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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 04.2007 Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + www.MikroKopter.com |
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8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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21 | // + eindeutig als Ursprung verlinkt werden |
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22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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24 | // + Benutzung auf eigene Gefahr |
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25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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35 | // + from this software without specific prior written permission. |
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1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 39 | // + with our written permission |
1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
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831 | hbuss | 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | |||
56 | #include "main.h" |
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395 | hbuss | 57 | #include "eeprom.c" |
1320 | hbuss | 58 | #include "mymath.h" |
1330 | killagreg | 59 | #include "isqrt.h" |
1 | ingob | 60 | |
1322 | hbuss | 61 | unsigned char h,m,s,BaroExpandActive = 0; |
173 | holgerb | 62 | volatile unsigned int I2CTimeout = 100; |
1153 | hbuss | 63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 64 | int TrimNick, TrimRoll; |
1051 | killagreg | 65 | int AdNeutralGierBias; |
927 | hbuss | 66 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
67 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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805 | hbuss | 68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1 | ingob | 69 | volatile float NeutralAccZ = 0; |
70 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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693 | hbuss | 71 | long IntegralNick = 0,IntegralNick2 = 0; |
72 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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73 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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74 | long Integral_Gier = 0; |
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75 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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76 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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77 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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78 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1 | ingob | 79 | volatile long Mess_Integral_Hoch = 0; |
1153 | hbuss | 80 | int KompassValue = 0; |
81 | int KompassStartwert = 0; |
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82 | int KompassRichtung = 0; |
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693 | hbuss | 83 | unsigned int KompassSignalSchlecht = 500; |
855 | hbuss | 84 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 85 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 86 | unsigned char TrichterFlug = 0; |
395 | hbuss | 87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 88 | long ErsatzKompass; |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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90 | int GierGyroFehler = 0; |
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1211 | hbuss | 91 | char GyroFaktor,GyroFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 93 | int DiffNick,DiffRoll; |
1051 | killagreg | 94 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
1 | ingob | 95 | volatile unsigned char SenderOkay = 0; |
1243 | killagreg | 96 | volatile unsigned char SenderRSSI = 0; |
595 | hbuss | 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1 | ingob | 98 | char MotorenEin = 0; |
1246 | killagreg | 99 | long HoehenWert = 0; |
100 | long SollHoehe = 0; |
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498 | hbuss | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
1153 | hbuss | 102 | //float Ki = FAKTOR_I; |
103 | int Ki = 10300 / 33; |
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395 | hbuss | 104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 106 | |
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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120 | unsigned char Parameter_UserParam1 = 0; |
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121 | unsigned char Parameter_UserParam2 = 0; |
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122 | unsigned char Parameter_UserParam3 = 0; |
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123 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 124 | unsigned char Parameter_UserParam5 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
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126 | unsigned char Parameter_UserParam7 = 0; |
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127 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 128 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 129 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 130 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 131 | unsigned char Parameter_AchsKopplung1 = 90; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
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133 | unsigned char Parameter_CouplingYawCorrection = 64; |
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134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 135 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
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138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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139 | unsigned char Parameter_J17Timing; // for the J17 Output |
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140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 141 | unsigned char Parameter_NaviGpsGain; |
142 | unsigned char Parameter_NaviGpsP; |
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143 | unsigned char Parameter_NaviGpsI; |
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144 | unsigned char Parameter_NaviGpsD; |
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145 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 146 | unsigned char Parameter_NaviOperatingRadius; |
147 | unsigned char Parameter_NaviWindCorrection; |
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148 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 149 | unsigned char Parameter_ExternalControl; |
1 | ingob | 150 | struct mk_param_struct EE_Parameter; |
