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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 5
// + Copyright (c) Holger Buss, Ingo Busker
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1 ingob 7
// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14
// + Verkauf von Luftbildaufnahmen, usw.
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 27
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
1051 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
1051 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
1051 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
1338 ingob 42
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  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
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
1322 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
51
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
55
 
56
#include "main.h"
395 hbuss 57
#include "eeprom.c"
1320 hbuss 58
#include "mymath.h"
1330 killagreg 59
#include "isqrt.h"
1 ingob 60
 
1352 hbuss 61
unsigned char h,m,s;
62
unsigned int BaroExpandActive = 0;
173 holgerb 63
volatile unsigned int I2CTimeout = 100;
1153 hbuss 64
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 65
int TrimNick, TrimRoll;
1051 killagreg 66
int AdNeutralGierBias;
927 hbuss 67
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
68
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
805 hbuss 69
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1 ingob 70
volatile float NeutralAccZ = 0;
71
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
693 hbuss 72
long IntegralNick = 0,IntegralNick2 = 0;
73
long IntegralRoll = 0,IntegralRoll2 = 0;
74
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
75
long Integral_Gier = 0;
76
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
77
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
78
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
79
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1 ingob 80
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 81
int  KompassValue = 0;
82
int  KompassStartwert = 0;
83
int  KompassRichtung = 0;
693 hbuss 84
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 85
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 86
unsigned char HoehenReglerAktiv = 0;
880 hbuss 87
unsigned char TrichterFlug = 0;
395 hbuss 88
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 89
long  ErsatzKompass;
90
int   ErsatzKompassInGrad; // Kompasswert in Grad
91
int   GierGyroFehler = 0;
1211 hbuss 92
char GyroFaktor,GyroFaktorGier;
93
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 94
int  DiffNick,DiffRoll;
1377 hbuss 95
//int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391 killagreg 96
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1 ingob 97
volatile unsigned char SenderOkay = 0;
1243 killagreg 98
volatile unsigned char SenderRSSI = 0;
595 hbuss 99
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 100
char MotorenEin = 0;
1246 killagreg 101
long HoehenWert = 0;
102
long SollHoehe = 0;
498 hbuss 103
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 104
//float Ki =  FAKTOR_I;
105
int Ki = 10300 / 33;
395 hbuss 106
unsigned char Looping_Nick = 0,Looping_Roll = 0;
107
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 108
 
109
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
110
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
111
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
112
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
113
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 114
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 115
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 116
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 117
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 118
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
119
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 120
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
121
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
122
unsigned char Parameter_UserParam1 = 0;
123
unsigned char Parameter_UserParam2 = 0;
124
unsigned char Parameter_UserParam3 = 0;
125
unsigned char Parameter_UserParam4 = 0;
499 hbuss 126
unsigned char Parameter_UserParam5 = 0;
127
unsigned char Parameter_UserParam6 = 0;
128
unsigned char Parameter_UserParam7 = 0;
129
unsigned char Parameter_UserParam8 = 0;
1 ingob 130
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 131
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 132
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 133
unsigned char Parameter_AchsKopplung1 = 90;
134
unsigned char Parameter_AchsKopplung2 = 65;
135
unsigned char Parameter_CouplingYawCorrection = 64;
136
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 137
unsigned char Parameter_DynamicStability = 100;
921 hbuss 138
unsigned char Parameter_J16Bitmask;             // for the J16 Output
139
unsigned char Parameter_J16Timing;              // for the J16 Output
140
unsigned char Parameter_J17Bitmask;             // for the J17 Output
141
unsigned char Parameter_J17Timing;              // for the J17 Output
142
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 143
unsigned char Parameter_NaviGpsGain;
144
unsigned char Parameter_NaviGpsP;
145
unsigned char Parameter_NaviGpsI;
146
unsigned char Parameter_NaviGpsD;
147
unsigned char Parameter_NaviGpsACC;
993 hbuss 148
unsigned char Parameter_NaviOperatingRadius;
149
unsigned char Parameter_NaviWindCorrection;
150
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 151
unsigned char Parameter_ExternalControl;
1403 hbuss 152
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
1 ingob 153
struct mk_param_struct EE_Parameter;
492 hbuss 154
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 155
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 156
unsigned int  modell_fliegt = 0;
1420 killagreg 157
volatile unsigned char FCFlags = 0;
1121 hbuss 158
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 159
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 160
unsigned char RequiredMotors = 4;
161
unsigned char Motor[MAX_MOTORS];
162
signed int tmp_motorwert[MAX_MOTORS];
1328 hbuss 163
unsigned char LoadHandler = 0;
1391 killagreg 164
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
165
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
166
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
1155 hbuss 167
 
1166 hbuss 168
int MotorSmoothing(int neu, int alt)
169
{
170
 int motor;
171
 if(neu > alt) motor = (1*(int)alt + neu) / 2;
172
 else   motor = neu - (alt - neu)*1;
173
//if(Poti2 < 20)  return(neu);
174
 return(motor);
175
}
176
 
1232 hbuss 177
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 178
{
1232 hbuss 179
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 180
 while(Anzahl--)
181
 {
1232 hbuss 182
  beeptime = dauer;
183
  while(beeptime);
184
  Delay_ms(dauer * 2);
1 ingob 185
 }
186
}
187
 
