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| Rev | Author | Line No. | Line |
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| 1112 | thjac | 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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| 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 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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| 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 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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| 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 28 | // + mit unserer Zustimmung zulässig |
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| 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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| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 33 | // + this list of conditions and the following disclaimer. |
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| 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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| 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 37 | // + for non-commercial use (directly or indirectly) |
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| 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 39 | // + with our written permission |
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| 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 41 | // + clearly linked as origin |
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| 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 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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| 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 52 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 54 | |||
| 55 | #include "main.h" |
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| 56 | #include "parameter.h" |
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| 57 | #include "pitch.h" |
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| 1122 | thjac | 58 | #include "altcon.h" |
| 1112 | thjac | 59 | #include "eeprom.c" |
| 60 | |||
| 61 | unsigned char h,m,s; |
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| 62 | volatile unsigned int I2CTimeout = 100; |
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| 63 | volatile int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias; |
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| 64 | int AdNeutralGierBias; |
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| 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
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| 66 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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| 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
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| 68 | volatile float NeutralAccZ = 0; |
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| 69 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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| 70 | long IntegralNick = 0,IntegralNick2 = 0; |
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| 71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 73 | long Integral_Gier = 0; |
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| 74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 78 | volatile long Mess_Integral_Hoch = 0; |
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| 79 | volatile int KompassValue = 0; |
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| 80 | volatile int KompassStartwert = 0; |
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| 81 | volatile int KompassRichtung = 0; |
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| 82 | unsigned int KompassSignalSchlecht = 500; |
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| 83 | unsigned char MAX_GAS,MIN_GAS; |
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| 84 | unsigned char Notlandung = 0; |
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| 85 | unsigned char HoehenReglerAktiv = 0; |
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| 86 | unsigned char TrichterFlug = 0; |
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| 87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
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| 88 | long ErsatzKompass; |
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| 89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 90 | int GierGyroFehler = 0; |
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| 91 | float GyroFaktor; |
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| 92 | float IntegralFaktor; |
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| 93 | volatile int DiffNick,DiffRoll; |
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| 94 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
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| 95 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
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| 96 | volatile unsigned char SenderOkay = 0; |
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| 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
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| 98 | char MotorenEin = 0; |
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| 99 | int HoehenWert = 0; |
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| 100 | int SollHoehe = 0; |
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| 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
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| 102 | float Ki = FAKTOR_I; |
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| 103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
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| 104 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 105 | |||
| 106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 111 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
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| 112 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
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| 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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| 119 | unsigned char Parameter_UserParam5 = 0; |
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| 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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| 123 | unsigned char Parameter_ServoNickControl = 100; |
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| 124 | unsigned char Parameter_LoopGasLimit = 70; |
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| 125 | unsigned char Parameter_AchsKopplung1 = 0; |
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| 126 | unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 127 | unsigned char Parameter_DynamicStability = 100; |
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| 128 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
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| 129 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 1118 | krheinwald | 130 | unsigned char Parameter_J16Brightness; // for the J16 Output |
| 1112 | thjac | 131 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
| 132 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 1118 | krheinwald | 133 | unsigned char Parameter_J17Brightness; // for the J17 Output |
| 1112 | thjac | 134 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| 135 | unsigned char Parameter_NaviGpsGain; |
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| 136 | unsigned char Parameter_NaviGpsP; |
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| 137 | unsigned char Parameter_NaviGpsI; |
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| 138 | unsigned char Parameter_NaviGpsD; |
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| 139 | unsigned char Parameter_NaviGpsACC; |
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| 140 | unsigned char Parameter_NaviOperatingRadius; |
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| 141 | unsigned char Parameter_NaviWindCorrection; |
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| 142 | unsigned char Parameter_NaviSpeedCompensation; |
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| 143 | unsigned char Parameter_ExternalControl; |