492 | hbuss | 151 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 152 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 153 | unsigned int modell_fliegt = 0; |
1209 | hbuss | 154 | volatile unsigned char MikroKopterFlags = 0; |
1121 | hbuss | 155 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 156 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 157 | unsigned char RequiredMotors = 4; |
158 | unsigned char Motor[MAX_MOTORS]; |
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159 | signed int tmp_motorwert[MAX_MOTORS]; |
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1328 | hbuss | 160 | unsigned char LoadHandler = 0; |
1309 | hbuss | 161 | #define LIMIT_MIN(value, min) {if(value < min) value = min;} |
162 | #define LIMIT_MAX(value, max) {if(value > max) value = max;} |
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163 | #define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
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1155 | hbuss | 164 | |
1166 | hbuss | 165 | int MotorSmoothing(int neu, int alt) |
166 | { |
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167 | int motor; |
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168 | if(neu > alt) motor = (1*(int)alt + neu) / 2; |
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169 | else motor = neu - (alt - neu)*1; |
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170 | //if(Poti2 < 20) return(neu); |
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171 | return(motor); |
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172 | } |
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173 | |||
1232 | hbuss | 174 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 175 | { |
1232 | hbuss | 176 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 177 | while(Anzahl--) |
178 | { |
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1232 | hbuss | 179 | beeptime = dauer; |
180 | while(beeptime); |
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181 | Delay_ms(dauer * 2); |
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1 | ingob | 182 | } |
183 | } |
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184 | |||
185 | //############################################################################ |
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186 | // Nullwerte ermitteln |
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187 | void SetNeutral(void) |
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188 | //############################################################################ |
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189 | { |
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1111 | hbuss | 190 | unsigned char i; |
191 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1320 | hbuss | 192 | HEF4017R_ON; |
1051 | killagreg | 193 | NeutralAccX = 0; |
1 | ingob | 194 | NeutralAccY = 0; |
195 | NeutralAccZ = 0; |
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1051 | killagreg | 196 | AdNeutralNick = 0; |
197 | AdNeutralRoll = 0; |
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1 | ingob | 198 | AdNeutralGier = 0; |
927 | hbuss | 199 | AdNeutralGierBias = 0; |
395 | hbuss | 200 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 201 | Parameter_AchsKopplung2 = 0; |
1036 | hbuss | 202 | ExpandBaro = 0; |
1051 | killagreg | 203 | CalibrierMittelwert(); |
395 | hbuss | 204 | Delay_ms_Mess(100); |
1 | ingob | 205 | CalibrierMittelwert(); |
206 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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1051 | killagreg | 207 | { |
1 | ingob | 208 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
209 | } |
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1166 | hbuss | 210 | #define NEUTRAL_FILTER 32 |
211 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 212 | { |
213 | Delay_ms_Mess(10); |
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1216 | killagreg | 214 | gier_neutral += AdWertGier; |
1166 | hbuss | 215 | nick_neutral += AdWertNick; |
216 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 217 | } |
1173 | hbuss | 218 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
219 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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220 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1111 | hbuss | 221 | AdNeutralGierBias = AdNeutralGier; |
401 | hbuss | 222 | StartNeutralRoll = AdNeutralRoll; |
223 | StartNeutralNick = AdNeutralNick; |
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1051 | killagreg | 224 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
513 | hbuss | 225 | { |
1171 | hbuss | 226 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
227 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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513 | hbuss | 228 | NeutralAccZ = Aktuell_az; |
229 | } |
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1051 | killagreg | 230 | else |
513 | hbuss | 231 | { |
232 | NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
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233 | NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
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234 | NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
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235 | } |
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1051 | killagreg | 236 | |
1 | ingob | 237 | MesswertNick = 0; |
238 | MesswertRoll = 0; |
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239 | MesswertGier = 0; |
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1111 | hbuss | 240 | Delay_ms_Mess(100); |
1174 | hbuss | 241 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
242 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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1173 | hbuss | 243 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
244 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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245 | Mess_IntegralNick2 = IntegralNick; |
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246 | Mess_IntegralRoll2 = IntegralRoll; |
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247 | Mess_Integral_Gier = 0; |
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1 | ingob | 248 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 249 | VarioMeter = 0; |
1 | ingob | 250 | Mess_Integral_Hoch = 0; |
251 | KompassStartwert = KompassValue; |
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252 | GPS_Neutral(); |
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1051 | killagreg | 253 | beeptime = 50; |
882 | hbuss | 254 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
255 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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492 | hbuss | 256 | ExternHoehenValue = 0; |