188
//############################################################################
189
//  Nullwerte ermitteln
190
void SetNeutral(void)
191
//############################################################################
192
{
1111 hbuss 193
 unsigned char i;
194
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1320 hbuss 195
    HEF4017R_ON;
1051 killagreg 196
        NeutralAccX = 0;
1 ingob 197
        NeutralAccY = 0;
198
        NeutralAccZ = 0;
1051 killagreg 199
    AdNeutralNick = 0;
200
        AdNeutralRoll = 0;
1 ingob 201
        AdNeutralGier = 0;
927 hbuss 202
    AdNeutralGierBias = 0;
395 hbuss 203
    Parameter_AchsKopplung1 = 0;
1120 hbuss 204
    Parameter_AchsKopplung2 = 0;
1036 hbuss 205
    ExpandBaro = 0;
1051 killagreg 206
    CalibrierMittelwert();
395 hbuss 207
    Delay_ms_Mess(100);
1 ingob 208
        CalibrierMittelwert();
209
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 210
     {
1 ingob 211
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
212
     }
1166 hbuss 213
#define NEUTRAL_FILTER 32
214
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 215
         {
216
          Delay_ms_Mess(10);
1216 killagreg 217
          gier_neutral += AdWertGier;
1166 hbuss 218
          nick_neutral += AdWertNick;
219
          roll_neutral += AdWertRoll;
1111 hbuss 220
         }
1173 hbuss 221
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
222
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
223
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 224
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 225
     StartNeutralRoll = AdNeutralRoll;
226
     StartNeutralNick = AdNeutralNick;
1051 killagreg 227
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 228
    {
1171 hbuss 229
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
230
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 231
          NeutralAccZ = Aktuell_az;
232
    }
1051 killagreg 233
    else
513 hbuss 234
    {
235
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
236
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
237
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
238
    }
1051 killagreg 239
 
1 ingob 240
    MesswertNick = 0;
241
    MesswertRoll = 0;
242
    MesswertGier = 0;
1111 hbuss 243
    Delay_ms_Mess(100);
1174 hbuss 244
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
245
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 246
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
247
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
248
    Mess_IntegralNick2 = IntegralNick;
249
    Mess_IntegralRoll2 = IntegralRoll;
250
    Mess_Integral_Gier = 0;
1 ingob 251
    StartLuftdruck = Luftdruck;
1253 killagreg 252
    VarioMeter = 0;
1 ingob 253
    Mess_Integral_Hoch = 0;
254
    KompassStartwert = KompassValue;
255
    GPS_Neutral();
1051 killagreg 256
    beeptime = 50;
882 hbuss 257
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
258
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 259
    ExternHoehenValue = 0;
693 hbuss 260
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
261
    GierGyroFehler = 0;
723 hbuss 262
    SendVersionToNavi = 1;
921 hbuss 263
    LED_Init();
1420 killagreg 264
    FCFlags |= FCFLAG_CALIBRATE;
992 hbuss 265
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 266
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 267
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1391 killagreg 268
 
269
   for(i=0;i<8;i++)
1377 hbuss 270
    {
271
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
272
        }
1171 hbuss 273
    SenderOkay = 100;
1320 hbuss 274
    if(ServoActive)
275
         {
276
                HEF4017R_ON;
277
                DDRD  |=0x80; // enable J7 -> Servo signal
278
     }
1 ingob 279
}
280
 
281
//############################################################################
395 hbuss 282
// Bearbeitet die Messwerte
1 ingob 283
void Mittelwert(void)
284
//############################################################################
1051 killagreg 285
{
1111 hbuss 286
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
287
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 288
        signed long winkel_nick, winkel_roll;
1377 hbuss 289
    unsigned char i;
1111 hbuss 290
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
291
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 292
    MesswertNick = (signed int) AdWertNickFilter / 8;
293
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 294
    RohMesswertNick = MesswertNick;
295
    RohMesswertRoll = MesswertRoll;
1166 hbuss 296
 
395 hbuss 297
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 298
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
299
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
300
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 301
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
302
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 303
    NaviAccNick    += AdWertAccNick;
304
    NaviAccRoll    += AdWertAccRoll;
305
    NaviCntAcc++;
1153 hbuss 306
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
307
 
1155 hbuss 308
//++++++++++++++++++++++++++++++++++++++++++++++++
309
// ADC einschalten
1171 hbuss 310
    ANALOG_ON;
1155 hbuss 311
        AdReady = 0;
312
//++++++++++++++++++++++++++++++++++++++++++++++++
313
 
1216 killagreg 314
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
315
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 316
        else winkel_roll = Mess_IntegralRoll;
317
 
1216 killagreg 318
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
319
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 320
        else winkel_nick = Mess_IntegralNick;
321
 
1120 hbuss 322
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 323
   Mess_Integral_Gier += MesswertGier;
324
   ErsatzKompass += MesswertGier;
395 hbuss 325
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
326
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
327
         {
1153 hbuss 328
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 329
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 330
            tmpl3 /= 4096L;
1153 hbuss 331
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 332
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 333
            tmpl4 /= 4096L;
1153 hbuss 334
            KopplungsteilNickRoll = tmpl3;
335
            KopplungsteilRollNick = tmpl4;
1111 hbuss 336
            tmpl4 -= tmpl3;
337
            ErsatzKompass += tmpl4;
1166 hbuss 338
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 339
 
1153 hbuss 340
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 341
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 342
            tmpl /= 4096L;
1153 hbuss 343
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 344
            tmpl2 *= Parameter_AchsKopplung1;
880 hbuss 345
            tmpl2 /= 4096L;
1225 hbuss 346
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 347
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 348
         }
1166 hbuss 349
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1111 hbuss 350
 
1166 hbuss 351
TrimRoll = tmpl - tmpl2 / 100L;
352
TrimNick = -tmpl2 + tmpl / 100L;
353
 
1111 hbuss 354
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
355
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
356
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 357
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 358
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
359
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 360
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 361
            {
882 hbuss 362
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 363
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 364
            }
395 hbuss 365
            if(Mess_IntegralRoll <-Umschlag180Roll)
366
            {
882 hbuss 367
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 368
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 369
            }
395 hbuss 370
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 371
            Mess_IntegralNick2 += MesswertNick + TrimNick;
372
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 373
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 374
             {
375
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
376
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 377
             }
378
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 379
            {
882 hbuss 380
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 381
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 382
            }
1111 hbuss 383
 
1 ingob 384
    Integral_Gier  = Mess_Integral_Gier;
385
    IntegralNick = Mess_IntegralNick;
386
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 387
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 388
    IntegralRoll2 = Mess_IntegralRoll2;
389
 
1166 hbuss 390
#define D_LIMIT 128
391
 
1171 hbuss 392
   MesswertNick = HiResNick / 8;
393
   MesswertRoll = HiResRoll / 8;
1166 hbuss 394
 
1167 hbuss 395
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
396
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
397
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
398
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
399
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
400
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
401
 