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| 144 | struct mk_param_struct EE_Parameter; |
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| 145 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
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| 146 | int MaxStickNick = 0,MaxStickRoll = 0; |
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| 147 | unsigned int modell_fliegt = 0; |
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| 148 | unsigned char MikroKopterFlags = 0; |
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| 149 | |||
| 150 | void Piep(unsigned char Anzahl) |
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| 151 | { |
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| 152 | while(Anzahl--) |
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| 153 | { |
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| 154 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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| 155 | beeptime = 100; |
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| 156 | Delay_ms(250); |
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| 157 | } |
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| 158 | } |
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| 159 | |||
| 160 | //############################################################################ |
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| 161 | // Nullwerte ermitteln |
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| 162 | void SetNeutral(void) |
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| 163 | //############################################################################ |
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| 164 | { |
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| 165 | NeutralAccX = 0; |
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| 166 | NeutralAccY = 0; |
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| 167 | NeutralAccZ = 0; |
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| 168 | AdNeutralNick = 0; |
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| 169 | AdNeutralRoll = 0; |
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| 170 | AdNeutralGier = 0; |
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| 171 | AdNeutralGierBias = 0; |
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| 172 | Parameter_AchsKopplung1 = 0; |
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| 173 | Parameter_AchsGegenKopplung1 = 0; |
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| 174 | ExpandBaro = 0; |
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| 175 | CalibrierMittelwert(); |
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| 176 | Delay_ms_Mess(100); |
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| 177 | CalibrierMittelwert(); |
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| 178 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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| 179 | { |
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| 180 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
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| 181 | } |
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| 182 | |||
| 183 | AdNeutralNick= AdWertNick; |
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| 184 | AdNeutralRoll= AdWertRoll; |
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| 185 | AdNeutralGier= AdWertGier; |
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| 186 | AdNeutralGierBias = AdWertGier; |
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| 187 | StartNeutralRoll = AdNeutralRoll; |
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| 188 | StartNeutralNick = AdNeutralNick; |
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| 189 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
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| 190 | { |
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| 191 | NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
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| 192 | NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
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| 193 | NeutralAccZ = Aktuell_az; |
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| 194 | } |
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| 195 | else |
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| 196 | { |
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| 197 | 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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| 198 | 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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| 199 | 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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| 200 | } |
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| 201 | |||
| 202 | Mess_IntegralNick = 0; |
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| 203 | Mess_IntegralNick2 = 0; |
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| 204 | Mess_IntegralRoll = 0; |
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| 205 | Mess_IntegralRoll2 = 0; |
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| 206 | Mess_Integral_Gier = 0; |
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| 207 | MesswertNick = 0; |
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| 208 | MesswertRoll = 0; |
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| 209 | MesswertGier = 0; |
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| 210 | Delay_ms_Mess(100); |
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| 211 | StartLuftdruck = Luftdruck; |
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| 212 | HoeheD = 0; |
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| 213 | Mess_Integral_Hoch = 0; |
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| 214 | KompassStartwert = KompassValue; |
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| 215 | GPS_Neutral(); |
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| 216 | beeptime = 50; |
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| 217 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
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| 218 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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| 219 | ExternHoehenValue = 0; |
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| 220 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
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| 221 | GierGyroFehler = 0; |
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| 222 | SendVersionToNavi = 1; |
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| 223 | LED_Init(); |
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| 224 | MikroKopterFlags |= FLAG_CALIBRATE; |
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| 225 | FromNaviCtrl_Value.Kalman_K = -1; |
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| 226 | FromNaviCtrl_Value.Kalman_MaxDrift = EE_Parameter.Driftkomp * 16; |
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| 227 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
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| 228 | } |
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| 229 | |||
| 230 | //############################################################################ |
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| 231 | // Bearbeitet die Messwerte |
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| 232 | void Mittelwert(void) |
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| 233 | //############################################################################ |
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| 234 | { |
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| 235 | static signed long tmpl,tmpl2; |
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| 236 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
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| 237 | MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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| 238 | MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
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| 239 | MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
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| 240 | |||
| 241 | //DebugOut.Analog[26] = MesswertNick; |
