Rev 1132 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1112 | thjac | 1 | /*####################################################################################### |
| 2 | Flight Control |
||
| 3 | #######################################################################################*/ |
||
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 5 | // + Copyright (c) 04.2007 Holger Buss |
||
| 6 | // + Nur für den privaten Gebrauch |
||
| 7 | // + www.MikroKopter.com |
||
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 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. |
||
| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
| 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
||
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 21 | // + eindeutig als Ursprung verlinkt werden |
||
| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 24 | // + Benutzung auf eigene Gefahr |
||
| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 28 | // + mit unserer Zustimmung zulässig |
||
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 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 |
||
| 35 | // + from this software without specific prior written permission. |
||
| 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
| 37 | // + for non-commercial use (directly or indirectly) |
||
| 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
| 39 | // + with our written permission |
||
| 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
| 41 | // + clearly linked as origin |
||
| 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
| 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 |
||
| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 52 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 54 | |||
| 55 | #include "main.h" |
||
| 56 | #include "parameter.h" |
||
| 57 | #include "pitch.h" |
||
| 58 | #include "eeprom.c" |
||
| 59 | |||
| 1133 | thjac | 60 | unsigned char h,m,s; |
| 1112 | thjac | 61 | volatile unsigned int I2CTimeout = 100; |
| 1133 | thjac | 62 | volatile int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias; |
| 1112 | thjac | 63 | int AdNeutralGierBias; |
| 1133 | thjac | 64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 65 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
||
| 66 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
||
| 1112 | thjac | 67 | volatile float NeutralAccZ = 0; |
| 68 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
||
| 1133 | thjac | 69 | long IntegralNick = 0,IntegralNick2 = 0; |
| 70 | long IntegralRoll = 0,IntegralRoll2 = 0; |
||
| 71 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
||
| 1112 | thjac | 72 | long Integral_Gier = 0; |
| 1133 | thjac | 73 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| 74 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
||
| 75 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
||
| 76 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
||
| 1112 | thjac | 77 | volatile long Mess_Integral_Hoch = 0; |
| 1133 | thjac | 78 | volatile int KompassValue = 0; |
| 79 | volatile int KompassStartwert = 0; |
||
| 80 | volatile int KompassRichtung = 0; |
||
| 81 | unsigned int KompassSignalSchlecht = 500; |
||
| 82 | unsigned char MAX_GAS,MIN_GAS; |
||
| 1112 | thjac | 83 | unsigned char Notlandung = 0; |
| 84 | unsigned char HoehenReglerAktiv = 0; |
||
| 85 | unsigned char TrichterFlug = 0; |
||
| 86 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
||
| 1133 | thjac | 87 | long ErsatzKompass; |
| 88 | int ErsatzKompassInGrad; // Kompasswert in Grad |
||
| 89 | int GierGyroFehler = 0; |
||
| 1112 | thjac | 90 | float GyroFaktor; |
| 91 | float IntegralFaktor; |
||
| 1133 | thjac | 92 | volatile int DiffNick,DiffRoll; |
| 93 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
||
| 94 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
||
| 1112 | thjac | 95 | volatile unsigned char SenderOkay = 0; |
| 1133 | thjac | 96 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1112 | thjac | 97 | char MotorenEin = 0; |
| 98 | int HoehenWert = 0; |
||
| 99 | int SollHoehe = 0; |
||
| 1133 | thjac | 100 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 101 | float Ki = FAKTOR_I; |
||
| 102 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
||
| 1112 | thjac | 103 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| 104 | |||
| 1133 | thjac | 105 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| 106 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
||
| 107 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
||
| 1112 | thjac | 108 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| 1133 | thjac | 109 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| 110 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
||
| 111 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
||
| 112 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
||
| 113 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
||
| 1112 | thjac | 114 | unsigned char Parameter_UserParam1 = 0; |
| 115 | unsigned char Parameter_UserParam2 = 0; |
||
| 116 | unsigned char Parameter_UserParam3 = 0; |
||
| 117 | unsigned char Parameter_UserParam4 = 0; |
||
| 118 | unsigned char Parameter_UserParam5 = 0; |
||
| 119 | unsigned char Parameter_UserParam6 = 0; |
||
| 120 | unsigned char Parameter_UserParam7 = 0; |
||
| 121 | unsigned char Parameter_UserParam8 = 0; |
||
| 122 | unsigned char Parameter_ServoNickControl = 100; |
||
| 123 | unsigned char Parameter_LoopGasLimit = 70; |
||
| 124 | unsigned char Parameter_AchsKopplung1 = 0; |
||
| 125 | unsigned char Parameter_AchsGegenKopplung1 = 0; |
||
| 126 | unsigned char Parameter_DynamicStability = 100; |
||
| 1133 | thjac | 127 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 128 | unsigned char Parameter_J16Timing; // for the J16 Output |
||
| 129 | unsigned char Parameter_J16Brightness; // for the J16 Output |
||
| 130 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
||
| 131 | unsigned char Parameter_J17Timing; // for the J17 Output |
||
| 132 | unsigned char Parameter_J17Brightness; // for the J17 Output |
||
| 133 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
||
| 1112 | thjac | 134 | unsigned char Parameter_NaviGpsGain; |
| 135 | unsigned char Parameter_NaviGpsP; |
||
| 136 | unsigned char Parameter_NaviGpsI; |
||
| 137 | unsigned char Parameter_NaviGpsD; |
||
| 138 | unsigned char Parameter_NaviGpsACC; |
||
| 139 | unsigned char Parameter_NaviOperatingRadius; |
||
| 140 | unsigned char Parameter_NaviWindCorrection; |
||
| 141 | unsigned char Parameter_NaviSpeedCompensation; |
||
| 142 | unsigned char Parameter_ExternalControl; |
||
| 143 | struct mk_param_struct EE_Parameter; |
||
| 1133 | thjac | 144 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 145 | int MaxStickNick = 0,MaxStickRoll = 0; |
||
| 146 | unsigned int modell_fliegt = 0; |
||
| 1112 | thjac | 147 | unsigned char MikroKopterFlags = 0; |
| 148 | |||
| 1133 | thjac | 149 | void Piep(unsigned char Anzahl) |
| 150 | { |
||
| 151 | while(Anzahl--) |
||
| 152 | { |
||
| 153 | if(MotorenEin) return; //auf keinen Fall im Flug! |
||
| 154 | beeptime = 100; |
||
| 155 | Delay_ms(250); |
||
| 156 | } |
||
| 1112 | thjac | 157 | } |
| 158 | |||
| 159 | //############################################################################ |
||
| 160 | // Nullwerte ermitteln |
||
| 161 | void SetNeutral(void) |
||
| 162 | //############################################################################ |