1216 killagreg 402
  if(Parameter_Gyro_D)
1111 hbuss 403
  {
1166 hbuss 404
   d2Nick = HiResNick - oldNick;
405
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 406
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
407
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 408
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
409
   d2Roll = HiResRoll - oldRoll;
410
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 411
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
412
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 413
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
414
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
415
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 416
  }
1111 hbuss 417
 
1166 hbuss 418
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
419
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
420
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
421
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 422
 
423
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
424
  {
425
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
426
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
427
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
428
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
429
  }
1377 hbuss 430
  for(i=0;i<8;i++)
431
    {
432
     int tmp;
433
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
434
         if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;
1406 hbuss 435
     if(tmp != Poti[i])
436
          {
437
           Poti[i] += (tmp - Poti[i]) / 8;
1413 killagreg 438
       if(Poti[i] > tmp) Poti[i]--;
1406 hbuss 439
           else Poti[i]++;
1413 killagreg 440
          }
1377 hbuss 441
        }
1 ingob 442
}
443
 
444
//############################################################################
445
// Messwerte beim Ermitteln der Nullage
446
void CalibrierMittelwert(void)
447
//############################################################################
1051 killagreg 448
{
1377 hbuss 449
    unsigned char i;
1021 hbuss 450
    if(PlatinenVersion == 13) SucheGyroOffset();
1 ingob 451
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
452
        ANALOG_OFF;
395 hbuss 453
        MesswertNick = AdWertNick;
454
        MesswertRoll = AdWertRoll;
455
        MesswertGier = AdWertGier;
456
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
457
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
458
        Mittelwert_AccHoch = (long)AdWertAccHoch;
459
   // ADC einschalten
1051 killagreg 460
    ANALOG_ON;
1377 hbuss 461
   for(i=0;i<8;i++)
462
    {
463
     int tmp;
464
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
1391 killagreg 465
         LIMIT_MIN_MAX(tmp, 0, 255);
466
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
1377 hbuss 467
        }
395 hbuss 468
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
720 ingob 469
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 470
}
471
 
472
//############################################################################
473
// Senden der Motorwerte per I2C-Bus
474
void SendMotorData(void)
475
//############################################################################
1051 killagreg 476
{
1209 hbuss 477
 unsigned char i;
921 hbuss 478
    if(!MotorenEin)
1 ingob 479
        {
1420 killagreg 480
         FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY);
1216 killagreg 481
                 for(i=0;i<MAX_MOTORS;i++)
482
                  {
483
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1212 hbuss 484
                   Motor[i] = MotorTest[i];
1216 killagreg 485
                  }
1212 hbuss 486
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 487
        }
1420 killagreg 488
        else FCFlags |= FCFLAG_MOTOR_RUN;
1111 hbuss 489
 
1212 hbuss 490
    DebugOut.Analog[12] = Motor[0];
491
    DebugOut.Analog[13] = Motor[1];
492
    DebugOut.Analog[14] = Motor[3];
493
    DebugOut.Analog[15] = Motor[2];
1 ingob 494
 
495
    //Start I2C Interrupt Mode
496
    twi_state = 0;
497
    motor = 0;
1051 killagreg 498
    i2c_start();
1 ingob 499
}
500
 
501
 
502
 
503
//############################################################################
504
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 505
void ParameterZuordnung(void)
1 ingob 506
//############################################################################
507
{
1391 killagreg 508
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
509
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
510
 
921 hbuss 511
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
512
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
513
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
514
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
515
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
1403 hbuss 516
 CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
517
 CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
518
 CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
1377 hbuss 519
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1403 hbuss 520
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1377 hbuss 521
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
522
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
523
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
524
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
525
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
526
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
527
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
528
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
529
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
530
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
531
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
532
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
533
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
534
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
535
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
536
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
537
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
538
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
539
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
540
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1);
541
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2);
542
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
543
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
544
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
545
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1153 hbuss 546
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 547
 MAX_GAS = EE_Parameter.Gas_Max;
548
 MIN_GAS = EE_Parameter.Gas_Min;
549
}
550
 
551
//############################################################################
552
//
553
void MotorRegler(void)
554
//############################################################################
555
{
1330 killagreg 556
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 557
         int GierMischanteil,GasMischanteil;
558
     static long SummeNick=0,SummeRoll=0;
559
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 560
     static long IntegralFehlerNick = 0;
561
     static long IntegralFehlerRoll = 0;
1 ingob 562
         static unsigned int RcLostTimer;
563
         static unsigned char delay_neutral = 0;
564
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
565
     static char TimerWerteausgabe = 0;
566
     static char NeueKompassRichtungMerken = 0;
395 hbuss 567
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 568
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 569
         unsigned char i;
1328 hbuss 570
    if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast
1051 killagreg 571
        Mittelwert();
1 ingob 572
    GRN_ON;
1051 killagreg 573
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 574
// Gaswert ermitteln
1051 killagreg 575
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
576
        GasMischanteil = StickGas;
831 hbuss 577
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 578
 
1051 killagreg 579
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 580
// Empfang schlecht
1051 killagreg 581
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 582
   if(SenderOkay < 100)
583
        {
1051 killagreg 584
        if(RcLostTimer) RcLostTimer--;
585
        else
1 ingob 586
         {
587
          MotorenEin = 0;
1420 killagreg 588
          FCFlags &= ~FCFLAG_NOTLANDUNG;
1051 killagreg 589
         }
1 ingob 590
        ROT_ON;
693 hbuss 591
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 592
            {
593
            GasMischanteil = EE_Parameter.NotGas;
1420 killagreg 594
            FCFlags |= FCFLAG_NOTLANDUNG;
744 hbuss 595
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 596
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 597
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
598
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
599
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 600
            }
1 ingob 601
         else MotorenEin = 0;
602
        }
1051 killagreg 603
        else
604
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 605
// Emfang gut
1051 killagreg 606
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 607
        if(SenderOkay > 140)
608
            {
1420 killagreg 609
                        FCFlags &= ~FCFLAG_NOTLANDUNG;
1 ingob 610
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 611
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 612
                {
613
                if(modell_fliegt < 0xffff) modell_fliegt++;
614
                }
871 hbuss 615
            if((modell_fliegt < 256))
1 ingob 616
                {
617
                SummeNick = 0;
618
                SummeRoll = 0;
1051 killagreg 619
                if(modell_fliegt == 250)
918 hbuss 620
                 {
1051 killagreg 621
                  NeueKompassRichtungMerken = 1;
918 hbuss 622
                  sollGier = 0;
1051 killagreg 623
                  Mess_Integral_Gier = 0;
927 hbuss 624
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 625
                 }
1420 killagreg 626
                } else FCFlags |= FCFLAG_FLY;
1051 killagreg 627
 