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| 242 | // DebugOut.Analog[28] = MesswertRoll; |
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| 243 | |||
| 244 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 245 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
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| 246 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
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| 247 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
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| 248 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
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| 249 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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| 250 | NaviAccNick += AdWertAccNick; |
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| 251 | NaviAccRoll += AdWertAccRoll; |
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| 252 | NaviCntAcc++; |
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| 253 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
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| 254 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 255 | ErsatzKompass += MesswertGier; |
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| 256 | Mess_Integral_Gier += MesswertGier; |
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| 257 | // Mess_Integral_Gier2 += MesswertGier; |
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| 258 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
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| 259 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
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| 260 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
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| 261 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
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| 262 | { |
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| 263 | tmpl = (MesswertGierBias * Mess_IntegralNick) / 2048L; |
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| 264 | tmpl *= Parameter_AchsKopplung1; //125 |
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| 265 | tmpl /= 4096L; |
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| 266 | tmpl2 = (MesswertGierBias * Mess_IntegralRoll) / 2048L; |
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| 267 | tmpl2 *= Parameter_AchsKopplung1; |
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| 268 | tmpl2 /= 4096L; |
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| 269 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
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| 270 | } |
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| 271 | else tmpl = tmpl2 = 0; |
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| 272 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 273 | MesswertRoll += tmpl; |
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| 274 | MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
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| 275 | Mess_IntegralRoll2 += MesswertRoll; |
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| 276 | Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
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| 277 | if(Mess_IntegralRoll > Umschlag180Roll) |
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| 278 | { |
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| 279 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
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| 280 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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| 281 | } |
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| 282 | if(Mess_IntegralRoll <-Umschlag180Roll) |
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| 283 | { |
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| 284 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
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| 285 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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| 286 | } |
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| 287 | if(AdWertRoll < 15) MesswertRoll = -1000; |
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| 288 | if(AdWertRoll < 7) MesswertRoll = -2000; |
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| 289 | if(PlatinenVersion == 10) |
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| 290 | { |
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| 291 | if(AdWertRoll > 1010) MesswertRoll = +1000; |
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| 292 | if(AdWertRoll > 1017) MesswertRoll = +2000; |
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| 293 | } |
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| 294 | else |
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| 295 | { |
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| 296 | if(AdWertRoll > 2020) MesswertRoll = +1000; |
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| 297 | if(AdWertRoll > 2034) MesswertRoll = +2000; |
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| 298 | } |
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| 299 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 300 | MesswertNick -= tmpl2; |
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| 301 | MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
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| 302 | Mess_IntegralNick2 += MesswertNick; |
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| 303 | Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
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| 304 | |||
| 305 | if(Mess_IntegralNick > Umschlag180Nick) |
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| 306 | { |
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| 307 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
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| 308 | Mess_IntegralNick2 = Mess_IntegralNick; |
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| 309 | } |
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| 310 | if(Mess_IntegralNick <-Umschlag180Nick) |
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| 311 | { |
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| 312 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
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| 313 | Mess_IntegralNick2 = Mess_IntegralNick; |
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| 314 | } |
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| 315 | if(AdWertNick < 15) MesswertNick = -1000; |
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| 316 | if(AdWertNick < 7) MesswertNick = -2000; |
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| 317 | if(PlatinenVersion == 10) |
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| 318 | { |
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| 319 | if(AdWertNick > 1010) MesswertNick = +1000; |
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| 320 | if(AdWertNick > 1017) MesswertNick = +2000; |
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| 321 | } |
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| 322 | else |
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| 323 | { |
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| 324 | if(AdWertNick > 2020) MesswertNick = +1000; |
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| 325 | if(AdWertNick > 2034) MesswertNick = +2000; |
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| 326 | } |
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| 327 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 328 | // ADC einschalten |
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| 329 | ANALOG_ON; |
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| 330 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 331 | |||
| 332 | Integral_Gier = Mess_Integral_Gier; |
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| 333 | IntegralNick = Mess_IntegralNick; |
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| 334 | IntegralRoll = Mess_IntegralRoll; |
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| 335 | IntegralNick2 = Mess_IntegralNick2; |
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| 336 | IntegralRoll2 = Mess_IntegralRoll2; |