||
| 163 | { |
||
| 1133 | thjac | 164 | NeutralAccX = 0; |
| 165 | NeutralAccY = 0; |
||
| 166 | NeutralAccZ = 0; |
||
| 1112 | thjac | 167 | AdNeutralNick = 0; |
| 1133 | thjac | 168 | AdNeutralRoll = 0; |
| 169 | AdNeutralGier = 0; |
||
| 1112 | thjac | 170 | AdNeutralGierBias = 0; |
| 171 | Parameter_AchsKopplung1 = 0; |
||
| 172 | Parameter_AchsGegenKopplung1 = 0; |
||
| 173 | ExpandBaro = 0; |
||
| 174 | CalibrierMittelwert(); |
||
| 175 | Delay_ms_Mess(100); |
||
| 1133 | thjac | 176 | CalibrierMittelwert(); |
| 177 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 178 | { |
||
| 179 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
| 180 | } |
||
| 181 | |||
| 182 | AdNeutralNick= AdWertNick; |
||
| 183 | AdNeutralRoll= AdWertRoll; |
||
| 184 | AdNeutralGier= AdWertGier; |
||
| 185 | AdNeutralGierBias = AdWertGier; |
||
| 186 | StartNeutralRoll = AdNeutralRoll; |
||
| 187 | StartNeutralNick = AdNeutralNick; |
||
| 188 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
||
| 1112 | thjac | 189 | { |
| 1133 | thjac | 190 | NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| 191 | NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
||
| 192 | NeutralAccZ = Aktuell_az; |
||
| 1112 | thjac | 193 | } |
| 1133 | thjac | 194 | else |
| 195 | { |
||
| 196 | NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
||
| 197 | NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
||
| 198 | NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
||
| 1112 | thjac | 199 | } |
| 200 | |||
| 1133 | thjac | 201 | Mess_IntegralNick = 0; |
| 1112 | thjac | 202 | Mess_IntegralNick2 = 0; |
| 203 | Mess_IntegralRoll = 0; |
||
| 204 | Mess_IntegralRoll2 = 0; |
||
| 205 | Mess_Integral_Gier = 0; |
||
| 206 | MesswertNick = 0; |
||
| 207 | MesswertRoll = 0; |
||
| 208 | MesswertGier = 0; |
||
| 1133 | thjac | 209 | Delay_ms_Mess(100); |
| 1112 | thjac | 210 | StartLuftdruck = Luftdruck; |
| 211 | HoeheD = 0; |
||
| 212 | Mess_Integral_Hoch = 0; |
||
| 213 | KompassStartwert = KompassValue; |
||
| 214 | GPS_Neutral(); |
||
| 215 | beeptime = 50; |
||
| 1133 | thjac | 216 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 217 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 1112 | thjac | 218 | ExternHoehenValue = 0; |
| 219 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
| 220 | GierGyroFehler = 0; |
||
| 221 | SendVersionToNavi = 1; |
||
| 222 | LED_Init(); |
||
| 223 | MikroKopterFlags |= FLAG_CALIBRATE; |
||
| 224 | FromNaviCtrl_Value.Kalman_K = -1; |
||
| 225 | FromNaviCtrl_Value.Kalman_MaxDrift = EE_Parameter.Driftkomp * 16; |
||
| 226 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
||
| 227 | } |
||
| 228 | |||
| 229 | //############################################################################ |
||
| 230 | // Bearbeitet die Messwerte |
||
| 231 | void Mittelwert(void) |
||
| 232 | //############################################################################ |
||
| 233 | { |
||
| 1133 | thjac | 234 | static signed long tmpl,tmpl2; |
| 1112 | thjac | 235 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 236 | MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
||
| 237 | MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
||
| 238 | MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
||
| 239 | |||
| 1133 | thjac | 240 | //DebugOut.Analog[26] = MesswertNick; |
| 241 | // DebugOut.Analog[28] = MesswertRoll; |
||
| 1112 | thjac | 242 | |
| 1133 | thjac | 243 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 244 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
||
| 245 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
||
| 246 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
||
| 1112 | thjac | 247 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 248 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 1133 | thjac | 249 | NaviAccNick += AdWertAccNick; |
| 250 | NaviAccRoll += AdWertAccRoll; |
||
| 1112 | thjac | 251 | NaviCntAcc++; |
| 1133 | thjac | 252 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 253 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 254 | ErsatzKompass += MesswertGier; |
||
| 255 | Mess_Integral_Gier += MesswertGier; |
||
| 256 | // Mess_Integral_Gier2 += MesswertGier; |
||
| 257 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 258 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 259 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
||
| 260 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 261 | { |
||
| 262 | tmpl = (MesswertGierBias * Mess_IntegralNick) / 2048L; |
||
| 263 | tmpl *= Parameter_AchsKopplung1; //125 |
||
| 264 | tmpl /= 4096L; |
||
| 265 | tmpl2 = (MesswertGierBias * Mess_IntegralRoll) / 2048L; |
||
| 266 | tmpl2 *= Parameter_AchsKopplung1; |
||
| 267 | tmpl2 /= 4096L; |
||
| 268 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
||
| 269 | } |
||
| 270 | else tmpl = tmpl2 = 0; |
||
| 271 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 272 | MesswertRoll += tmpl; |
||
| 273 | MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
||
| 274 | Mess_IntegralRoll2 += MesswertRoll; |
||
| 275 | Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
||
| 276 | if(Mess_IntegralRoll > Umschlag180Roll) |
||
| 277 | { |
||
| 278 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
||
| 279 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 280 | } |
||
| 281 | if(Mess_IntegralRoll <-Umschlag180Roll) |
||
| 282 | { |
||
| 283 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
||
| 284 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 285 | } |
||
| 286 | if(AdWertRoll < 15) MesswertRoll = -1000; |
||
| 287 | if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 288 | if(PlatinenVersion == 10) |
||
| 289 | { |
||
| 290 | if(AdWertRoll > 1010) MesswertRoll = +1000; |
||
| 291 | if(AdWertRoll > 1017) MesswertRoll = +2000; |
||
| 292 | } |
||
| 293 | else |
||
| 294 | { |
||
| 295 | if(AdWertRoll > 2020) MesswertRoll = +1000; |
||
| 296 | if(AdWertRoll > 2034) MesswertRoll = +2000; |
||
| 297 | } |
||
| 298 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 299 | MesswertNick -= tmpl2; |
||
| 300 | MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
||
| 301 | Mess_IntegralNick2 += MesswertNick; |
||
| 302 | Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
||
| 1112 | thjac | 303 | |
| 1133 | thjac | 304 | if(Mess_IntegralNick > Umschlag180Nick) |
| 305 | { |
||
| 306 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 307 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 308 | } |
||
| 309 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 310 | { |
||
| 311 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
||
| 312 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 313 | } |
||
| 314 | if(AdWertNick < 15) MesswertNick = -1000; |
||
| 315 | if(AdWertNick < 7) MesswertNick = -2000; |
||
| 316 | if(PlatinenVersion == 10) |
||
| 317 | { |
||
| 318 | if(AdWertNick > 1010) MesswertNick = +1000; |
||
| 319 | if(AdWertNick > 1017) MesswertNick = +2000; |
||
| 320 | } |
||
| 321 | else |
||
| 322 | { |
||
| 323 | if(AdWertNick > 2020) MesswertNick = +1000; |
||
| 324 | if(AdWertNick > 2034) MesswertNick = +2000; |
||
| 325 | } |
||
| 326 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 327 | // ADC einschalten |
||
| 1112 | thjac | 328 | ANALOG_ON; |
| 1133 | thjac | 329 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1112 | thjac | 330 | |