693 | hbuss | 257 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
258 | GierGyroFehler = 0; |
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723 | hbuss | 259 | SendVersionToNavi = 1; |
921 | hbuss | 260 | LED_Init(); |
261 | MikroKopterFlags |= FLAG_CALIBRATE; |
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992 | hbuss | 262 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 263 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 264 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1172 | hbuss | 265 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
266 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
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267 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
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268 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
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1171 | hbuss | 269 | SenderOkay = 100; |
1320 | hbuss | 270 | if(ServoActive) |
271 | { |
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272 | HEF4017R_ON; |
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273 | DDRD |=0x80; // enable J7 -> Servo signal |
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274 | } |
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1 | ingob | 275 | } |
276 | |||
277 | //############################################################################ |
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395 | hbuss | 278 | // Bearbeitet die Messwerte |
1 | ingob | 279 | void Mittelwert(void) |
280 | //############################################################################ |
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1051 | killagreg | 281 | { |
1111 | hbuss | 282 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
283 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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1153 | hbuss | 284 | signed long winkel_nick, winkel_roll; |
1171 | hbuss | 285 | |
1111 | hbuss | 286 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
287 | // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
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1171 | hbuss | 288 | MesswertNick = (signed int) AdWertNickFilter / 8; |
289 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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1153 | hbuss | 290 | RohMesswertNick = MesswertNick; |
291 | RohMesswertRoll = MesswertRoll; |
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1166 | hbuss | 292 | |
395 | hbuss | 293 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 294 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
295 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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296 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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395 | hbuss | 297 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
298 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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805 | hbuss | 299 | NaviAccNick += AdWertAccNick; |
300 | NaviAccRoll += AdWertAccRoll; |
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301 | NaviCntAcc++; |
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1153 | hbuss | 302 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
303 | |||
1155 | hbuss | 304 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
305 | // ADC einschalten |
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1171 | hbuss | 306 | ANALOG_ON; |
1155 | hbuss | 307 | AdReady = 0; |
308 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
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309 | |||
1216 | killagreg | 310 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
311 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
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1153 | hbuss | 312 | else winkel_roll = Mess_IntegralRoll; |
313 | |||
1216 | killagreg | 314 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
315 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
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1153 | hbuss | 316 | else winkel_nick = Mess_IntegralNick; |
317 | |||
1120 | hbuss | 318 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 319 | Mess_Integral_Gier += MesswertGier; |
320 | ErsatzKompass += MesswertGier; |
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395 | hbuss | 321 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
322 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
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323 | { |
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1153 | hbuss | 324 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 325 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 326 | tmpl3 /= 4096L; |
1153 | hbuss | 327 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 328 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 329 | tmpl4 /= 4096L; |
1153 | hbuss | 330 | KopplungsteilNickRoll = tmpl3; |
331 | KopplungsteilRollNick = tmpl4; |
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1111 | hbuss | 332 | tmpl4 -= tmpl3; |
333 | ErsatzKompass += tmpl4; |
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1166 | hbuss | 334 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 335 | |
1153 | hbuss | 336 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 337 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 338 | tmpl /= 4096L; |
1153 | hbuss | 339 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 340 | tmpl2 *= Parameter_AchsKopplung1; |
880 | hbuss | 341 | tmpl2 /= 4096L; |
1225 | hbuss | 342 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 343 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 344 | } |
1166 | hbuss | 345 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1111 | hbuss | 346 | |
1166 | hbuss | 347 | TrimRoll = tmpl - tmpl2 / 100L; |
348 | TrimNick = -tmpl2 + tmpl / 100L; |
||
349 | |||
1111 | hbuss | 350 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
351 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
352 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 353 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 354 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
355 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 356 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 357 | { |
882 | hbuss | 358 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 359 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 360 | } |
395 | hbuss | 361 | if(Mess_IntegralRoll <-Umschlag180Roll) |
362 | { |
||
882 | hbuss | 363 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 364 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 365 | } |