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| 337 | |||
| 338 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
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| 339 | { |
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| 340 | if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
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| 341 | else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
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| 342 | if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
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| 343 | else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
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| 344 | } |
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| 345 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
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| 346 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
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| 347 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 348 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 349 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 350 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 351 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 352 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 353 | } |
||
| 354 | |||
| 355 | //############################################################################ |
||
| 356 | // Messwerte beim Ermitteln der Nullage |
||
| 357 | void CalibrierMittelwert(void) |
||
| 358 | //############################################################################ |
||
| 359 | { |
||
| 360 | if(PlatinenVersion == 13) SucheGyroOffset(); |
||
| 361 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
||
| 362 | ANALOG_OFF; |
||
| 363 | MesswertNick = AdWertNick; |
||
| 364 | MesswertRoll = AdWertRoll; |
||
| 365 | MesswertGier = AdWertGier; |
||
| 366 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
| 367 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 368 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
| 369 | // ADC einschalten |
||
| 370 | ANALOG_ON; |
||
| 371 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
||
| 372 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
| 373 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
| 374 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
| 375 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
| 376 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 377 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 378 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 379 | |||
| 380 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 381 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 382 | } |
||
| 383 | |||
| 384 | //############################################################################ |
||
| 385 | // Senden der Motorwerte per I2C-Bus |
||
| 386 | void SendMotorData(void) |
||
| 387 | //############################################################################ |
||
| 388 | { |
||
| 389 | DebugOut.Analog[12] = Motor_Vorne; |
||
| 390 | DebugOut.Analog[13] = Motor_Hinten; |
||
| 391 | DebugOut.Analog[14] = Motor_Links; |
||
| 392 | DebugOut.Analog[15] = Motor_Rechts; |
||
| 393 | |||
| 394 | if(!( MotorenEin && PARAM_ENGINE_ENABLED ) ) |
||
| 395 | { |
||
| 396 | Motor_Hinten = 0; |
||
| 397 | Motor_Vorne = 0; |
||
| 398 | Motor_Rechts = 0; |
||
| 399 | Motor_Links = 0; |
||
| 400 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
||
| 401 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
||
| 402 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
||
| 403 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
||
| 404 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
||
| 405 | } else MikroKopterFlags |= FLAG_MOTOR_RUN; |
||
| 406 | |||
| 407 | //Start I2C Interrupt Mode |
||
| 408 | twi_state = 0; |
||
| 409 | motor = 0; |
||
| 410 | i2c_start(); |
||
| 411 | } |
||
| 412 | |||
| 413 | |||
| 414 | |||
| 415 | //############################################################################ |
||
| 416 | // Trägt ggf. das Poti als Parameter ein |
||
| 417 | void ParameterZuordnung(void) |
||
| 418 | //############################################################################ |
||
| 419 | { |
||
| 420 | #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;} |
||
| 421 | #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; } |
||
| 422 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
||
| 423 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
||
| 424 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 425 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
||
| 426 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
||
| 427 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 428 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
||
| 429 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
||
| 430 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
| 431 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
| 432 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
| 433 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
| 434 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
| 435 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
| 436 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
| 437 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
| 438 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
||
| 439 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
||
| 440 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
||
| 441 | CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 442 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
||
| 1118 | krheinwald | 443 | |
| 1112 | thjac | 444 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| 1118 | krheinwald | 445 | CHK_POTI_MM(Parameter_J16Brightness,PARAM_LED_BRIGHTNESS_J16,0,250); |
| 1112 | thjac | 446 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
| 1118 | krheinwald | 447 | CHK_POTI_MM(Parameter_J17Brightness,PARAM_LED_BRIGHTNESS_J17,0,250); |
| 1112 | thjac | 448 | |
| 449 | // CHK_POTI(Parameter_NaviGpsModeControl,EE_Parameter.NaviGpsModeControl,0,255); |
||
| 450 | //CHK_POTI(Parameter_NaviGpsGain,EE_Parameter.NaviGpsGain,0,255); |
||
| 451 | // CHK_POTI(Parameter_NaviGpsP,EE_Parameter.NaviGpsP,0,255); |
||
| 452 | // CHK_POTI(Parameter_NaviGpsI,EE_Parameter.NaviGpsI,0,255); |
||
| 453 | // CHK_POTI(Parameter_NaviGpsD,EE_Parameter.NaviGpsD,0,255); |
||
| 454 | // CHK_POTI(Parameter_NaviGpsACC,EE_Parameter.NaviGpsACC,0,255); |
||
| 455 | // CHK_POTI_MM(Parameter_NaviOperatingRadius,EE_Parameter.NaviOperatingRadius,10,255); |
||
| 456 | // CHK_POTI(Parameter_NaviWindCorrection,EE_Parameter.NaviWindCorrection,0,255); |
||
| 457 | // CHK_POTI(Parameter_NaviSpeedCompensation,EE_Parameter.NaviSpeedCompensation,0,255); |
||
| 458 | |||
| 459 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
| 460 | |||
| 461 | Ki = (float) Parameter_I_Faktor * 0.0001; |
||
| 462 | MAX_GAS = EE_Parameter.Gas_Max; |
||
| 463 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 464 | } |
||
| 465 | |||
| 466 | |||
| 467 | |||
| 468 | //############################################################################ |
||
| 469 | // |
||
| 470 | void MotorRegler(void) |
||
| 471 | //############################################################################ |
||
| 472 | { |
||
| 473 | int motorwert,pd_ergebnis,tmp_int; |
||
| 474 | int GierMischanteil,GasMischanteil; |
||
| 475 | static long SummeNick=0,SummeRoll=0; |
||
| 476 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 477 | static long IntegralFehlerNick = 0; |
||
| 478 | static long IntegralFehlerRoll = 0; |
||
| 479 | static unsigned int RcLostTimer; |
||
| 480 | static unsigned char delay_neutral = 0; |
||
| 481 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 482 | static char TimerWerteausgabe = 0; |
||
| 483 | static char NeueKompassRichtungMerken = 0; |
||
| 484 | static long ausgleichNick, ausgleichRoll; |
||
| 485 | |||
| 486 | Mittelwert(); |
||
| 487 | |||
| 488 | GRN_ON; |
||
| 489 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 490 | // Gaswert ermitteln |
||
| 491 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 492 | GasMischanteil = StickGas; |
||
| 493 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 494 | // Empfang schlecht |
||
| 495 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 496 | if(SenderOkay < 100) |