| 1133 | thjac | 331 | Integral_Gier = Mess_Integral_Gier; |
| 1112 | thjac | 332 | IntegralNick = Mess_IntegralNick; |
| 333 | IntegralRoll = Mess_IntegralRoll; |
||
| 334 | IntegralNick2 = Mess_IntegralNick2; |
||
| 335 | IntegralRoll2 = Mess_IntegralRoll2; |
||
| 336 | |||
| 1133 | thjac | 337 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| 338 | { |
||
| 339 | if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
||
| 340 | else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
||
| 341 | if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
||
| 342 | else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
||
| 343 | } |
||
| 344 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
||
| 345 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 346 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 347 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 348 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 349 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 350 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 351 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 1112 | thjac | 352 | } |
| 353 | |||
| 354 | //############################################################################ |
||
| 355 | // Messwerte beim Ermitteln der Nullage |
||
| 356 | void CalibrierMittelwert(void) |
||
| 357 | //############################################################################ |
||
| 358 | { |
||
| 1133 | thjac | 359 | if(PlatinenVersion == 13) SucheGyroOffset(); |
| 1112 | thjac | 360 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| 1133 | thjac | 361 | ANALOG_OFF; |
| 362 | MesswertNick = AdWertNick; |
||
| 363 | MesswertRoll = AdWertRoll; |
||
| 364 | MesswertGier = AdWertGier; |
||
| 365 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 366 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 367 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 368 | // ADC einschalten |
||
| 1112 | thjac | 369 | ANALOG_ON; |
| 1133 | thjac | 370 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| 371 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 372 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 373 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 374 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 375 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 376 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 377 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 1112 | thjac | 378 | |
| 1133 | thjac | 379 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 380 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 1112 | thjac | 381 | } |
| 382 | |||
| 383 | //############################################################################ |
||
| 384 | // Senden der Motorwerte per I2C-Bus |
||
| 385 | void SendMotorData(void) |
||
| 386 | //############################################################################ |
||
| 387 | { |
||
| 388 | DebugOut.Analog[12] = Motor_Vorne; |
||
| 389 | DebugOut.Analog[13] = Motor_Hinten; |
||
| 390 | DebugOut.Analog[14] = Motor_Links; |
||
| 1133 | thjac | 391 | DebugOut.Analog[15] = Motor_Rechts; |
| 1112 | thjac | 392 | |
| 1133 | thjac | 393 | if(!( MotorenEin && PARAM_ENGINE_ENABLED ) ) |
| 394 | { |
||
| 1112 | thjac | 395 | Motor_Hinten = 0; |
| 396 | Motor_Vorne = 0; |
||
| 397 | Motor_Rechts = 0; |
||
| 398 | Motor_Links = 0; |
||
| 1133 | thjac | 399 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| 400 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
||
| 401 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
||
| 402 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
||
| 1112 | thjac | 403 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| 1133 | thjac | 404 | } else MikroKopterFlags |= FLAG_MOTOR_RUN; |
| 1112 | thjac | 405 | |
| 406 | //Start I2C Interrupt Mode |
||
| 407 | twi_state = 0; |
||
| 408 | motor = 0; |
||
| 409 | i2c_start(); |
||
| 410 | } |
||
| 411 | |||
| 412 | |||
| 413 | |||
| 414 | //############################################################################ |
||
| 415 | // Trägt ggf. das Poti als Parameter ein |
||
| 416 | void ParameterZuordnung(void) |
||
| 417 | //############################################################################ |
||
| 418 | { |
||
| 1133 | thjac | 419 | #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;} |
| 420 | #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; } |
||
| 421 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
||
| 422 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
||
| 423 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 424 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
||
| 425 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
||
| 426 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 427 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
||
| 428 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
||
| 429 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 430 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 431 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 432 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 433 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 434 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 435 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 436 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 437 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
||
| 438 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
||
| 439 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
||
| 440 | CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 441 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
||
| 1118 | krheinwald | 442 | |
| 1133 | thjac | 443 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| 444 | CHK_POTI_MM(Parameter_J16Brightness,PARAM_LED_BRIGHTNESS_J16,0,250); |
||
| 445 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 446 | CHK_POTI_MM(Parameter_J17Brightness,PARAM_LED_BRIGHTNESS_J17,0,250); |
||
| 1112 | thjac | 447 | |
| 1133 | thjac | 448 | // CHK_POTI(Parameter_NaviGpsModeControl,EE_Parameter.NaviGpsModeControl,0,255); |
| 449 | //CHK_POTI(Parameter_NaviGpsGain,EE_Parameter.NaviGpsGain,0,255); |
||
| 450 | // CHK_POTI(Parameter_NaviGpsP,EE_Parameter.NaviGpsP,0,255); |
||
| 451 | // CHK_POTI(Parameter_NaviGpsI,EE_Parameter.NaviGpsI,0,255); |
||
| 452 | // CHK_POTI(Parameter_NaviGpsD,EE_Parameter.NaviGpsD,0,255); |
||
| 453 | // CHK_POTI(Parameter_NaviGpsACC,EE_Parameter.NaviGpsACC,0,255); |
||
| 454 | // CHK_POTI_MM(Parameter_NaviOperatingRadius,EE_Parameter.NaviOperatingRadius,10,255); |
||
| 455 | // CHK_POTI(Parameter_NaviWindCorrection,EE_Parameter.NaviWindCorrection,0,255); |
||
| 456 | // CHK_POTI(Parameter_NaviSpeedCompensation,EE_Parameter.NaviSpeedCompensation,0,255); |
||
| 1112 | thjac | 457 | |
| 1133 | thjac | 458 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
| 1112 | thjac | 459 | |
| 1133 | thjac | 460 | Ki = (float) Parameter_I_Faktor * 0.0001; |
| 461 | MAX_GAS = EE_Parameter.Gas_Max; |
||
| 462 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 1112 | thjac | 463 | } |
| 464 | |||
| 465 | |||
| 466 | |||
| 467 | //############################################################################ |
||
| 468 | // |
||
| 469 | void MotorRegler(void) |
||
| 470 | //############################################################################ |
||
| 471 | { |
||