595 hbuss 628
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 629
                {
1051 killagreg 630
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 631
// auf Nullwerte kalibrieren
1051 killagreg 632
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 633
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
634
                    {
635
                    if(++delay_neutral > 200)  // nicht sofort
636
                        {
637
                        GRN_OFF;
638
                        MotorenEin = 0;
639
                        delay_neutral = 0;
640
                        modell_fliegt = 0;
641
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
642
                        {
304 ingob 643
                         unsigned char setting=1;
1 ingob 644
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
645
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
646
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
647
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
648
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 649
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 650
                        }
820 hbuss 651
//                        else
1051 killagreg 652
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
653
                          {
819 hbuss 654
                           WinkelOut.CalcState = 1;
655
                           beeptime = 1000;
656
                          }
657
                          else
1 ingob 658
                          {
819 hbuss 659
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1413 killagreg 660
                               LipoDetection(0);
1435 killagreg 661
                                                   LIBFC_ReceiverInit();
819 hbuss 662
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
663
                            {
1 ingob 664
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 665
                            }
1330 killagreg 666
                                                   ServoActive = 0;
819 hbuss 667
                           SetNeutral();
1232 hbuss 668
                                                   ServoActive = 1;
669
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
670
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 671
                         }
1051 killagreg 672
                        }
1 ingob 673
                    }
1051 killagreg 674
                 else
513 hbuss 675
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
676
                    {
677
                    if(++delay_neutral > 200)  // nicht sofort
678
                        {
679
                        GRN_OFF;
680
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
681
                        MotorenEin = 0;
682
                        delay_neutral = 0;
683
                        modell_fliegt = 0;
684
                        SetNeutral();
685
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
686
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
687
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
688
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
689
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
690
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 691
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 692
                        }
513 hbuss 693
                    }
1 ingob 694
                 else delay_neutral = 0;
695
                }
1051 killagreg 696
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 697
// Gas ist unten
1051 killagreg 698
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 699
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 700
                {
701
                // Starten
702
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
703
                    {
1051 killagreg 704
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 705
// Einschalten
1051 killagreg 706
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 707
                    if(++delay_einschalten > 200)
708
                        {
709
                        delay_einschalten = 200;
710
                        modell_fliegt = 1;
711
                        MotorenEin = 1;
712
                        sollGier = 0;
1051 killagreg 713
                        Mess_Integral_Gier = 0;
1 ingob 714
                        Mess_Integral_Gier2 = 0;
1173 hbuss 715
                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
716
                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
1 ingob 717
                        Mess_IntegralNick2 = IntegralNick;
718
                        Mess_IntegralRoll2 = IntegralRoll;
719
                        SummeNick = 0;
720
                        SummeRoll = 0;
1420 killagreg 721
                        FCFlags |= FCFLAG_START;
1051 killagreg 722
                        }
723
                    }
1 ingob 724
                    else delay_einschalten = 0;
725
                //Auf Neutralwerte setzen
1051 killagreg 726
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 727
// Auschalten
1051 killagreg 728
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 729
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
730
                    {
731
                    if(++delay_ausschalten > 200)  // nicht sofort
732
                        {
1298 hbuss 733
                         MotorenEin = 0;
734
                         delay_ausschalten = 200;
735
                         modell_fliegt = 0;
1051 killagreg 736
                        }
1 ingob 737
                    }
738
                else delay_ausschalten = 0;
739
                }
740
            }
1051 killagreg 741
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 742
// neue Werte von der Funke
1051 killagreg 743
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 744
 
1420 killagreg 745
 if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG))
1 ingob 746
  {
604 hbuss 747
        static int stick_nick,stick_roll;
1 ingob 748
    ParameterZuordnung();
1051 killagreg 749
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 750
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
805 hbuss 751
    StickNick = stick_nick - (GPS_Nick + GPS_Nick2);
604 hbuss 752
 
723 hbuss 753
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
754
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
805 hbuss 755
    StickRoll = stick_roll - (GPS_Roll + GPS_Roll2);
723 hbuss 756
 
1 ingob 757
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 758
        if(StickGier > 2) StickGier -= 2;       else
759
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
760
 
1350 hbuss 761
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1330 killagreg 762
 
1153 hbuss 763
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
764
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 765
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
766
    IntegralFaktorGier = Parameter_Gyro_Gier_I;
1 ingob 767
 
595 hbuss 768
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
769
//+ Analoge Steuerung per Seriell
770
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 771
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 772
    {
773
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
774
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
775
         StickGier += ExternControl.Gier;
776
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
777
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
778
    }
855 hbuss 779
    if(StickGas < 0) StickGas = 0;
1330 killagreg 780
 
1 ingob 781
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
1330 killagreg 782
    //if(GyroFaktor < 0) GyroFaktor = 0;
783
    //if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 784
 
1051 killagreg 785
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 786
     {
1051 killagreg 787
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 788
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 789
     }
928 hbuss 790
     else MaxStickNick--;
1051 killagreg 791
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 792
     {
1051 killagreg 793
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 794
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 795
     }
928 hbuss 796
     else MaxStickRoll--;
1420 killagreg 797
    if(FCFlags & FCFLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 798
 
1051 killagreg 799
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 800
// Looping?
1051 killagreg 801
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 802
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 803
  else
804
   {
395 hbuss 805
     {
1051 killagreg 806
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
807
     }
808
   }
993 hbuss 809
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 810
   else
395 hbuss 811
   {
812
   if(Looping_Rechts) // Hysterese
813
     {
814
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
815
     }
1051 killagreg 816
   }
173 holgerb 817
 