395 | hbuss | 366 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 367 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
368 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 369 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 370 | { |
371 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
372 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 373 | } |
374 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 375 | { |
882 | hbuss | 376 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 377 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 378 | } |
1111 | hbuss | 379 | |
1 | ingob | 380 | Integral_Gier = Mess_Integral_Gier; |
381 | IntegralNick = Mess_IntegralNick; |
||
382 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 383 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 384 | IntegralRoll2 = Mess_IntegralRoll2; |
385 | |||
1166 | hbuss | 386 | #define D_LIMIT 128 |
387 | |||
1171 | hbuss | 388 | MesswertNick = HiResNick / 8; |
389 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 390 | |
1167 | hbuss | 391 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
392 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
393 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
394 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
395 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
396 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
397 | |||
1216 | killagreg | 398 | if(Parameter_Gyro_D) |
1111 | hbuss | 399 | { |
1166 | hbuss | 400 | d2Nick = HiResNick - oldNick; |
401 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 402 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
403 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1166 | hbuss | 404 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
405 | d2Roll = HiResRoll - oldRoll; |
||
406 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 407 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
408 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1166 | hbuss | 409 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
410 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
411 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 412 | } |
1111 | hbuss | 413 | |
1166 | hbuss | 414 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
415 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
416 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
417 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 418 | |
419 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
420 | { |
||
421 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
422 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
423 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
424 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
425 | } |
||
426 | |||
1 | ingob | 427 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
428 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
429 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
430 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
431 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
432 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
433 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
434 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
435 | } |
||
436 | |||
437 | //############################################################################ |
||
438 | // Messwerte beim Ermitteln der Nullage |
||
439 | void CalibrierMittelwert(void) |
||
440 | //############################################################################ |
||
1051 | killagreg | 441 | { |
1021 | hbuss | 442 | if(PlatinenVersion == 13) SucheGyroOffset(); |
1 | ingob | 443 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
444 | ANALOG_OFF; |
||
395 | hbuss | 445 | MesswertNick = AdWertNick; |
446 | MesswertRoll = AdWertRoll; |
||
447 | MesswertGier = AdWertGier; |
||
448 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
||
449 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
450 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
||
451 | // ADC einschalten |
||
1051 | killagreg | 452 | ANALOG_ON; |
1 | ingob | 453 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
454 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
||
455 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
||
456 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
||
457 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
||
458 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
459 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
460 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
395 | hbuss | 461 | |
462 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
720 | ingob | 463 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
1 | ingob | 464 | } |
465 | |||
466 | //############################################################################ |
||
467 | // Senden der Motorwerte per I2C-Bus |
||
468 | void SendMotorData(void) |
||
469 | //############################################################################ |
||
1051 | killagreg | 470 | { |
1209 | hbuss | 471 | unsigned char i; |
921 | hbuss | 472 | if(!MotorenEin) |
1 | ingob | 473 | { |
1212 | hbuss | 474 | MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
1216 | killagreg | 475 | for(i=0;i<MAX_MOTORS;i++) |
476 | { |
||
477 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1212 | hbuss | 478 | Motor[i] = MotorTest[i]; |
1216 | killagreg | 479 | } |
1212 | hbuss | 480 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 481 | } |
1212 | hbuss | 482 | else MikroKopterFlags |= FLAG_MOTOR_RUN; |
1111 | hbuss | 483 | |
1212 | hbuss | 484 | DebugOut.Analog[12] = Motor[0]; |
485 | DebugOut.Analog[13] = Motor[1]; |
||
486 | DebugOut.Analog[14] = Motor[3]; |
||
487 | DebugOut.Analog[15] = Motor[2]; |
||
1 | ingob | 488 | |
489 | //Start I2C Interrupt Mode |
||
490 | twi_state = 0; |
||
491 | motor = 0; |
||
1051 | killagreg | 492 | i2c_start(); |
1 | ingob | 493 | } |
494 | |||
495 | |||
496 | |||
497 | //############################################################################ |
||
498 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 499 | void ParameterZuordnung(void) |
1 | ingob | 500 | //############################################################################ |
501 | { |
||
921 | hbuss | 502 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
503 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; } |
||
1 | ingob | 504 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
921 | hbuss | 505 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
506 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
1 | ingob | 507 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
1283 | hbuss | 508 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255); |
1 | ingob | 509 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