| 1133 | thjac | 472 | int motorwert,pd_ergebnis,tmp_int; |
| 473 | int GierMischanteil,GasMischanteil; |
||
| 474 | static long SummeNick=0,SummeRoll=0; |
||
| 475 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 476 | static long IntegralFehlerNick = 0; |
||
| 477 | static long IntegralFehlerRoll = 0; |
||
| 478 | static unsigned int RcLostTimer; |
||
| 479 | static unsigned char delay_neutral = 0; |
||
| 480 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 481 | static char TimerWerteausgabe = 0; |
||
| 482 | static char NeueKompassRichtungMerken = 0; |
||
| 483 | static long ausgleichNick, ausgleichRoll; |
||
| 1112 | thjac | 484 | |
| 1133 | thjac | 485 | Mittelwert(); |
| 1112 | thjac | 486 | |
| 487 | GRN_ON; |
||
| 1133 | thjac | 488 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 489 | // Gaswert ermitteln |
||
| 490 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 491 | GasMischanteil = StickGas; |
||
| 492 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 493 | // Empfang schlecht |
||
| 494 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 495 | if(SenderOkay < 100) |
||
| 496 | { |
||
| 497 | if(!PcZugriff) |
||
| 498 | { |
||
| 499 | if(BeepMuster == 0xffff) |
||
| 500 | { |
||
| 501 | beeptime = 15000; |
||
| 502 | BeepMuster = 0x0c00; |
||
| 1112 | thjac | 503 | } |
| 1133 | thjac | 504 | } |
| 505 | if(RcLostTimer) RcLostTimer--; |
||
| 506 | else |
||
| 507 | { |
||
| 508 | MotorenEin = 0; |
||
| 509 | Notlandung = 0; |
||
| 510 | } |
||
| 1112 | thjac | 511 | ROT_ON; |
| 1133 | thjac | 512 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 513 | { |
||
| 1112 | thjac | 514 | GasMischanteil = EE_Parameter.NotGas; |
| 515 | Notlandung = 1; |
||
| 516 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 517 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 518 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 519 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 520 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 1133 | thjac | 521 | } |
| 522 | else MotorenEin = 0; |
||
| 1124 | krheinwald | 523 | } |
| 1133 | thjac | 524 | else |
| 525 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 526 | // Emfang gut |
||
| 527 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 528 | if(SenderOkay > 140) |
||
| 1112 | thjac | 529 | { |
| 1133 | thjac | 530 | Notlandung = 0; |
| 531 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
| 532 | if(GasMischanteil > 40 && MotorenEin) |
||
| 1112 | thjac | 533 | { |
| 1133 | thjac | 534 | if(modell_fliegt < 0xffff) modell_fliegt++; |
| 535 | } |
||
| 536 | if((modell_fliegt < 256)) |
||
| 537 | { |
||
| 538 | SummeNick = 0; |
||
| 539 | SummeRoll = 0; |
||
| 540 | if(modell_fliegt == 250) |
||
| 541 | { |
||
| 542 | NeueKompassRichtungMerken = 1; |
||
| 543 | sollGier = 0; |
||
| 544 | Mess_Integral_Gier = 0; |
||
| 545 | // Mess_Integral_Gier2 = 0; |
||
| 546 | } |
||
| 547 | } else MikroKopterFlags |= FLAG_FLY; |
||
| 548 | |||
| 549 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
||
| 550 | { |
||
| 551 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 552 | // auf Nullwerte kalibrieren |
||
| 553 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 554 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
||
| 555 | { |
||
| 556 | if(++delay_neutral > 200) // nicht sofort |
||
| 557 | { |
||
| 558 | GRN_OFF; |
||
| 559 | MotorenEin = 0; |
||
| 560 | delay_neutral = 0; |
||
| 561 | modell_fliegt = 0; |
||
| 562 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 563 | { |
||
| 564 | unsigned char setting=1; |
||
| 565 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
||
| 566 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 567 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 568 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 569 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 570 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
||
| 571 | } |
||
| 572 | // else |
||
| 573 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
||
| 574 | { |
||
| 575 | WinkelOut.CalcState = 1; |
||
| 576 | beeptime = 1000; |
||
| 577 | } |
||
| 578 | else |
||
| 579 | { |
||
| 580 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 581 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 582 | { |
||
| 583 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
| 584 | } |
||
| 585 | SetNeutral(); |
||
| 586 | Piep(GetActiveParamSetNumber()); |
||
| 587 | } |
||
| 588 | } |
||
| 1124 | krheinwald | 589 | } |
| 1133 | thjac | 590 | else |
| 591 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
||
| 592 | { |
||
| 593 | if(++delay_neutral > 200) // nicht sofort |
||
| 1112 | thjac | 594 | { |
| 1133 | thjac | 595 | GRN_OFF; |
| 596 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 597 | MotorenEin = 0; |
||
| 598 | delay_neutral = 0; |
||
| 599 | modell_fliegt = 0; |
||
| 1112 | thjac | 600 | SetNeutral(); |
| 1133 | thjac | 601 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| 602 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 603 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 604 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 605 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 606 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 1112 | thjac | 607 | Piep(GetActiveParamSetNumber()); |
| 1133 | thjac | 608 | } |
| 1112 | thjac | 609 | } |
| 1133 | thjac | 610 | else delay_neutral = 0; |
| 1112 | thjac | 611 | } |
| 1133 | thjac | 612 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 613 | // Gas ist unten |
||
| 614 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 615 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
||
| 1112 | thjac | 616 | { |
| 1133 | thjac | 617 | // Starten |
| 618 | if( !MotorenEin && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75 ) |
||
| 619 | { |
||
| 620 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 621 | // Einschalten |
||
| 622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 623 | if(++delay_einschalten > 200) |
||
| 624 | { |
||
| 625 | delay_einschalten = 200; |
||
| 626 | modell_fliegt = 1; |
||
| 627 | MotorenEin = 1; |
||
| 628 | sollGier = 0; |
||
| 629 | Mess_Integral_Gier = 0; |
||
| 630 | Mess_Integral_Gier2 = 0; |
||
| 631 | Mess_IntegralNick = 0; |
||
| 632 | Mess_IntegralRoll = 0; |
||
| 633 | Mess_IntegralNick2 = IntegralNick; |
||
| 634 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 635 | SummeNick = 0; |
||
| 636 | SummeRoll = 0; |
||
| 637 | MikroKopterFlags |= FLAG_START; |
||
| 638 | |||
| 639 | // Beim Einschalten automatisch kalibrieren |
||
| 640 | if( PARAM_CAL_ON_START ) { |
||
| 641 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) { |
||
| 642 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) { |
||
| 643 | SucheLuftruckOffset(); |
||
| 644 | } |
||
| 645 | } |
||
| 646 | |||
| 647 | SetNeutral(); |
||
| 648 | } |
||
| 1112 | thjac | 649 | } |
| 650 | } |
||
| 1133 | thjac | 651 | else delay_einschalten = 0; |
| 652 | //Auf Neutralwerte setzen |
||
| 653 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 654 | // Auschalten |
||
| 655 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 656 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 657 | { |
||
| 658 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 659 | { |
||
| 660 | MotorenEin = 0; |
||
| 661 | delay_ausschalten = 200; |
||
| 662 | modell_fliegt = 0; |
||
| 663 | } |
||