||
| 497 | { |
||
| 498 | if(!PcZugriff) |
||
| 499 | { |
||
| 500 | if(BeepMuster == 0xffff) |
||
| 501 | { |
||
| 502 | beeptime = 15000; |
||
| 503 | BeepMuster = 0x0c00; |
||
| 504 | } |
||
| 505 | } |
||
| 506 | if(RcLostTimer) RcLostTimer--; |
||
| 507 | else |
||
| 508 | { |
||
| 509 | MotorenEin = 0; |
||
| 510 | Notlandung = 0; |
||
| 511 | } |
||
| 512 | ROT_ON; |
||
| 513 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
||
| 514 | { |
||
| 515 | GasMischanteil = EE_Parameter.NotGas; |
||
| 516 | Notlandung = 1; |
||
| 517 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 518 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 519 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
| 520 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 521 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 522 | } |
||
| 523 | else MotorenEin = 0; |
||
| 524 | } |
||
| 525 | else |
||
| 526 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 527 | // Emfang gut |
||
| 528 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 529 | if(SenderOkay > 140) |
||
| 530 | { |
||
| 531 | Notlandung = 0; |
||
| 532 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
| 533 | if(GasMischanteil > 40 && MotorenEin) |
||
| 534 | { |
||
| 535 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 536 | } |
||
| 537 | if((modell_fliegt < 256)) |
||
| 538 | { |
||
| 539 | SummeNick = 0; |
||
| 540 | SummeRoll = 0; |
||
| 541 | if(modell_fliegt == 250) |
||
| 542 | { |
||
| 543 | NeueKompassRichtungMerken = 1; |
||
| 544 | sollGier = 0; |
||
| 545 | Mess_Integral_Gier = 0; |
||
| 546 | // Mess_Integral_Gier2 = 0; |
||
| 547 | } |
||
| 548 | } else MikroKopterFlags |= FLAG_FLY; |
||
| 549 | |||
| 550 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
||
| 551 | { |
||
| 552 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 553 | // auf Nullwerte kalibrieren |
||
| 554 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 555 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
||
| 556 | { |
||
| 557 | if(++delay_neutral > 200) // nicht sofort |
||
| 558 | { |
||
| 559 | GRN_OFF; |
||
| 560 | MotorenEin = 0; |
||
| 561 | delay_neutral = 0; |
||
| 562 | modell_fliegt = 0; |
||
| 563 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 564 | { |
||
| 565 | unsigned char setting=1; |
||
| 566 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
||
| 567 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 568 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 569 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 570 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 571 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
||
| 572 | } |
||
| 573 | // else |
||
| 574 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
||
| 575 | { |
||
| 576 | WinkelOut.CalcState = 1; |
||
| 577 | beeptime = 1000; |
||
| 578 | } |
||
| 579 | else |
||
| 580 | { |
||
| 581 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 582 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
| 583 | { |
||
| 584 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
| 585 | } |
||
| 586 | SetNeutral(); |
||
| 587 | Piep(GetActiveParamSetNumber()); |
||
| 588 | } |
||
| 589 | } |
||
| 590 | } |
||
| 591 | else |
||
| 592 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
||
| 593 | { |
||
| 594 | if(++delay_neutral > 200) // nicht sofort |
||
| 595 | { |
||
| 596 | GRN_OFF; |
||
| 597 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
| 598 | MotorenEin = 0; |
||
| 599 | delay_neutral = 0; |
||
| 600 | modell_fliegt = 0; |
||
| 601 | SetNeutral(); |
||
| 602 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
| 603 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 604 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
| 605 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
| 606 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
| 607 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
| 608 | Piep(GetActiveParamSetNumber()); |
||
| 609 | } |
||
| 610 | } |
||
| 611 | else delay_neutral = 0; |
||
| 612 | } |
||
| 613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 614 | // Gas ist unten |
||
| 615 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 616 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
||
| 617 | { |
||
| 618 | // Starten |
||
| 1114 | thjac | 619 | if( !MotorenEin && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75 ) |
| 1112 | thjac | 620 | { |
| 621 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 622 | // Einschalten |
||
| 623 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 624 | if(++delay_einschalten > 200) |
||
| 625 | { |
||
| 626 | delay_einschalten = 200; |
||
| 627 | modell_fliegt = 1; |
||
| 628 | MotorenEin = 1; |
||
| 629 | sollGier = 0; |
||
| 630 | Mess_Integral_Gier = 0; |
||
| 631 | Mess_Integral_Gier2 = 0; |
||
| 632 | Mess_IntegralNick = 0; |
||
| 633 | Mess_IntegralRoll = 0; |
||
| 634 | Mess_IntegralNick2 = IntegralNick; |
||
| 635 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 636 | SummeNick = 0; |
||
| 637 | SummeRoll = 0; |
||
| 638 | MikroKopterFlags |= FLAG_START; |
||
| 639 | |||
| 640 | // Beim Einschalten automatisch kalibrieren |
||
| 641 | if( PARAM_CAL_ON_START ) { |
||
| 642 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) { |
||
| 643 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) { |
||
| 644 | SucheLuftruckOffset(); |
||
| 645 | } |
||
| 646 | } |
||
| 647 | |||
| 648 | SetNeutral(); |
||
| 649 | } |
||
| 650 | } |
||
| 651 | } |
||
| 652 | else delay_einschalten = 0; |
||
| 653 | //Auf Neutralwerte setzen |
||
| 654 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 655 | // Auschalten |
||
| 656 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 657 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 658 | { |
||
| 659 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 660 | { |
||
| 661 | MotorenEin = 0; |
||
| 662 | delay_ausschalten = 200; |
||
| 663 | modell_fliegt = 0; |
||
| 664 | } |
||
| 665 | } |
||
| 666 | else delay_ausschalten = 0; |
||
| 667 | } |
||
| 668 | } |
||
| 669 | |||
| 670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 671 | // neue Werte von der Funke |
||
| 672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 673 | if(!NewPpmData-- || Notlandung) { |
||
| 674 | static int chanNickPrev = 0; |
||
| 675 | static int chanRollPrev = 0; |
||
| 676 | |||
| 677 | static int stick_nick,stick_roll; |
||
| 678 | |||
| 679 | ParameterZuordnung(); |
||
| 680 | |||
| 681 | #define MAX_CHAN_VAL 125L |
||
| 682 | #define COS45 7071L // cos( -45 ) * 10000 |
||
| 683 | |||
| 684 | long chanNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
||
| 685 | long chanRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
||
| 686 | |||
| 687 | int chanNickDiff; |
||
| 688 | int chanRollDiff; |
||
| 689 | |||
| 690 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
||
| 691 | * umschalten (sh. parameter.h) |
||
| 692 | */ |
||
| 693 | if( PARAM_X_FORMATION ) { |
||
| 694 | |||
| 695 | chanRoll = -chanRoll; |
||
| 696 | |||
| 697 | // Stick-Koordinatensystem um -45° (rechts) drehen |
||
| 698 | chanNick *= COS45; |
||
| 699 | chanRoll *= COS45; |
||
| 700 | |||
| 701 | int chanNickTemp = ( chanNick - chanRoll ) / 10000L; |
||
| 702 | int chanRollTemp = ( chanRoll + chanNick ) / 10000L; |
||
| 703 | |||
| 704 | chanNick = chanNickTemp; |
||
| 705 | chanRoll = -chanRollTemp; |
||
| 706 | |||
| 707 | if (chanNick > MAX_CHAN_VAL) |
||
| 708 | chanNick = MAX_CHAN_VAL; |
||
| 709 | if (chanNick < -MAX_CHAN_VAL) |
||
| 710 | chanNick = -MAX_CHAN_VAL; |
||
| 711 | if (chanRoll > MAX_CHAN_VAL) |
||
| 712 | chanRoll = MAX_CHAN_VAL; |
||
| 713 | if (chanRoll < -MAX_CHAN_VAL) |
||
| 714 | chanRoll = -MAX_CHAN_VAL; |
||
| 715 | } |
||
| 716 | |||
| 717 | chanNickDiff = ( ( chanNick - chanNickPrev ) / 3) * 3; |
||
| 718 | chanRollDiff = ( ( chanRoll - chanRollPrev ) / 3) * 3; |
||
| 719 | |||
| 720 | chanNickPrev = chanNick; |
||
| 721 | chanRollPrev = chanRoll; |
||
| 722 | |||
| 723 | stick_nick = (stick_nick * 3 + ( (int) chanNick ) * EE_Parameter.Stick_P) / 4; |
||
| 724 | stick_nick += chanNickDiff * EE_Parameter.Stick_D; |
||
| 725 | StickNick = stick_nick - GPS_Nick; |
||
| 726 | |||
| 727 | stick_roll = (stick_roll * 3 + ( (int) chanRoll ) * EE_Parameter.Stick_P) / 4; |
||
| 728 | stick_roll += chanRollDiff * EE_Parameter.Stick_D; |
||
| 729 | StickRoll = stick_roll - GPS_Roll; |
||
| 730 | |||