921 | hbuss | 510 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
1 | ingob | 511 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
1120 | hbuss | 512 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
1322 | hbuss | 513 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P,10,255); |
514 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I,0,255); |
||
1051 | killagreg | 515 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
516 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
||
517 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
||
518 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
||
519 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
||
520 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
||
521 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
||
522 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
||
523 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
||
1 | ingob | 524 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
1232 | hbuss | 525 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255); |
173 | holgerb | 526 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
395 | hbuss | 527 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
1120 | hbuss | 528 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
529 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
||
530 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
499 | hbuss | 531 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
921 | hbuss | 532 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
533 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
534 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
||
1153 | hbuss | 535 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 536 | MAX_GAS = EE_Parameter.Gas_Max; |
537 | MIN_GAS = EE_Parameter.Gas_Min; |
||
538 | } |
||
539 | |||
540 | |||
541 | //############################################################################ |
||
542 | // |
||
543 | void MotorRegler(void) |
||
544 | //############################################################################ |
||
545 | { |
||
1330 | killagreg | 546 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 547 | int GierMischanteil,GasMischanteil; |
548 | static long SummeNick=0,SummeRoll=0; |
||
549 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 550 | static long IntegralFehlerNick = 0; |
551 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 552 | static unsigned int RcLostTimer; |
553 | static unsigned char delay_neutral = 0; |
||
554 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
555 | static char TimerWerteausgabe = 0; |
||
556 | static char NeueKompassRichtungMerken = 0; |
||
395 | hbuss | 557 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 558 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 559 | unsigned char i; |
1328 | hbuss | 560 | if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast |
1051 | killagreg | 561 | Mittelwert(); |
1 | ingob | 562 | GRN_ON; |
1051 | killagreg | 563 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 564 | // Gaswert ermitteln |
1051 | killagreg | 565 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
566 | GasMischanteil = StickGas; |
||
831 | hbuss | 567 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 568 | |
1051 | killagreg | 569 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 570 | // Empfang schlecht |
1051 | killagreg | 571 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 572 | if(SenderOkay < 100) |
573 | { |
||
1051 | killagreg | 574 | if(RcLostTimer) RcLostTimer--; |
575 | else |
||
1 | ingob | 576 | { |
577 | MotorenEin = 0; |
||
1254 | killagreg | 578 | MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
1051 | killagreg | 579 | } |
1 | ingob | 580 | ROT_ON; |
693 | hbuss | 581 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 582 | { |
583 | GasMischanteil = EE_Parameter.NotGas; |
||
1254 | killagreg | 584 | MikroKopterFlags |= FLAG_NOTLANDUNG; |
744 | hbuss | 585 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 586 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 587 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
588 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
589 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 590 | } |
1 | ingob | 591 | else MotorenEin = 0; |
592 | } |
||
1051 | killagreg | 593 | else |
594 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 595 | // Emfang gut |
1051 | killagreg | 596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 597 | if(SenderOkay > 140) |
598 | { |
||
1254 | killagreg | 599 | MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
1 | ingob | 600 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 601 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 602 | { |
603 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
604 | } |
||
871 | hbuss | 605 | if((modell_fliegt < 256)) |
1 | ingob | 606 | { |
607 | SummeNick = 0; |
||
608 | SummeRoll = 0; |
||
1051 | killagreg | 609 | if(modell_fliegt == 250) |
918 | hbuss | 610 | { |
1051 | killagreg | 611 | NeueKompassRichtungMerken = 1; |
918 | hbuss | 612 | sollGier = 0; |
1051 | killagreg | 613 | Mess_Integral_Gier = 0; |
927 | hbuss | 614 | // Mess_Integral_Gier2 = 0; |
1051 | killagreg | 615 | } |
921 | hbuss | 616 | } else MikroKopterFlags |= FLAG_FLY; |
1051 | killagreg | 617 | |
595 | hbuss | 618 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 619 | { |
1051 | killagreg | 620 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 621 | // auf Nullwerte kalibrieren |
1051 | killagreg | 622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 623 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
624 | { |
||
625 | if(++delay_neutral > 200) // nicht sofort |
||
626 | { |
||
627 | GRN_OFF; |
||
628 | MotorenEin = 0; |
||
629 | delay_neutral = 0; |
||
630 | modell_fliegt = 0; |
||
631 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
632 | { |
||
304 | ingob | 633 | unsigned char setting=1; |
1 | ingob | 634 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
635 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
636 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
637 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
638 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1063 | killagreg | 639 | SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
1 | ingob | 640 | } |
820 | hbuss | 641 | // else |
1051 | killagreg | 642 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
643 | { |
||
819 | hbuss | 644 | WinkelOut.CalcState = 1; |
645 | beeptime = 1000; |
||
646 | } |
||
647 | else |
||
1 | ingob | 648 | { |
819 | hbuss | 649 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
650 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
651 | { |
||
1 | ingob | 652 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 653 | } |