| 664 | } |
||
| 665 | else delay_ausschalten = 0; |
||
| 1112 | thjac | 666 | } |
| 1133 | thjac | 667 | } |
| 1112 | thjac | 668 | |
| 1133 | thjac | 669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 670 | // neue Werte von der Funke |
||
| 671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 672 | if(!NewPpmData-- || Notlandung) { |
||
| 673 | static int chanNickPrev = 0; |
||
| 674 | static int chanRollPrev = 0; |
||
| 675 | |||
| 676 | static int stick_nick,stick_roll; |
||
| 677 | |||
| 678 | ParameterZuordnung(); |
||
| 1112 | thjac | 679 | |
| 680 | #define MAX_CHAN_VAL 125L |
||
| 681 | #define COS45 7071L // cos( -45 ) * 10000 |
||
| 682 | |||
| 1133 | thjac | 683 | long chanNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
| 684 | long chanRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
||
| 1112 | thjac | 685 | |
| 1133 | thjac | 686 | int chanNickDiff; |
| 687 | int chanRollDiff; |
||
| 1112 | thjac | 688 | |
| 1133 | thjac | 689 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| 690 | * umschalten (sh. parameter.h) |
||
| 691 | */ |
||
| 692 | if( PARAM_X_FORMATION ) { |
||
| 693 | |||
| 694 | chanRoll = -chanRoll; |
||
| 695 | |||
| 696 | // Stick-Koordinatensystem um -45° (rechts) drehen |
||
| 697 | chanNick *= COS45; |
||
| 698 | chanRoll *= COS45; |
||
| 699 | |||
| 700 | int chanNickTemp = ( chanNick - chanRoll ) / 10000L; |
||
| 701 | int chanRollTemp = ( chanRoll + chanNick ) / 10000L; |
||
| 1112 | thjac | 702 | |
| 1133 | thjac | 703 | chanNick = chanNickTemp; |
| 704 | chanRoll = -chanRollTemp; |
||
| 1112 | thjac | 705 | |
| 1133 | thjac | 706 | if (chanNick > MAX_CHAN_VAL) |
| 707 | chanNick = MAX_CHAN_VAL; |
||
| 708 | if (chanNick < -MAX_CHAN_VAL) |
||
| 709 | chanNick = -MAX_CHAN_VAL; |
||
| 710 | if (chanRoll > MAX_CHAN_VAL) |
||
| 711 | chanRoll = MAX_CHAN_VAL; |
||
| 712 | if (chanRoll < -MAX_CHAN_VAL) |
||
| 713 | chanRoll = -MAX_CHAN_VAL; |
||
| 714 | } |
||
| 1112 | thjac | 715 | |
| 1133 | thjac | 716 | chanNickDiff = ( ( chanNick - chanNickPrev ) / 3) * 3; |
| 717 | chanRollDiff = ( ( chanRoll - chanRollPrev ) / 3) * 3; |
||
| 718 | |||
| 719 | chanNickPrev = chanNick; |
||
| 720 | chanRollPrev = chanRoll; |
||
| 721 | |||
| 722 | stick_nick = (stick_nick * 3 + ( (int) chanNick ) * EE_Parameter.Stick_P) / 4; |
||
| 723 | stick_nick += chanNickDiff * EE_Parameter.Stick_D; |
||
| 724 | StickNick = stick_nick - GPS_Nick; |
||
| 1112 | thjac | 725 | |
| 1133 | thjac | 726 | stick_roll = (stick_roll * 3 + ( (int) chanRoll ) * EE_Parameter.Stick_P) / 4; |
| 727 | stick_roll += chanRollDiff * EE_Parameter.Stick_D; |
||
| 728 | StickRoll = stick_roll - GPS_Roll; |
||
| 1112 | thjac | 729 | |
| 1133 | thjac | 730 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1112 | thjac | 731 | |
| 1133 | thjac | 732 | // Gaswert übernehmen |
| 733 | if( pitchNeutral() ) { |
||
| 734 | StickGas = pitch(); |
||
| 735 | } else { |
||
| 736 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
||
| 737 | } |
||
| 1112 | thjac | 738 | |
| 1133 | thjac | 739 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256 / STICK_GAIN ); |
| 740 | IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN ); |
||
| 741 | |||
| 742 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 743 | //+ Analoge Steuerung per Seriell |
||
| 744 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 745 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
||
| 746 | { |
||
| 747 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 748 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 749 | StickGier += ExternControl.Gier; |
||
| 750 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 751 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 752 | } |
||
| 753 | if(StickGas < 0) StickGas = 0; |
||
| 1112 | thjac | 754 | |
| 1133 | thjac | 755 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 756 | if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 757 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 1112 | thjac | 758 | |
| 1133 | thjac | 759 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 760 | { |
||
| 761 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
| 762 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
| 763 | } |
||
| 764 | else MaxStickNick--; |
||
| 765 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
||
| 766 | { |
||
| 767 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
| 768 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
| 769 | } |
||
| 770 | else MaxStickRoll--; |
||
| 771 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
||
| 1112 | thjac | 772 | |
| 1133 | thjac | 773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 774 | // Looping? |
||
| 775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 776 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
||
| 777 | else |
||
| 778 | { |
||
| 779 | { |
||
| 780 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
||
| 781 | } |
||
| 782 | } |
||
| 783 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
||
| 784 | else |
||
| 785 | { |
||
| 786 | if(Looping_Rechts) // Hysterese |
||
| 787 | { |
||
| 788 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 789 | } |
||
| 790 | } |
||
| 1112 | thjac | 791 | |
| 1133 | thjac | 792 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 793 | else |
||
| 794 | { |
||
| 795 | if(Looping_Oben) // Hysterese |
||
| 796 | { |
||
| 797 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
||
| 798 | } |
||
| 799 | } |
||
| 800 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
||
| 801 | else |
||
| 802 | { |
||
| 803 | if(Looping_Unten) // Hysterese |
||
| 804 | { |
||
| 805 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 806 | } |
||
| 807 | } |
||
| 1112 | thjac | 808 | |
| 1133 | thjac | 809 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| 810 | if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
| 811 | } // Ende neue Funken-Werte |
||
| 1112 | thjac | 812 | |
| 1133 | thjac | 813 | if(Looping_Roll || Looping_Nick) |
| 814 | { |
||
| 815 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
||
| 816 | } |
||
| 1112 | thjac | 817 | |
| 818 | |||
| 1133 | thjac | 819 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 820 | // Bei Empfangsausfall im Flug |
||
| 821 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 822 | if(Notlandung) |
||
| 823 | { |
||
| 824 | StickGier = 0; |
||
| 825 | StickNick = 0; |
||
| 826 | StickRoll = 0; |
||
| 827 | GyroFaktor = (float) 100 / (256.0 / STICK_GAIN); |
||
| 828 | IntegralFaktor = (float) 120 / (44000 / STICK_GAIN); |
||
| 829 | Looping_Roll = 0; |
||
| 830 | Looping_Nick = 0; |
||
| 1112 | thjac | 831 | } |
| 832 | |||
| 833 | |||
| 1133 | thjac | 834 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 835 | // Integrale auf ACC-Signal abgleichen |
||
| 836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1112 | thjac | 837 | #define ABGLEICH_ANZAHL 256L |
| 838 | |||
| 1133 | thjac | 839 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| 840 | MittelIntegralRoll += IntegralRoll; |
||
| 841 | MittelIntegralNick2 += IntegralNick2; |
||
| 842 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 1112 | thjac | 843 | |
| 1133 | thjac | 844 | if(Looping_Nick || Looping_Roll) |
| 845 | { |
||
| 846 | IntegralAccNick = 0; |
||
| 847 | IntegralAccRoll = 0; |
||
| 848 | MittelIntegralNick = 0; |
||
| 849 | MittelIntegralRoll = 0; |
||
| 850 | MittelIntegralNick2 = 0; |
||