| 731 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
||
| 732 | |||
| 733 | // Gaswert übernehmen |
||
| 1122 | thjac | 734 | StickGas = pitch_value(); |
| 1112 | thjac | 735 | |
| 736 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256 / STICK_GAIN ); |
||
| 737 | IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN ); |
||
| 738 | |||
| 739 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 740 | //+ Analoge Steuerung per Seriell |
||
| 741 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 742 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
||
| 743 | { |
||
| 744 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 745 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 746 | StickGier += ExternControl.Gier; |
||
| 747 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 748 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 749 | } |
||
| 750 | if(StickGas < 0) StickGas = 0; |
||
| 751 | |||
| 752 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
||
| 753 | if(GyroFaktor < 0) GyroFaktor = 0; |
||
| 754 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 755 | |||
| 756 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
||
| 757 | { |
||
| 758 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
| 759 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
| 760 | } |
||
| 761 | else MaxStickNick--; |
||
| 762 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
||
| 763 | { |
||
| 764 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
| 765 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
| 766 | } |
||
| 767 | else MaxStickRoll--; |
||
| 768 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
||
| 769 | |||
| 770 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 771 | // Looping? |
||
| 772 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 773 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
||
| 774 | else |
||
| 775 | { |
||
| 776 | { |
||
| 777 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
||
| 778 | } |
||
| 779 | } |
||
| 780 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
||
| 781 | else |
||
| 782 | { |
||
| 783 | if(Looping_Rechts) // Hysterese |
||
| 784 | { |
||
| 785 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 786 | } |
||
| 787 | } |
||
| 788 | |||
| 789 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
||
| 790 | else |
||
| 791 | { |
||
| 792 | if(Looping_Oben) // Hysterese |
||
| 793 | { |
||
| 794 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
||
| 795 | } |
||
| 796 | } |
||
| 797 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
||
| 798 | else |
||
| 799 | { |
||
| 800 | if(Looping_Unten) // Hysterese |
||
| 801 | { |
||
| 802 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 803 | } |
||
| 804 | } |
||
| 805 | |||
| 806 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 807 | if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
| 808 | } // Ende neue Funken-Werte |
||
| 809 | |||
| 810 | if(Looping_Roll || Looping_Nick) |
||
| 811 | { |
||
| 812 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
||
| 813 | } |
||
| 814 | |||
| 815 | |||
| 816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 817 | // Bei Empfangsausfall im Flug |
||
| 818 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 819 | if(Notlandung) |
||
| 820 | { |
||
| 821 | StickGier = 0; |
||
| 822 | StickNick = 0; |
||
| 823 | StickRoll = 0; |
||
| 824 | GyroFaktor = (float) 100 / (256.0 / STICK_GAIN); |
||
| 825 | IntegralFaktor = (float) 120 / (44000 / STICK_GAIN); |
||
| 826 | Looping_Roll = 0; |
||
| 827 | Looping_Nick = 0; |
||
| 828 | } |
||
| 829 | |||
| 830 | |||
| 831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 832 | // Integrale auf ACC-Signal abgleichen |
||
| 833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 834 | #define ABGLEICH_ANZAHL 256L |
||
| 835 | |||
| 836 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 837 | MittelIntegralRoll += IntegralRoll; |
||
| 838 | MittelIntegralNick2 += IntegralNick2; |
||
| 839 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 840 | |||
| 841 | if(Looping_Nick || Looping_Roll) |
||
| 842 | { |
||
| 843 | IntegralAccNick = 0; |
||
| 844 | IntegralAccRoll = 0; |
||
| 845 | MittelIntegralNick = 0; |
||
| 846 | MittelIntegralRoll = 0; |
||
| 847 | MittelIntegralNick2 = 0; |
||
| 848 | MittelIntegralRoll2 = 0; |
||
| 849 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 850 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 851 | ZaehlMessungen = 0; |
||
| 852 | LageKorrekturNick = 0; |
||
| 853 | LageKorrekturRoll = 0; |
||
| 854 | } |
||
| 855 | |||
| 856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 857 | if(!Looping_Nick && !Looping_Roll) |
||
| 858 | { |
||
| 859 | long tmp_long, tmp_long2; |
||
| 860 | if(FromNaviCtrl_Value.Kalman_K != -1) |
||
| 861 | { |
||
| 862 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 863 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 864 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 865 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 866 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 867 | { |
||
| 868 | tmp_long /= 2; |
||
| 869 | tmp_long2 /= 2; |
||
| 870 | } |
||
| 871 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 872 | { |
||
| 873 | tmp_long /= 3; |
||
| 874 | tmp_long2 /= 3; |
||
| 875 | } |
||
| 876 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 877 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 878 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 879 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 880 | } |
||
| 881 | else |
||
| 882 | { |
||
| 883 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 884 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 885 | tmp_long /= 16; |
||
| 886 | tmp_long2 /= 16; |
||
| 887 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 888 | { |
||
| 889 | tmp_long /= 3; |
||
| 890 | tmp_long2 /= 3; |
||
| 891 | } |
||
| 892 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 893 | { |
||
| 894 | tmp_long /= 3; |
||
| 895 | tmp_long2 /= 3; |
||
| 896 | } |
||
| 897 | #define AUSGLEICH 32 |
||
| 898 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
||
| 899 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 900 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 901 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 902 | } |
||
| 903 | |||
| 904 | Mess_IntegralNick -= tmp_long; |
||
| 905 | Mess_IntegralRoll -= tmp_long2; |
||
| 906 | } |
||
| 907 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 908 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
||
| 909 | { |
||
| 910 | static int cnt = 0; |
||
| 911 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 912 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 913 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug) |
||
| 914 | { |
||
| 915 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
||
| 916 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 917 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 918 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 919 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 920 | #define MAX_I 0//(Poti2/10) |
||
| 921 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 922 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 923 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 924 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 925 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 926 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
||
| 927 | |||
| 928 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 929 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 930 | |||
| 931 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
||
| 932 | { |
||
| 933 | LageKorrekturNick /= 2; |
||
| 934 | LageKorrekturRoll /= 2; |
||
| 935 | } |
||
| 936 | |||
| 937 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 938 | // Gyro-Drift ermitteln |
||
| 939 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 940 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
||
| 941 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 942 | tmp_long = IntegralNick2 - IntegralNick; |
||
| 943 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 944 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
||
| 945 | |||
| 946 | IntegralFehlerNick = tmp_long; |
||
| 947 | IntegralFehlerRoll = tmp_long2; |
||
| 948 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 949 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 950 | |||