993 hbuss 818
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 819
  else
820
   {
395 hbuss 821
    if(Looping_Oben)  // Hysterese
822
     {
1051 killagreg 823
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
824
     }
825
   }
993 hbuss 826
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 827
   else
395 hbuss 828
   {
829
    if(Looping_Unten) // Hysterese
830
     {
831
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
832
     }
1051 killagreg 833
   }
395 hbuss 834
 
835
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 836
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 837
  } // Ende neue Funken-Werte
838
 
839
  if(Looping_Roll || Looping_Nick)
840
   {
173 holgerb 841
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 842
        TrichterFlug = 1;
173 holgerb 843
   }
844
 
1051 killagreg 845
 
846
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
847
// Bei Empfangsausfall im Flug
848
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1420 killagreg 849
   if(FCFlags & FCFLAG_NOTLANDUNG)
1 ingob 850
    {
851
     StickGier = 0;
852
     StickNick = 0;
853
     StickRoll = 0;
1211 hbuss 854
     GyroFaktor     = 90;
855
     IntegralFaktor = 120;
856
     GyroFaktorGier     = 90;
857
     IntegralFaktorGier = 120;
173 holgerb 858
     Looping_Roll = 0;
859
     Looping_Nick = 0;
1051 killagreg 860
    }
395 hbuss 861
 
862
 
1051 killagreg 863
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 864
// Integrale auf ACC-Signal abgleichen
1051 killagreg 865
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 866
#define ABGLEICH_ANZAHL 256L
867
 
868
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
869
 MittelIntegralRoll  += IntegralRoll;
870
 MittelIntegralNick2 += IntegralNick2;
871
 MittelIntegralRoll2 += IntegralRoll2;
872
 
873
 if(Looping_Nick || Looping_Roll)
874
  {
875
    IntegralAccNick = 0;
876
    IntegralAccRoll = 0;
877
    MittelIntegralNick = 0;
878
    MittelIntegralRoll = 0;
879
    MittelIntegralNick2 = 0;
880
    MittelIntegralRoll2 = 0;
881
    Mess_IntegralNick2 = Mess_IntegralNick;
882
    Mess_IntegralRoll2 = Mess_IntegralRoll;
883
    ZaehlMessungen = 0;
498 hbuss 884
    LageKorrekturNick = 0;
885
    LageKorrekturRoll = 0;
395 hbuss 886
  }
887
 
1051 killagreg 888
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 889
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 890
  {
891
   long tmp_long, tmp_long2;
1171 hbuss 892
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 893
     {
894
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 895
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
896
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
897
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 898
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
899
      {
900
      tmp_long  /= 2;
901
      tmp_long2 /= 2;
902
      }
903
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
904
      {
905
      tmp_long  /= 3;
906
      tmp_long2 /= 3;
907
      }
908
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
909
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
910
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
911
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
912
     }
1051 killagreg 913
     else
992 hbuss 914
     {
915
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 916
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 917
      tmp_long /= 16;
918
      tmp_long2 /= 16;
919
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
920
      {
921
      tmp_long  /= 3;
922
      tmp_long2 /= 3;
1216 killagreg 923
      }
924
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 925
      {
926
      tmp_long  /= 3;
927
      tmp_long2 /= 3;
928
      }
1155 hbuss 929
 
930
#define AUSGLEICH  32
992 hbuss 931
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
932
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
933
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
934
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
935
     }
1166 hbuss 936
 
937
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 938
   Mess_IntegralNick -= tmp_long;
939
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 940
  }
1051 killagreg 941
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 942
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
943
 {
944
  static int cnt = 0;
945
  static char last_n_p,last_n_n,last_r_p,last_r_n;
946
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 947
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 948
  {
395 hbuss 949
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
950
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
951
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
952
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
953
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 954
#define MAX_I 0//(Poti2/10)
395 hbuss 955
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
956
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
957
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 958
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
959
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 960
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 961
 
962
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 963
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 964
 
992 hbuss 965
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 966
    {
967
     LageKorrekturNick /= 2;
720 ingob 968
     LageKorrekturRoll /= 2;
614 hbuss 969
    }
498 hbuss 970
 
1051 killagreg 971
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 972
// Gyro-Drift ermitteln
1051 killagreg 973
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 974
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
975
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 976
    tmp_long  = IntegralNick2 - IntegralNick;
977
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 978
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
979
 
980
    IntegralFehlerNick = tmp_long;
981
    IntegralFehlerRoll = tmp_long2;
982
    Mess_IntegralNick2 -= IntegralFehlerNick;
983
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
984
 
1111 hbuss 985
  if(EE_Parameter.Driftkomp)
986
   {
927 hbuss 987
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
988
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 989
   }
693 hbuss 990
    GierGyroFehler = 0;
720 ingob 991
 
992
 
1243 killagreg 993
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
994
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 995
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 996
#define BEWEGUNGS_LIMIT 20000
395 hbuss 997
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
998
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 999
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1000
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1001
        {
1051 killagreg 1002
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1003
         {
1051 killagreg 1004
           if(last_n_p)
395 hbuss 1005
           {
1173 hbuss 1006
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1007
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1008
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1009
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1010
           }
395 hbuss 1011
           else last_n_p = 1;
1012
         } else  last_n_p = 0;
1051 killagreg 1013
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1014
         {
1015
           if(last_n_n)
1051 killagreg 1016
            {
1173 hbuss 1017
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1018
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1019
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1020
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1021
            }
395 hbuss 1022
           else last_n_n = 1;
1023
         } else  last_n_n = 0;
1051 killagreg 1024
        }
1025
        else
847 hbuss 1026
        {
1027
         cnt = 0;
921 hbuss 1028
         KompassSignalSchlecht = 1000;
1051 killagreg 1029
        }
499 hbuss 1030
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1031
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1032
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1033
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1034
 