| 851 | MittelIntegralRoll2 = 0; |
||
| 852 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 853 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 854 | ZaehlMessungen = 0; |
||
| 855 | LageKorrekturNick = 0; |
||
| 856 | LageKorrekturRoll = 0; |
||
| 857 | } |
||
| 1112 | thjac | 858 | |
| 1133 | thjac | 859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 860 | if(!Looping_Nick && !Looping_Roll) |
||
| 861 | { |
||
| 862 | long tmp_long, tmp_long2; |
||
| 863 | if(FromNaviCtrl_Value.Kalman_K != -1) |
||
| 864 | { |
||
| 865 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 866 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 867 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 868 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 869 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 870 | { |
||
| 871 | tmp_long /= 2; |
||
| 872 | tmp_long2 /= 2; |
||
| 873 | } |
||
| 874 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 875 | { |
||
| 876 | tmp_long /= 3; |
||
| 877 | tmp_long2 /= 3; |
||
| 878 | } |
||
| 879 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 880 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 881 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 882 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 883 | } |
||
| 884 | else |
||
| 885 | { |
||
| 886 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 887 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 888 | tmp_long /= 16; |
||
| 889 | tmp_long2 /= 16; |
||
| 890 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 891 | { |
||
| 892 | tmp_long /= 3; |
||
| 893 | tmp_long2 /= 3; |
||
| 894 | } |
||
| 895 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 896 | { |
||
| 897 | tmp_long /= 3; |
||
| 898 | tmp_long2 /= 3; |
||
| 899 | } |
||
| 900 | #define AUSGLEICH 32 |
||
| 901 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
||
| 902 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 903 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 904 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 905 | } |
||
| 1112 | thjac | 906 | |
| 1133 | thjac | 907 | Mess_IntegralNick -= tmp_long; |
| 908 | Mess_IntegralRoll -= tmp_long2; |
||
| 909 | } |
||
| 910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 911 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
||
| 912 | { |
||
| 913 | static int cnt = 0; |
||
| 914 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 915 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 916 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug) |
||
| 917 | { |
||
| 918 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
||
| 919 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 920 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 921 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 922 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 1112 | thjac | 923 | #define MAX_I 0//(Poti2/10) |
| 1133 | thjac | 924 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 925 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 926 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 927 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 928 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 929 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
||
| 1112 | thjac | 930 | |
| 1133 | thjac | 931 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| 932 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1112 | thjac | 933 | |
| 1133 | thjac | 934 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 935 | { |
||
| 936 | LageKorrekturNick /= 2; |
||
| 937 | LageKorrekturRoll /= 2; |
||
| 938 | } |
||
| 1112 | thjac | 939 | |
| 1133 | thjac | 940 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 941 | // Gyro-Drift ermitteln |
||
| 942 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 943 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
||
| 944 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 945 | tmp_long = IntegralNick2 - IntegralNick; |
||
| 946 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 947 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
||
| 1112 | thjac | 948 | |
| 1133 | thjac | 949 | IntegralFehlerNick = tmp_long; |
| 950 | IntegralFehlerRoll = tmp_long2; |
||
| 951 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 952 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1112 | thjac | 953 | |
| 1133 | thjac | 954 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| 955 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 956 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
||
| 957 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 1112 | thjac | 958 | |
| 1133 | thjac | 959 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| 960 | //DebugOut.Analog[24] = GierGyroFehler; |
||
| 961 | GierGyroFehler = 0; |
||
| 1112 | thjac | 962 | |
| 963 | |||
| 1133 | thjac | 964 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
| 965 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
| 966 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 967 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 968 | */ |
||
| 969 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 970 | //MittelIntegralRoll = MittelIntegralRoll; |
||
| 971 | //DebugOut.Analog[28] = ausgleichNick; |
||
| 972 | /* |
||
| 973 | DebugOut.Analog[29] = ausgleichRoll; |
||
| 974 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
||
| 975 | */ |
||
| 1112 | thjac | 976 | |
| 977 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
||
| 978 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
||
| 979 | #define BEWEGUNGS_LIMIT 20000 |
||
| 1133 | thjac | 980 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 981 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 982 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*16)) |
||
| 983 | { |
||
| 984 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
||
| 985 | { |
||
| 986 | if(last_n_p) |
||
| 987 | { |
||
| 988 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
||
| 989 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 990 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
||
| 991 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 992 | } |
||
| 993 | else last_n_p = 1; |
||
| 994 | } else last_n_p = 0; |
||
| 995 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
||
| 996 | { |
||
| 997 | if(last_n_n) |
||
| 998 | { |
||
| 999 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
||
| 1000 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 1001 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
||
| 1002 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 1112 | thjac | 1003 | } |
| 1133 | thjac | 1004 | else last_n_n = 1; |
| 1005 | } else last_n_n = 0; |
||
| 1006 | } |
||
| 1007 | else |
||
| 1008 | { |
||
| 1009 | cnt = 0; |
||
| 1010 | KompassSignalSchlecht = 1000; |
||
| 1011 | } |
||
| 1012 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1013 | if(cnt * 16 > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift/16; |
||
| 1014 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
||
| 1015 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 1112 | thjac | 1016 | |
| 1133 | thjac | 1017 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1018 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1112 | thjac | 1019 | |
| 1133 | thjac | 1020 | ausgleichRoll = 0; |
| 1021 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*16)) |