| 951 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
| 952 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 953 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
||
| 954 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
| 955 | |||
| 956 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
||
| 957 | //DebugOut.Analog[24] = GierGyroFehler; |
||
| 958 | GierGyroFehler = 0; |
||
| 959 | |||
| 960 | |||
| 961 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
||
| 962 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
| 963 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 964 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 965 | */ |
||
| 966 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 967 | //MittelIntegralRoll = MittelIntegralRoll; |
||
| 968 | //DebugOut.Analog[28] = ausgleichNick; |
||
| 969 | /* |
||
| 970 | DebugOut.Analog[29] = ausgleichRoll; |
||
| 971 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
||
| 972 | */ |
||
| 973 | |||
| 974 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
||
| 975 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
||
| 976 | #define BEWEGUNGS_LIMIT 20000 |
||
| 977 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 978 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 979 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*16)) |
||
| 980 | { |
||
| 981 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
||
| 982 | { |
||
| 983 | if(last_n_p) |
||
| 984 | { |
||
| 985 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
||
| 986 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 987 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
||
| 988 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 989 | } |
||
| 990 | else last_n_p = 1; |
||
| 991 | } else last_n_p = 0; |
||
| 992 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
||
| 993 | { |
||
| 994 | if(last_n_n) |
||
| 995 | { |
||
| 996 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
||
| 997 | ausgleichNick = IntegralFehlerNick / 8; |
||
| 998 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
||
| 999 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
| 1000 | } |
||
| 1001 | else last_n_n = 1; |
||
| 1002 | } else last_n_n = 0; |
||
| 1003 | } |
||
| 1004 | else |
||
| 1005 | { |
||
| 1006 | cnt = 0; |
||
| 1007 | KompassSignalSchlecht = 1000; |
||
| 1008 | } |
||
| 1009 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1010 | if(cnt * 16 > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift/16; |
||
| 1011 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
||
| 1012 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 1013 | |||
| 1014 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1015 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1016 | |||
| 1017 | ausgleichRoll = 0; |
||
| 1018 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*16)) |
||
| 1019 | { |
||
| 1020 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
||
| 1021 | { |
||
| 1022 | if(last_r_p) |
||
| 1023 | { |
||
| 1024 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
||
| 1025 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1026 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
||
| 1027 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1028 | } |
||
| 1029 | else last_r_p = 1; |
||
| 1030 | } else last_r_p = 0; |
||
| 1031 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
||
| 1032 | { |
||
| 1033 | if(last_r_n) |
||
| 1034 | { |
||
| 1035 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
||
| 1036 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
| 1037 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
||
| 1038 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
| 1039 | } |
||
| 1040 | else last_r_n = 1; |
||
| 1041 | } else last_r_n = 0; |
||
| 1042 | } else |
||
| 1043 | { |
||
| 1044 | cnt = 0; |
||
| 1045 | KompassSignalSchlecht = 1000; |
||
| 1046 | } |
||
| 1047 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
| 1048 | if(cnt * 16 > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift/16; |
||
| 1049 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
||
| 1050 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 1051 | } |
||
| 1052 | else |
||
| 1053 | { |
||
| 1054 | LageKorrekturRoll = 0; |
||
| 1055 | LageKorrekturNick = 0; |
||
| 1056 | TrichterFlug = 0; |
||
| 1057 | } |
||
| 1058 | |||
| 1059 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
||
| 1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1061 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1062 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1063 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1064 | IntegralAccNick = 0; |
||
| 1065 | IntegralAccRoll = 0; |
||
| 1066 | IntegralAccZ = 0; |
||
| 1067 | MittelIntegralNick = 0; |
||
| 1068 | MittelIntegralRoll = 0; |
||
| 1069 | MittelIntegralNick2 = 0; |
||
| 1070 | MittelIntegralRoll2 = 0; |
||
| 1071 | ZaehlMessungen = 0; |
||
| 1072 | } |
||
| 1073 | //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
||
| 1074 | |||
| 1075 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1076 | // Gieren |
||
| 1077 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1078 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
||
| 1079 | if(abs(StickGier) > 15) // war 35 |
||
| 1080 | { |
||
| 1081 | KompassSignalSchlecht = 1000; |
||
| 1082 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
||
| 1083 | { |
||
| 1084 | NeueKompassRichtungMerken = 1; |
||
| 1085 | }; |
||
| 1086 | } |
||
| 1087 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
||
| 1088 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
||
| 1089 | sollGier = tmp_int; |
||
| 1090 | Mess_Integral_Gier -= tmp_int; |
||
| 1091 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
||
| 1092 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1093 | |||
| 1094 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1095 | // Kompass |
||
| 1096 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1097 | //DebugOut.Analog[29] = (MaxStickNick + MaxStickRoll); |
||
| 1098 | |||
| 1099 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
| 1100 | { |
||
| 1101 | int w,v,r,fehler,korrektur; |
||
| 1102 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
||
| 1103 | v = abs(IntegralRoll /512); |
||
| 1104 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1105 | korrektur = w / 8 + 1; |
||
| 1106 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
| 1107 | if(NeueKompassRichtungMerken) |
||
| 1108 | { |
||
| 1109 | fehler = 0; |
||
| 1110 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
| 1111 | } |
||
| 1112 | if(!KompassSignalSchlecht && w < 25) |
||
| 1113 | { |
||
| 1114 | GierGyroFehler += fehler; |
||
| 1115 | if(NeueKompassRichtungMerken) |
||
| 1116 | { |
||
| 1117 | beeptime = 200; |
||
| 1118 | // KompassStartwert = KompassValue; |
||
| 1119 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
| 1120 | NeueKompassRichtungMerken = 0; |
||
| 1121 | } |
||
| 1122 | } |
||
| 1123 | ErsatzKompass += (fehler * 8) / korrektur; |
||
| 1124 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
||
| 1125 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
||
| 1126 | if(w >= 0) |
||
| 1127 | { |
||
| 1128 | if(!KompassSignalSchlecht) |
||
| 1129 | { |
||
| 1130 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
||
| 1131 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
||
| 1132 | // r = KompassRichtung; |
||
| 1133 | v = (r * w) / v; // nach Kompass ausrichten |
||
| 1134 | w = 3 * Parameter_KompassWirkung; |
||
| 1135 | if(v > w) v = w; // Begrenzen |
||
| 1136 | else |
||
| 1137 | if(v < -w) v = -w; |
||
| 1138 | Mess_Integral_Gier += v; |
||
| 1139 | } |
||
| 1140 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
| 1141 | } |
||
| 1142 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
||
| 1143 | } |
||
| 1144 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1145 | |||
| 1146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1147 | // Debugwerte zuordnen |
||
| 1148 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1149 | if(!TimerWerteausgabe--) |
||
| 1150 | { |
||
| 1151 | TimerWerteausgabe = 24; |
||
| 1152 | |||
| 1153 | DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
||
| 1154 | DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
||
| 1155 | DebugOut.Analog[2] = Mittelwert_AccNick; |
||