395 hbuss 1035
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1036
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1037
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1038
        ausgleichRoll = 0;
1173 hbuss 1039
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1040
        {
1051 killagreg 1041
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1042
         {
1051 killagreg 1043
           if(last_r_p)
395 hbuss 1044
           {
1173 hbuss 1045
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1046
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1047
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1048
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1049
           }
395 hbuss 1050
           else last_r_p = 1;
1051
         } else  last_r_p = 0;
1051 killagreg 1052
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1053
         {
1051 killagreg 1054
           if(last_r_n)
395 hbuss 1055
           {
1173 hbuss 1056
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1057
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1058
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1059
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1060
           }
1061
           else last_r_n = 1;
1062
         } else  last_r_n = 0;
1051 killagreg 1063
        } else
492 hbuss 1064
        {
1065
         cnt = 0;
921 hbuss 1066
         KompassSignalSchlecht = 1000;
1051 killagreg 1067
        }
499 hbuss 1068
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1069
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1070
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1071
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1072
  }
1051 killagreg 1073
  else
498 hbuss 1074
  {
1075
   LageKorrekturRoll = 0;
1076
   LageKorrekturNick = 0;
880 hbuss 1077
   TrichterFlug = 0;
498 hbuss 1078
  }
1051 killagreg 1079
 
498 hbuss 1080
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1081
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1082
   MittelIntegralNick_Alt = MittelIntegralNick;
1083
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1084
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1085
    IntegralAccNick = 0;
1086
    IntegralAccRoll = 0;
1087
    IntegralAccZ = 0;
1088
    MittelIntegralNick = 0;
1089
    MittelIntegralRoll = 0;
1090
    MittelIntegralNick2 = 0;
1091
    MittelIntegralRoll2 = 0;
1092
    ZaehlMessungen = 0;
1173 hbuss 1093
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1094
 
1173 hbuss 1095
 
1051 killagreg 1096
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1097
//  Gieren
1051 killagreg 1098
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1099
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1100
    if(abs(StickGier) > 15) // war 35
1 ingob 1101
     {
921 hbuss 1102
      KompassSignalSchlecht = 1000;
1051 killagreg 1103
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1104
       {
1105
         NeueKompassRichtungMerken = 1;
824 hbuss 1106
        };
1 ingob 1107
     }
395 hbuss 1108
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1109
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1110
    sollGier = tmp_int;
1051 killagreg 1111
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1112
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1113
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1114
 
1115
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1116
//  Kompass
1051 killagreg 1117
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1118
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1119
 
1051 killagreg 1120
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1121
     {
819 hbuss 1122
       int w,v,r,fehler,korrektur;
1 ingob 1123
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1124
       v = abs(IntegralRoll /512);
1125
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1126
       korrektur = w / 8 + 1;
921 hbuss 1127
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1128
       if(abs(MesswertGier) > 128)
1036 hbuss 1129
            {
1130
                 fehler = 0;
1051 killagreg 1131
                }
921 hbuss 1132
       if(!KompassSignalSchlecht && w < 25)
1133
        {
1134
        GierGyroFehler += fehler;
1051 killagreg 1135
        if(NeueKompassRichtungMerken)
1136
         {
1352 hbuss 1137
//         beeptime = 200;
847 hbuss 1138
//         KompassStartwert = KompassValue;
1171 hbuss 1139
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1140
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1141
          NeueKompassRichtungMerken = 0;
1142
         }
1 ingob 1143
        }
824 hbuss 1144
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1145
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1146
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1147
       if(w >= 0)
1 ingob 1148
        {
1051 killagreg 1149
          if(!KompassSignalSchlecht)
693 hbuss 1150
          {
1051 killagreg 1151
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1152
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1153
//           r = KompassRichtung;
819 hbuss 1154
           v = (r * w) / v;  // nach Kompass ausrichten
1155
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1156
           if(v > w) v = w; // Begrenzen
1051 killagreg 1157
           else
693 hbuss 1158
           if(v < -w) v = -w;
1159
           Mess_Integral_Gier += v;
1051 killagreg 1160
          }
693 hbuss 1161
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1162
        }
921 hbuss 1163
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1164
     }
1165
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1166
 
1051 killagreg 1167
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1168
//  Debugwerte zuordnen
1051 killagreg 1169
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1170
  if(!TimerWerteausgabe--)
1171
   {
395 hbuss 1172
    TimerWerteausgabe = 24;
805 hbuss 1173
 
1171 hbuss 1174
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1175
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1176
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1177
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1178
    DebugOut.Analog[4] = MesswertGier;
1314 killagreg 1179
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1180
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1181
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1182
    DebugOut.Analog[9] = UBat;
1283 hbuss 1183
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1184
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1185
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1186
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1187
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1188
    DebugOut.Analog[19] = WinkelOut.CalcState;
1328 hbuss 1189
    DebugOut.Analog[20] = ServoNickValue;
1322 hbuss 1190
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1191
//    DebugOut.Analog[24] = MesswertNick/2;
1192
//    DebugOut.Analog[25] = MesswertRoll/2;
1322 hbuss 1193
//    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1194
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1195
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1322 hbuss 1196
    //DebugOut.Analog[28] = I2CError;
1423 hbuss 1197
    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1198
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1199
    DebugOut.Analog[31] = GPS_Roll;
1 ingob 1200
  }
1201
 
1051 killagreg 1202
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1203
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1204
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1205
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1206
 
1171 hbuss 1207
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1208
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1209
 
1167 hbuss 1210
#define TRIM_MAX 200
1166 hbuss 1211
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1212
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1213
 
1166 hbuss 1214
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1215
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1216
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1217
 
1 ingob 1218
    // Maximalwerte abfangen
1153 hbuss 1219
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1220
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1221
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1222
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1223
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1224
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1225
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1226
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1227
 
1051 killagreg 1228
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1229
// Höhenregelung
1230
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1231
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374 hbuss 1232
  if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1233
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1234
 
1235
        // if height control is activated
1322 hbuss 1236
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1237
        {
1332 hbuss 1238
                #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1239
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging
1309 hbuss 1240
                #define OPA_OFFSET_STEP 10
1241
                int HCGas, HeightDeviation;
1242
                static int HeightTrimming = 0;  // rate for change of height setpoint
1243
                static int FilterHCGas = 0;
1332 hbuss 1244
                static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023;
1309 hbuss 1245
                static unsigned long HooverGasFilter = 0;
1322 hbuss 1246
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1247
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1248
 
