
||
| 1485 | if(Poti1 > 140) Motor2 = 0; |
||
| 1175 | hbuss | 1486 | //if(Poti1 > 200) Motor7 = 0; |
| 1167 | hbuss | 1487 | */ |
| 1111 | hbuss | 1488 | } |