1330 | killagreg | 654 | ServoActive = 0; |
819 | hbuss | 655 | SetNeutral(); |
1232 | hbuss | 656 | ServoActive = 1; |
657 | DDRD |=0x80; // enable J7 -> Servo signal |
||
658 | Piep(GetActiveParamSetNumber(),120); |
||
819 | hbuss | 659 | } |
1051 | killagreg | 660 | } |
1 | ingob | 661 | } |
1051 | killagreg | 662 | else |
513 | hbuss | 663 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
664 | { |
||
665 | if(++delay_neutral > 200) // nicht sofort |
||
666 | { |
||
667 | GRN_OFF; |
||
668 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
||
669 | MotorenEin = 0; |
||
670 | delay_neutral = 0; |
||
671 | modell_fliegt = 0; |
||
672 | SetNeutral(); |
||
673 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
||
674 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
675 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
||
676 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
||
677 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
||
678 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
||
1232 | hbuss | 679 | Piep(GetActiveParamSetNumber(),120); |
1051 | killagreg | 680 | } |
513 | hbuss | 681 | } |
1 | ingob | 682 | else delay_neutral = 0; |
683 | } |
||
1051 | killagreg | 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 685 | // Gas ist unten |
1051 | killagreg | 686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 687 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 688 | { |
689 | // Starten |
||
690 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
691 | { |
||
1051 | killagreg | 692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 693 | // Einschalten |
1051 | killagreg | 694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 695 | if(++delay_einschalten > 200) |
696 | { |
||
697 | delay_einschalten = 200; |
||
698 | modell_fliegt = 1; |
||
699 | MotorenEin = 1; |
||
700 | sollGier = 0; |
||
1051 | killagreg | 701 | Mess_Integral_Gier = 0; |
1 | ingob | 702 | Mess_Integral_Gier2 = 0; |
1173 | hbuss | 703 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
704 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
1 | ingob | 705 | Mess_IntegralNick2 = IntegralNick; |
706 | Mess_IntegralRoll2 = IntegralRoll; |
||
707 | SummeNick = 0; |
||
708 | SummeRoll = 0; |
||
921 | hbuss | 709 | MikroKopterFlags |= FLAG_START; |
1051 | killagreg | 710 | } |
711 | } |
||
1 | ingob | 712 | else delay_einschalten = 0; |
713 | //Auf Neutralwerte setzen |
||
1051 | killagreg | 714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 715 | // Auschalten |
1051 | killagreg | 716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 717 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
718 | { |
||
719 | if(++delay_ausschalten > 200) // nicht sofort |
||
720 | { |
||
1298 | hbuss | 721 | MotorenEin = 0; |
722 | delay_ausschalten = 200; |
||
723 | modell_fliegt = 0; |
||
1051 | killagreg | 724 | } |
1 | ingob | 725 | } |
726 | else delay_ausschalten = 0; |
||
727 | } |
||
728 | } |
||
1051 | killagreg | 729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 730 | // neue Werte von der Funke |
1051 | killagreg | 731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 732 | |
1254 | killagreg | 733 | if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG)) |
1 | ingob | 734 | { |
604 | hbuss | 735 | static int stick_nick,stick_roll; |
1 | ingob | 736 | ParameterZuordnung(); |
1051 | killagreg | 737 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
723 | hbuss | 738 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
805 | hbuss | 739 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
604 | hbuss | 740 | |
723 | hbuss | 741 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
742 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
805 | hbuss | 743 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
723 | hbuss | 744 | |
1 | ingob | 745 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1120 | hbuss | 746 | if(StickGier > 2) StickGier -= 2; else |
747 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
748 | |||
1316 | hbuss | 749 | StickGas = (StickGas + PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120) / 2; |
1330 | killagreg | 750 | |
1153 | hbuss | 751 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
752 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 753 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
754 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 755 | |
595 | hbuss | 756 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
757 | //+ Analoge Steuerung per Seriell |
||
758 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 759 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 760 | { |
761 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
762 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
763 | StickGier += ExternControl.Gier; |
||
764 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
765 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
766 | } |
||
855 | hbuss | 767 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 768 | |
1 | ingob | 769 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1330 | killagreg | 770 | //if(GyroFaktor < 0) GyroFaktor = 0; |
771 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
723 | hbuss | 772 | |
1051 | killagreg | 773 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 774 | { |
1051 | killagreg | 775 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 776 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 777 | } |
928 | hbuss | 778 | else MaxStickNick--; |
1051 | killagreg | 779 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 780 | { |
1051 | killagreg | 781 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 782 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 783 | } |
928 | hbuss | 784 | else MaxStickRoll--; |
1254 | killagreg | 785 | if(MikroKopterFlags & FLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 786 | |
1051 | killagreg | 787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 788 | // Looping? |
1051 | killagreg | 789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 790 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 791 | else |
792 | { |
||
395 | hbuss | 793 | { |
1051 | killagreg | 794 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
795 | } |
||
796 | } |
||
993 | hbuss | 797 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 798 | else |
395 | hbuss | 799 | { |
800 | if(Looping_Rechts) // Hysterese |
||
801 | { |
||
802 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
803 | } |
||
1051 | killagreg | 804 | } |
173 | holgerb | 805 | |
993 | hbuss | 806 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 807 | else |
808 | { |
||
395 | hbuss | 809 | if(Looping_Oben) // Hysterese |
810 | { |
||
1051 | killagreg | 811 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