| 1156 | DebugOut.Analog[3] = Mittelwert_AccRoll; |
||
| 1157 | DebugOut.Analog[4] = MesswertGier; |
||
| 1158 | DebugOut.Analog[5] = HoehenWert; |
||
| 1159 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
||
| 1160 | DebugOut.Analog[8] = KompassValue; |
||
| 1161 | DebugOut.Analog[9] = UBat; |
||
| 1162 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
||
| 1163 | DebugOut.Analog[10] = SenderOkay; |
||
| 1164 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
||
| 1165 | DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
||
| 1166 | DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
||
| 1167 | DebugOut.Analog[19] = WinkelOut.CalcState; |
||
| 1168 | DebugOut.Analog[20] = ServoValue; |
||
| 1169 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
||
| 1170 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
| 1171 | // DebugOut.Analog[30] = GPS_Nick; |
||
| 1172 | // DebugOut.Analog[31] = GPS_Roll; |
||
| 1173 | |||
| 1174 | |||
| 1175 | // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
||
| 1176 | // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
||
| 1177 | |||
| 1178 | /* DebugOut.Analog[16] = motor_rx[0]; |
||
| 1179 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1180 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1181 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1182 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1183 | DebugOut.Analog[20] /= 14; |
||
| 1184 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1185 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1186 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1187 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1188 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1189 | */ |
||
| 1190 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1191 | // DebugOut.Analog[9] = SollHoehe; |
||
| 1192 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 1193 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 1194 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
||
| 1195 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
||
| 1196 | // DebugOut.Analog[9] = KompassRichtung; |
||
| 1197 | // DebugOut.Analog[10] = GasMischanteil; |
||
| 1198 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 1199 | // DebugOut.Analog[4] = hoehenregler; |
||
| 1200 | } |
||
| 1201 | |||
| 1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1203 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
||
| 1204 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1205 | |||
| 1206 | if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
||
| 1207 | else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
||
| 1208 | if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
||
| 1209 | else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
||
| 1210 | MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
||
| 1211 | |||
| 1212 | DebugOut.Analog[21] = MesswertNick; |
||
| 1213 | DebugOut.Analog[22] = MesswertRoll; |
||
| 1214 | |||
| 1215 | // Maximalwerte abfangen |
||
| 1216 | #define MAX_SENSOR (4096*STICK_GAIN) |
||
| 1217 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
| 1218 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
| 1219 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1220 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1221 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1222 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1223 | |||
| 1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1225 | // Gas-Mischanteil |
||
| 1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1227 | |||
| 1228 | // Zur besseren Auflösung hochskalieren |
||
| 1229 | GasMischanteil *= STICK_GAIN; |
||
| 1230 | |||
| 1231 | // Fehlerwert der Höhenregelung einmischen |
||
| 1122 | thjac | 1232 | GasMischanteil -= altcon_error(); |
| 1112 | thjac | 1233 | |
| 1234 | // Mindestens auf Minimalgas stellen |
||
| 1235 | if( GasMischanteil < MIN_GAS ) |
||
| 1236 | GasMischanteil = MIN_GAS; |
||
| 1237 | |||
| 1238 | // Begrenzung des Gasmischanteils auf MAX_GAS - 20 (Reserve für Motoren) |
||
| 1239 | if( GasMischanteil > ( MAX_GAS - 20 ) * STICK_GAIN ) |
||
| 1240 | GasMischanteil = ( MAX_GAS - 20 ) * STICK_GAIN; |
||
| 1241 | |||
| 1242 | DebugOut.Analog[7] = GasMischanteil; |
||
| 1243 | |||
| 1244 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1245 | // Gier-Anteil |
||
| 1246 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1247 | |||
| 1248 | GierMischanteil = MesswertGier - ( sollGier * STICK_GAIN ); // Regler für Gier |
||
| 1249 | |||
| 1250 | #define MIN_GIERGAS ( 40 * STICK_GAIN ) // unter diesem Gaswert trotzdem Gieren |
||
| 1251 | |||
| 1252 | // Reduzierten Gieranteil berechnen |
||
| 1253 | if( GasMischanteil < MIN_GIERGAS ) { |
||
| 1254 | GierMischanteil = ( GierMischanteil * GasMischanteil ) / MIN_GIERGAS; |
||
| 1255 | } |
||
| 1256 | |||
| 1257 | // Gieranteil darf nicht größer als der halbe Gasanteil sein |
||
| 1258 | if( GierMischanteil > ( GasMischanteil >> 1 ) ) |
||
| 1259 | GierMischanteil = GasMischanteil >> 1; |
||
| 1260 | if( GierMischanteil < -( GasMischanteil >> 1 ) ) |
||
| 1261 | GierMischanteil = -( GasMischanteil >> 1 ); |
||
| 1262 | |||
| 1263 | tmp_int = MAX_GAS * STICK_GAIN; |
||
| 1264 | |||
| 1265 | // Gieranteil darf die Gasreserve nicht überschreiten |
||
| 1266 | if( GierMischanteil > ( ( tmp_int - GasMischanteil ) ) ) |
||
| 1267 | GierMischanteil = ( ( tmp_int - GasMischanteil ) ); |
||
| 1268 | if( GierMischanteil < -( ( tmp_int - GasMischanteil ) ) ) |
||
| 1269 | GierMischanteil = -( ( tmp_int - GasMischanteil ) ); |
||
| 1270 | |||
| 1271 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1272 | // Nick-Achse |
||
| 1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1274 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
||
| 1275 | if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - StickNick; // I-Anteil bei Winkelregelung |
||
| 1276 | else SummeNick += DiffNick; // I-Anteil bei HH |
||
| 1277 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
||
| 1278 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1279 | pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
||
| 1280 | // Motor Vorn |
||
| 1281 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1282 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
||
| 1283 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 1284 | |||
| 1285 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
||
| 1286 | motorwert /= STICK_GAIN; |
||
| 1287 | if ((motorwert < 0)) motorwert = 0; |
||
| 1288 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1289 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1290 | Motor_Vorne = motorwert; |
||
| 1291 | // Motor Heck |
||
| 1292 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
||
| 1293 | motorwert /= STICK_GAIN; |
||
| 1294 | if ((motorwert < 0)) motorwert = 0; |
||
| 1295 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1296 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1297 | Motor_Hinten = motorwert; |
||
| 1298 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1299 | // Roll-Achse |
||
| 1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1301 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1302 | if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1303 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1304 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1305 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1306 | pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
||
| 1307 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1308 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
||
| 1309 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 1310 | // Motor Links |
||
| 1311 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
||
| 1312 | motorwert /= STICK_GAIN; |
||
| 1313 | if ((motorwert < 0)) motorwert = 0; |
||
| 1314 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1315 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1316 | Motor_Links = motorwert; |
||
| 1317 | // Motor Rechts |
||
| 1318 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
||
| 1319 | motorwert /= STICK_GAIN; |
||
| 1320 | if ((motorwert < 0)) motorwert = 0; |
||
| 1321 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
||
| 1322 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 1323 | Motor_Rechts = motorwert; |
||
| 1324 | // +++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1325 | } |
||
| 1326 |