||
| 1022 | { |
||
| 1023 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
||
| 1024 | { |
||
| 1025 | if(last_r_p) |
||
| 1026 | { |
||
| 1027 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
||
| 1028 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1029 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
||
| 1030 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1031 | } |
||
| 1032 | else last_r_p = 1; |
||
| 1033 | } else last_r_p = 0; |
||
| 1034 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
||
| 1035 | { |
||
| 1036 | if(last_r_n) |
||
| 1037 | { |
||
| 1038 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
||
| 1039 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1040 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
||
| 1041 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1042 | } |
||
| 1043 | else last_r_n = 1; |
||
| 1044 | } else last_r_n = 0; |
||
| 1045 | } else |
||
| 1046 | { |
||
| 1047 | cnt = 0; |
||
| 1048 | KompassSignalSchlecht = 1000; |
||
| 1112 | thjac | 1049 | } |
| 1133 | thjac | 1050 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1051 | if(cnt * 16 > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift/16; |
||
| 1052 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
||
| 1053 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 1054 | } |
||
| 1055 | else |
||
| 1056 | { |
||
| 1057 | LageKorrekturRoll = 0; |
||
| 1058 | LageKorrekturNick = 0; |
||
| 1059 | TrichterFlug = 0; |
||
| 1060 | } |
||
| 1112 | thjac | 1061 | |
| 1133 | thjac | 1062 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1063 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1064 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1065 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1066 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1067 | IntegralAccNick = 0; |
||
| 1068 | IntegralAccRoll = 0; |
||
| 1069 | IntegralAccZ = 0; |
||
| 1070 | MittelIntegralNick = 0; |
||
| 1071 | MittelIntegralRoll = 0; |
||
| 1072 | MittelIntegralNick2 = 0; |
||
| 1073 | MittelIntegralRoll2 = 0; |
||
| 1074 | ZaehlMessungen = 0; |
||
| 1075 | } |
||
| 1076 | //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
||
| 1112 | thjac | 1077 | |
| 1133 | thjac | 1078 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1079 | // Gieren |
||
| 1080 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1081 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
||
| 1082 | if(abs(StickGier) > 15) // war 35 |
||
| 1083 | { |
||
| 1084 | KompassSignalSchlecht = 1000; |
||
| 1085 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
||
| 1086 | { |
||
| 1087 | NeueKompassRichtungMerken = 1; |
||
| 1112 | thjac | 1088 | }; |
| 1133 | thjac | 1089 | } |
| 1090 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
||
| 1112 | thjac | 1091 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 1092 | sollGier = tmp_int; |
||
| 1093 | Mess_Integral_Gier -= tmp_int; |
||
| 1133 | thjac | 1094 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1095 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1112 | thjac | 1096 | |
| 1133 | thjac | 1097 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1098 | // Kompass |
||
| 1099 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1100 | //DebugOut.Analog[29] = (MaxStickNick + MaxStickRoll); |
||
| 1112 | thjac | 1101 | |
| 1133 | thjac | 1102 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1103 | { |
||
| 1104 | int w,v,r,fehler,korrektur; |
||
| 1105 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
||
| 1106 | v = abs(IntegralRoll /512); |
||
| 1107 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1108 | korrektur = w / 8 + 1; |
||
| 1109 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
| 1110 | if(NeueKompassRichtungMerken) |
||
| 1111 | { |
||
| 1112 | fehler = 0; |
||
| 1113 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
| 1114 | } |
||
| 1115 | if(!KompassSignalSchlecht && w < 25) |
||
| 1116 | { |
||
| 1117 | GierGyroFehler += fehler; |
||
| 1118 | if(NeueKompassRichtungMerken) |
||
| 1119 | { |
||
| 1120 | beeptime = 200; |
||
| 1121 | // KompassStartwert = KompassValue; |
||
| 1122 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
| 1123 | NeueKompassRichtungMerken = 0; |
||
| 1124 | } |
||
| 1112 | thjac | 1125 | } |
| 1133 | thjac | 1126 | ErsatzKompass += (fehler * 8) / korrektur; |
| 1127 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
||
| 1128 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
||
| 1129 | if(w >= 0) |
||
| 1130 | { |
||
| 1131 | if(!KompassSignalSchlecht) |
||
| 1132 | { |
||
| 1133 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
||
| 1134 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
||
| 1135 | // r = KompassRichtung; |
||
| 1136 | v = (r * w) / v; // nach Kompass ausrichten |
||
| 1137 | w = 3 * Parameter_KompassWirkung; |
||
| 1138 | if(v > w) v = w; // Begrenzen |
||
| 1139 | else |
||
| 1140 | if(v < -w) v = -w; |
||
| 1141 | Mess_Integral_Gier += v; |
||
| 1142 | } |
||
| 1143 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
| 1112 | thjac | 1144 | } |
| 1133 | thjac | 1145 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1146 | } |
||
| 1147 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1112 | thjac | 1148 | |
| 1133 | thjac | 1149 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1150 | // Debugwerte zuordnen |
||
| 1151 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1152 | if(!TimerWerteausgabe--) |
||
| 1153 | { |
||
| 1154 | TimerWerteausgabe = 24; |
||
| 1112 | thjac | 1155 | |
| 1133 | thjac | 1156 | DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| 1157 | DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
||
| 1158 | DebugOut.Analog[2] = Mittelwert_AccNick; |
||
| 1159 | DebugOut.Analog[3] = Mittelwert_AccRoll; |
||
| 1160 | DebugOut.Analog[4] = MesswertGier; |
||
| 1161 | DebugOut.Analog[5] = HoehenWert; |
||
| 1162 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
||
| 1163 | DebugOut.Analog[8] = KompassValue; |
||
| 1164 | DebugOut.Analog[9] = UBat; |
||
| 1165 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
||
| 1166 | DebugOut.Analog[10] = SenderOkay; |
||
| 1167 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
||
| 1168 | DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
||
| 1169 | DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
||
| 1170 | DebugOut.Analog[19] = WinkelOut.CalcState; |
||
| 1171 | DebugOut.Analog[20] = ServoValue; |
||
| 1172 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1173 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1174 | // DebugOut.Analog[30] = GPS_Nick; |
||
| 1175 | // DebugOut.Analog[31] = GPS_Roll; |
||
| 1112 | thjac | 1176 | |
| 1177 | |||
| 1133 | thjac | 1178 | // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
| 1179 | // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
||
| 1112 | thjac | 1180 | |
| 1133 | thjac | 1181 | /* DebugOut.Analog[16] = motor_rx[0]; |
| 1182 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1183 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1184 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1185 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1186 | DebugOut.Analog[20] /= 14; |
||
| 1187 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1188 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1189 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1190 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1191 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1192 | */ |