812 | } |
||
813 | } |
||
993 | hbuss | 814 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 815 | else |
395 | hbuss | 816 | { |
817 | if(Looping_Unten) // Hysterese |
||
818 | { |
||
819 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
820 | } |
||
1051 | killagreg | 821 | } |
395 | hbuss | 822 | |
823 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 824 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 825 | } // Ende neue Funken-Werte |
826 | |||
827 | if(Looping_Roll || Looping_Nick) |
||
828 | { |
||
173 | holgerb | 829 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 830 | TrichterFlug = 1; |
173 | holgerb | 831 | } |
832 | |||
1051 | killagreg | 833 | |
834 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
835 | // Bei Empfangsausfall im Flug |
||
836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1254 | killagreg | 837 | if(MikroKopterFlags & FLAG_NOTLANDUNG) |
1 | ingob | 838 | { |
839 | StickGier = 0; |
||
840 | StickNick = 0; |
||
841 | StickRoll = 0; |
||
1211 | hbuss | 842 | GyroFaktor = 90; |
843 | IntegralFaktor = 120; |
||
844 | GyroFaktorGier = 90; |
||
845 | IntegralFaktorGier = 120; |
||
173 | holgerb | 846 | Looping_Roll = 0; |
847 | Looping_Nick = 0; |
||
1051 | killagreg | 848 | } |
395 | hbuss | 849 | |
850 | |||
1051 | killagreg | 851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 852 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 853 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 854 | #define ABGLEICH_ANZAHL 256L |
855 | |||
856 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
857 | MittelIntegralRoll += IntegralRoll; |
||
858 | MittelIntegralNick2 += IntegralNick2; |
||
859 | MittelIntegralRoll2 += IntegralRoll2; |
||
860 | |||
861 | if(Looping_Nick || Looping_Roll) |
||
862 | { |
||
863 | IntegralAccNick = 0; |
||
864 | IntegralAccRoll = 0; |
||
865 | MittelIntegralNick = 0; |
||
866 | MittelIntegralRoll = 0; |
||
867 | MittelIntegralNick2 = 0; |
||
868 | MittelIntegralRoll2 = 0; |
||
869 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
870 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
871 | ZaehlMessungen = 0; |
||
498 | hbuss | 872 | LageKorrekturNick = 0; |
873 | LageKorrekturRoll = 0; |
||
395 | hbuss | 874 | } |
875 | |||
1051 | killagreg | 876 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 877 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 878 | { |
879 | long tmp_long, tmp_long2; |
||
1171 | hbuss | 880 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
992 | hbuss | 881 | { |
882 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 883 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
884 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
885 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
992 | hbuss | 886 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
887 | { |
||
888 | tmp_long /= 2; |
||
889 | tmp_long2 /= 2; |
||
890 | } |
||
891 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
892 | { |
||
893 | tmp_long /= 3; |
||
894 | tmp_long2 /= 3; |
||
895 | } |
||
896 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
897 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
898 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
899 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
900 | } |
||
1051 | killagreg | 901 | else |
992 | hbuss | 902 | { |
903 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 904 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 905 | tmp_long /= 16; |
906 | tmp_long2 /= 16; |
||
907 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
908 | { |
||
909 | tmp_long /= 3; |
||
910 | tmp_long2 /= 3; |
||
1216 | killagreg | 911 | } |
912 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 913 | { |
914 | tmp_long /= 3; |
||
915 | tmp_long2 /= 3; |
||
916 | } |
||
1155 | hbuss | 917 | |
918 | #define AUSGLEICH 32 |
||
992 | hbuss | 919 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
920 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
921 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
922 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
923 | } |
||
1166 | hbuss | 924 | |
925 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
1111 | hbuss | 926 | Mess_IntegralNick -= tmp_long; |
927 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 928 | } |
1051 | killagreg | 929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 930 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
931 | { |
||
932 | static int cnt = 0; |
||
933 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
934 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 935 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 936 | { |
395 | hbuss | 937 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
938 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
939 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
940 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
941 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
492 | hbuss | 942 | #define MAX_I 0//(Poti2/10) |
395 | hbuss | 943 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
944 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
945 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 946 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
947 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 948 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 949 | |
950 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 951 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 952 | |
992 | hbuss | 953 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 954 | { |
955 | LageKorrekturNick /= 2; |
||
720 | ingob | 956 | LageKorrekturRoll /= 2; |
614 | hbuss | 957 | } |
498 | hbuss | 958 | |
1051 | killagreg | 959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 960 | // Gyro-Drift ermitteln |
1051 | killagreg | 961 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 962 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
963 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 964 | tmp_long = IntegralNick2 - IntegralNick; |
965 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 966 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
967 | |||
968 | IntegralFehlerNick = tmp_long; |
||
969 | IntegralFehlerRoll = tmp_long2; |
||
970 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
971 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
972 | |||
1111 | hbuss | 973 | if(EE_Parameter.Driftkomp) |
974 | { |
||
927 | hbuss | 975 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
976 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
||
1111 | hbuss | 977 | } |
693 | hbuss | 978 | GierGyroFehler = 0; |
720 | ingob | 979 | |
980 | |||
1243 | killagreg | 981 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