1309 hbuss 1249
                // get the current hooverpoint
1332 hbuss 1250
//    if(LoadHandler == 1)
1328 hbuss 1251
     {
1322 hbuss 1252
                DebugOut.Analog[21] = HooverGas;
1309 hbuss 1253
                DebugOut.Analog[18] = VarioMeter;
1254
 
1322 hbuss 1255
        // Expand the measurement
1256
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1257
          if(!BaroExpandActive)
1258
                   {
1259
                        if(MessLuftdruck > 920)
1260
                        {   // increase offset
1330 killagreg 1261
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1262
                           {
1263
                                ExpandBaro -= 1;
1264
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1265
                                beeptime = 300;
1352 hbuss 1266
                                BaroExpandActive = 350;
1330 killagreg 1267
                           }
1268
                           else
1322 hbuss 1269
                           {
1270
                            BaroAtLowerLimit = 1;
1271
               }
1272
                        }
1273
                        // measurement of air pressure close to lower limit and
1330 killagreg 1274
                        else
1322 hbuss 1275
                        if(MessLuftdruck < 100)
1276
                        {   // decrease offset
1330 killagreg 1277
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1278
                           {
1279
                                ExpandBaro += 1;
1280
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1281
                                beeptime = 300;
1352 hbuss 1282
                                BaroExpandActive = 350;
1330 killagreg 1283
                           }
1284
                           else
1322 hbuss 1285
                           {
1286
                            BaroAtUpperLimit = 1;
1287
               }
1288
                        }
1330 killagreg 1289
                        else
1322 hbuss 1290
                        {
1291
                            BaroAtUpperLimit = 0;
1292
                                BaroAtLowerLimit = 0;
1293
                        }
1294
                   }
1295
                   else // delay, because of expanding the Baro-Range
1296
                   {
1297
                    // now clear the D-values
1298
                          SummenHoehe = HoehenWert * SM_FILTER;
1299
                          VarioMeter = 0;
1300
                          BaroExpandActive--;
1301
                   }
1328 hbuss 1302
 
1303
                // if height control is activated by an rc channel
1304
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1305
                {       // check if parameter is less than activation threshold
1306
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1307
                        {   //height control not active
1308
                                if(!delay--)
1309
                                {
1310
                                        HoehenReglerAktiv = 0; // disable height control
1311
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1312
                                        delay = 1;
1313
                                }
1314
                        }
1315
                        else
1316
                        {       //height control is activated
1317
                                HoehenReglerAktiv = 1; // enable height control
1334 killagreg 1318
                                delay = 200;
1328 hbuss 1319
                        }
1051 killagreg 1320
                }
1309 hbuss 1321
                else // no switchable height control
1322
                {
1323
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1324
                        HoehenReglerAktiv = 1;
1051 killagreg 1325
                }
1322 hbuss 1326
 
1320 hbuss 1327
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1328
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1329
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1330
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320 hbuss 1331
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1332
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1420 killagreg 1333
                if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG))
1309 hbuss 1334
                {
1335
                        #define HEIGHT_TRIM_UP          0x01
1336
                        #define HEIGHT_TRIM_DOWN        0x02
1337
                        static unsigned char HeightTrimmingFlag = 0x00;
1338
 
1330 killagreg 1339
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1340
                // Holger original version
1341
                // start of height control algorithm
1342
                // the height control is only an attenuation of the actual gas stick.
1343
                // I.e. it will work only if the gas stick is higher than the hover gas
1344
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1345
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1346
              {  // old version
1309 hbuss 1347
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1348
                        HeightTrimming = 0;
1349
          }
1314 killagreg 1350
                  else
1309 hbuss 1351
                  {
1352
                // alternative height control
1353
                // PD-Control with respect to hoover point
1354
                // the thrust loss out of horizontal attitude is compensated
1355
                // the setpoint will be fine adjusted with the gas stick position
1420 killagreg 1356
                        if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying
1309 hbuss 1357
                        {   // gas stick is above hoover point
1322 hbuss 1358
                                if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1359
                                {
1360
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1361
                                        {
1362
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1363
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1364
                                        }
1365
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1320 hbuss 1366
                                        HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1367
                                } // gas stick is below hoover point
1322 hbuss 1368
                                else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1369
                                {
1370
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1371
                                        {
1372
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1373
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1374
                                        }
1375
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1320 hbuss 1376
                                        HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1377
                                }
1378
                                else // Gas Stick in Hoover Range
1379
                                {
1352 hbuss 1380
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN))
1309 hbuss 1381
                                        {
1352 hbuss 1382
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN);
1309 hbuss 1383
                                                HeightTrimming = 0;
1384
                                                SollHoehe = HoehenWert; // update setpoint to current height
1385
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1386
                                        }
1387
                                }
1388
                                // Trim height set point
1334 killagreg 1389
                                if(abs(HeightTrimming) > 512)
1309 hbuss 1390
                                {
1332 hbuss 1391
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1309 hbuss 1392
                                        HeightTrimming = 0;
1393
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1394
                                        //update hoover gas stick value when setpoint is shifted
1332 hbuss 1395
                       if(!EE_Parameter.Hoehe_StickNeutralPoint)
1396
                       {
1397
                           StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value
1398
                           StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1399
                           if(StickGasHoover < 70) StickGasHoover = 70;
1400
                           else if(StickGasHoover > 150) StickGasHoover = 150;
1401
                       }
1309 hbuss 1402
                                }
1352 hbuss 1403
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1420 killagreg 1404
                        } //if FCFlags & MKFCFLAG_FLY
1330 killagreg 1405
                        else
1406
                        {
1322 hbuss 1407
                         SollHoehe = HoehenWert - 400;
1328 hbuss 1408
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1409
                         else StickGasHoover = 120;
1320 hbuss 1410
                         }
1309 hbuss 1411
                        HCGas = HooverGas;      // take hoover gas (neutral point)
1412
          }
1314 killagreg 1413
 
1414
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1415
                 {
1309 hbuss 1416
            // ------------------------- P-Part ----------------------------
1312 hbuss 1417
            HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high
1309 hbuss 1418
                        tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part
1419
                        HCGas -= tmp_int;
1420
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1421
                        tmp_int = VarioMeter / 8;
1422
                        if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction
1423
                        if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4;
1424
                        else            tmp_int = VarioMeter - (tmp_int * tmp_int) / 4;
1425
                        tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter
1426
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1427
                        HCGas -= tmp_int;
1428
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1429
                        tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
1430
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1431
                        HCGas -= tmp_int;
1330 killagreg 1432
 