||
| 1193 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1194 | // DebugOut.Analog[9] = SollHoehe; |
||
| 1195 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 1196 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 1197 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
||
| 1198 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
||
| 1199 | // DebugOut.Analog[9] = KompassRichtung; |
||
| 1200 | // DebugOut.Analog[10] = GasMischanteil; |
||
| 1201 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 1202 | // DebugOut.Analog[4] = hoehenregler; |
||
| 1203 | } |
||
| 1112 | thjac | 1204 | |
| 1133 | thjac | 1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1206 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
||
| 1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1112 | thjac | 1208 | |
| 1133 | thjac | 1209 | if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| 1210 | else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
||
| 1211 | if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
||
| 1212 | else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
||
| 1213 | MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
||
| 1112 | thjac | 1214 | |
| 1215 | DebugOut.Analog[21] = MesswertNick; |
||
| 1216 | DebugOut.Analog[22] = MesswertRoll; |
||
| 1217 | |||
| 1218 | // Maximalwerte abfangen |
||
| 1133 | thjac | 1219 | #define MAX_SENSOR (4096*STICK_GAIN) |
| 1220 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
| 1221 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
| 1222 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1223 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1224 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1225 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1112 | thjac | 1226 | |
| 1133 | thjac | 1227 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1228 | // Gas-Mischanteil |
||
| 1229 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1112 | thjac | 1230 | |
| 1133 | thjac | 1231 | // Zur besseren Auflösung hochskalieren |
| 1232 | GasMischanteil *= STICK_GAIN; |
||
| 1112 | thjac | 1233 | |
| 1234 | // Fehlerwert der Höhenregelung einmischen |
||
| 1133 | thjac | 1235 | GasMischanteil -= altitudeController(); |
| 1112 | thjac | 1236 | |
| 1237 | // Mindestens auf Minimalgas stellen |
||
| 1238 | if( GasMischanteil < MIN_GAS ) |
||
| 1239 | GasMischanteil = MIN_GAS; |
||
| 1240 | |||
| 1241 | // Begrenzung des Gasmischanteils auf MAX_GAS - 20 (Reserve für Motoren) |
||
| 1242 | if( GasMischanteil > ( MAX_GAS - 20 ) * STICK_GAIN ) |
||
| 1243 | GasMischanteil = ( MAX_GAS - 20 ) * STICK_GAIN; |
||
| 1244 | |||
| 1133 | thjac | 1245 | DebugOut.Analog[7] = GasMischanteil; |
| 1246 | |||
| 1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1248 | // Gier-Anteil |
||
| 1249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1112 | thjac | 1250 | |
| 1133 | thjac | 1251 | GierMischanteil = MesswertGier - ( sollGier * STICK_GAIN ); // Regler für Gier |
| 1112 | thjac | 1252 | |
| 1133 | thjac | 1253 | #define MIN_GIERGAS ( 40 * STICK_GAIN ) // unter diesem Gaswert trotzdem Gieren |
| 1112 | thjac | 1254 | |
| 1133 | thjac | 1255 | // Reduzierten Gieranteil berechnen |
| 1256 | if( GasMischanteil < MIN_GIERGAS ) { |
||
| 1257 | GierMischanteil = ( GierMischanteil * GasMischanteil ) / MIN_GIERGAS; |
||
| 1258 | } |
||
| 1112 | thjac | 1259 | |
| 1133 | thjac | 1260 | // Gieranteil darf nicht größer als der halbe Gasanteil sein |
| 1261 | if( GierMischanteil > ( GasMischanteil >> 1 ) ) |
||
| 1262 | GierMischanteil = GasMischanteil >> 1; |
||
| 1263 | if( GierMischanteil < -( GasMischanteil >> 1 ) ) |
||
| 1264 | GierMischanteil = -( GasMischanteil >> 1 ); |
||
| 1112 | thjac | 1265 | |
| 1266 | tmp_int = MAX_GAS * STICK_GAIN; |
||
| 1133 | thjac | 1267 | |
| 1268 | // Gieranteil darf die Gasreserve nicht überschreiten |
||
| 1269 | if( GierMischanteil > ( ( tmp_int - GasMischanteil ) ) ) |
||
| 1270 | GierMischanteil = ( ( tmp_int - GasMischanteil ) ); |
||
| 1271 | if( GierMischanteil < -( ( tmp_int - GasMischanteil ) ) ) |
||
| 1272 | GierMischanteil = -( ( tmp_int - GasMischanteil ) ); |
||
| 1112 | thjac | 1273 | |
| 1133 | thjac | 1274 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1275 | // Nick-Achse |
||
| 1276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1277 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
||
| 1278 | if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - StickNick; // I-Anteil bei Winkelregelung |
||
| 1279 | else SummeNick += DiffNick; // I-Anteil bei HH |
||
| 1280 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
||
| 1281 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1112 | thjac | 1282 | pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| 1283 | // Motor Vorn |
||
| 1133 | thjac | 1284 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1285 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
||
| 1286 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 1112 | thjac | 1287 | |
| 1133 | thjac | 1288 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| 1112 | thjac | 1289 | motorwert /= STICK_GAIN; |
| 1133 | thjac | 1290 | if ((motorwert < 0)) motorwert = 0; |
| 1291 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1292 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1293 | Motor_Vorne = motorwert; |
||
| 1112 | thjac | 1294 | // Motor Heck |
| 1133 | thjac | 1295 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| 1112 | thjac | 1296 | motorwert /= STICK_GAIN; |
| 1133 | thjac | 1297 | if ((motorwert < 0)) motorwert = 0; |
| 1298 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1299 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1300 | Motor_Hinten = motorwert; |
||
| 1301 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1302 | // Roll-Achse |
||
| 1303 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1304 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1305 | if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1306 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1307 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1308 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1309 | pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
||
| 1310 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1311 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
||
| 1312 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 1112 | thjac | 1313 | // Motor Links |
| 1314 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
||
| 1315 | motorwert /= STICK_GAIN; |
||
| 1133 | thjac | 1316 | if ((motorwert < 0)) motorwert = 0; |
| 1317 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1318 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1112 | thjac | 1319 | Motor_Links = motorwert; |
| 1320 | // Motor Rechts |
||
| 1133 | thjac | 1321 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| 1112 | thjac | 1322 | motorwert /= STICK_GAIN; |
| 1133 | thjac | 1323 | if ((motorwert < 0)) motorwert = 0; |
| 1324 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1325 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1112 | thjac | 1326 | Motor_Rechts = motorwert; |
| 1133 | thjac | 1327 | // +++++++++++++++++++++++++++++++++++++++++++++++ |
| 1112 | thjac | 1328 | } |
| 1329 |