1309 hbuss 1433
                        // limit deviation from hoover point within the target region
1314 killagreg 1434
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1435
                        {
1436
                                LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point
1437
                        }
1276 hbuss 1438
 
1322 hbuss 1439
            if(BaroExpandActive) HCGas = HooverGas;
1309 hbuss 1440
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1441
                        tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L;
1322 hbuss 1442
            LIMIT_MIN_MAX(tmp_int, -127, 255);
1309 hbuss 1443
                        HCGas -= tmp_int;
1330 killagreg 1444
 
1322 hbuss 1445
                        // strech control output by inverse attitude projection 1/cos
1446
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1447
                        tmp_long2 = (int32_t)HCGas;
1448
                        tmp_long2 *= 8192L;
1449
                        tmp_long2 /= CosAttitude;
1450
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1451
                        // update height control gas averaging
1452
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1453
                        // limit height control gas pd-control output
1454
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1455
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1456
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1457
                         {  // old version
1309 hbuss 1458
                if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas
1314 killagreg 1459
                         }
1309 hbuss 1460
                        GasMischanteil = FilterHCGas;
1314 killagreg 1461
                  }
1309 hbuss 1462
                }// EOF height control active
1320 hbuss 1463
                else // HC not active
1464
                {
1465
                        //update hoover gas stick value when HC is not active
1322 hbuss 1466
           if(!EE_Parameter.Hoehe_StickNeutralPoint)
1467
                    {
1468
                         StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1469
                         StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1470
                        }
1471
                        else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1330 killagreg 1472
            if(StickGasHoover < 70) StickGasHoover = 70;
1473
            else if(StickGasHoover > 150) StickGasHoover = 150;
1328 hbuss 1474
                        FilterHCGas = GasMischanteil;
1330 killagreg 1475
                }
1283 hbuss 1476
 
1309 hbuss 1477
                // Hoover gas estimation by averaging gas control output on small z-velocities
1478
                // this is done only if height contol option is selected in global config and aircraft is flying
1420 killagreg 1479
                if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG))
1309 hbuss 1480
                {
1481
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1482
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1483
                        {
1330 killagreg 1484
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1485
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1486
                                tmp_long2 /= 8192;
1487
 
1309 hbuss 1488
                                // average vertical projected thrust
1489
                                if(modell_fliegt < 2000) // the first 4 seconds
1490
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1491
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1330 killagreg 1492
                                        HooverGasFilter += 8L * tmp_long2;
1309 hbuss 1493
                                }
1494
                                else if(modell_fliegt < 4000) // the first 8 seconds
1495
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1496
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1330 killagreg 1497
                                        HooverGasFilter += 4L * tmp_long2;
1309 hbuss 1498
                                }
1499
                                else if(modell_fliegt < 8000) // the first 16 seconds
1500
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1501
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1330 killagreg 1502
                                        HooverGasFilter += 2L * tmp_long2;
1309 hbuss 1503
                                }
1504
                                else //later
1505
                                {
1506
                                        HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE;
1330 killagreg 1507
                                        HooverGasFilter += tmp_long2;
1309 hbuss 1508
                                }
1509
                                HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE);
1510
                                if(EE_Parameter.Hoehe_HoverBand)
1511
                                {
1512
                                        int16_t band;
1513
                                        band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1514
                                        HooverGasMin = HooverGas - band;
1515
                                        HooverGasMax = HooverGas + band;
1516
                                }
1517
                                else
1518
                                {       // no limit
1519
                                        HooverGasMin = 0;
1520
                                        HooverGasMax = 1023;
1521
                                }
1522
                        }
1523
                }
1330 killagreg 1524
          }
1322 hbuss 1525
//DebugOut.Analog[26] = HooverGasMax;
1309 hbuss 1526
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1527
 
1528
        // limit gas to parameter setting
1320 hbuss 1529
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1530
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1531
 
1051 killagreg 1532
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1533
// all BL-Ctrl connected?
1534
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1330 killagreg 1535
  if(MissingMotor)
1320 hbuss 1536
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1537
   {
1538
    modell_fliegt = 1;
1539
        GasMischanteil = MIN_GAS;
1540
   }
1541
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1542
// + Mischer und PI-Regler
1051 killagreg 1543
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1544
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1545
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1546
// Gier-Anteil
1051 killagreg 1547
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1548
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1549
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1550
   if(GasMischanteil > MIN_GIERGAS)
1551
    {
1051 killagreg 1552
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1553
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1554
    }
1051 killagreg 1555
    else
693 hbuss 1556
    {
1051 killagreg 1557
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1558
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1559
    }
855 hbuss 1560
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1561
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1562
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1563
 
1051 killagreg 1564
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1565
// Nick-Achse
1051 killagreg 1566
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1567
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1568
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1569
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1570
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1571
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1572
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1573
    // Motor Vorn
499 hbuss 1574
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1575
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1576
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1577
 
1153 hbuss 1578
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1579
// Roll-Achse
1580
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1581
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1582
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1583
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1584
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1585
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1586
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1587
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1588
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1589
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1590
 
1591
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1592
// Universal Mixer
1155 hbuss 1593
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1594
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1595
 {
1596
  signed int tmp_int;
1597
  if(Mixer.Motor[i][0] > 0)
1598
   {
1599
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1600
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1601
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1602
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1603
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1604
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1605
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1216 killagreg 1606
    Motor[i] = tmp_int;
1209 hbuss 1607
   }
1608
   else Motor[i] = 0;
1609
 }
1167 hbuss 1610
/*
1153 hbuss 1611
if(Poti1 > 20)  Motor1 = 0;
1612
if(Poti1 > 90)  Motor6 = 0;
1613
if(Poti1 > 140) Motor2 = 0;
1175 hbuss 1614
//if(Poti1 > 200) Motor7 = 0;
1167 hbuss 1615
*/
1111 hbuss 1616
}