982 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 983 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 984 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 985 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
986 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 987 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 988 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 989 | { |
1051 | killagreg | 990 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 991 | { |
1051 | killagreg | 992 | if(last_n_p) |
395 | hbuss | 993 | { |
1173 | hbuss | 994 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 995 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 996 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 997 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 998 | } |
395 | hbuss | 999 | else last_n_p = 1; |
1000 | } else last_n_p = 0; |
||
1051 | killagreg | 1001 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1002 | { |
1003 | if(last_n_n) |
||
1051 | killagreg | 1004 | { |
1173 | hbuss | 1005 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1006 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1007 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1008 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1009 | } |
395 | hbuss | 1010 | else last_n_n = 1; |
1011 | } else last_n_n = 0; |
||
1051 | killagreg | 1012 | } |
1013 | else |
||
847 | hbuss | 1014 | { |
1015 | cnt = 0; |
||
921 | hbuss | 1016 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1017 | } |
499 | hbuss | 1018 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1019 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1020 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1021 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1022 | |
395 | hbuss | 1023 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 1024 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1225 | hbuss | 1025 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
498 | hbuss | 1026 | ausgleichRoll = 0; |
1173 | hbuss | 1027 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1028 | { |
1051 | killagreg | 1029 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1030 | { |
1051 | killagreg | 1031 | if(last_r_p) |
395 | hbuss | 1032 | { |
1173 | hbuss | 1033 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1034 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1035 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1036 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1037 | } |
395 | hbuss | 1038 | else last_r_p = 1; |
1039 | } else last_r_p = 0; |
||
1051 | killagreg | 1040 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1041 | { |
1051 | killagreg | 1042 | if(last_r_n) |
395 | hbuss | 1043 | { |
1173 | hbuss | 1044 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1045 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1046 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1047 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1048 | } |
1049 | else last_r_n = 1; |
||
1050 | } else last_r_n = 0; |
||
1051 | killagreg | 1051 | } else |
492 | hbuss | 1052 | { |
1053 | cnt = 0; |
||
921 | hbuss | 1054 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1055 | } |
499 | hbuss | 1056 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1057 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1058 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1059 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1060 | } |
1051 | killagreg | 1061 | else |
498 | hbuss | 1062 | { |
1063 | LageKorrekturRoll = 0; |
||
1064 | LageKorrekturNick = 0; |
||
880 | hbuss | 1065 | TrichterFlug = 0; |
498 | hbuss | 1066 | } |
1051 | killagreg | 1067 | |
498 | hbuss | 1068 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1069 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1070 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1071 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1073 | IntegralAccNick = 0; |
1074 | IntegralAccRoll = 0; |
||
1075 | IntegralAccZ = 0; |
||
1076 | MittelIntegralNick = 0; |
||
1077 | MittelIntegralRoll = 0; |
||
1078 | MittelIntegralNick2 = 0; |
||
1079 | MittelIntegralRoll2 = 0; |
||
1080 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1081 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1082 | |
1173 | hbuss | 1083 | |
1051 | killagreg | 1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1085 | // Gieren |
1051 | killagreg | 1086 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 1087 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1051 | killagreg | 1088 | if(abs(StickGier) > 15) // war 35 |
1 | ingob | 1089 | { |
921 | hbuss | 1090 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1091 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1092 | { |
||
1093 | NeueKompassRichtungMerken = 1; |
||
824 | hbuss | 1094 | }; |
1 | ingob | 1095 | } |
395 | hbuss | 1096 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1097 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
173 | holgerb | 1098 | sollGier = tmp_int; |
1051 | killagreg | 1099 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1100 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1101 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1102 | |
1103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1104 | // Kompass |
1051 | killagreg | 1105 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1175 | hbuss | 1106 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
819 | hbuss | 1107 | |
1051 | killagreg | 1108 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1109 | { |
819 | hbuss | 1110 | int w,v,r,fehler,korrektur; |
1 | ingob | 1111 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1112 | v = abs(IntegralRoll /512); |
||
1113 | if(v > w) w = v; // grösste Neigung ermitteln |
||
824 | hbuss | 1114 | korrektur = w / 8 + 1; |
921 | hbuss | 1115 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1171 | hbuss | 1116 | if(abs(MesswertGier) > 128) |
1036 | hbuss | 1117 | { |
1118 | fehler = 0; |
||
1051 | killagreg | 1119 | } |
921 | hbuss | 1120 | if(!KompassSignalSchlecht && w < 25) |
1121 | { |
||
1122 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1123 | if(NeueKompassRichtungMerken) |
1124 | { |
||
921 | hbuss | 1125 | beeptime = 200; |
847 | hbuss | 1126 | // KompassStartwert = KompassValue; |
1171 | hbuss | 1127 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
921 | hbuss | 1128 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1129 | NeueKompassRichtungMerken = 0; |
||
1130 | } |
||
1 | ingob | 1131 | } |
824 | hbuss | 1132 | ErsatzKompass += (fehler * 8) / korrektur; |
921 | hbuss | 1133 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1 | ingob | 1134 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
921 | hbuss | 1135 | if(w >= 0) |
1 | ingob | 1136 | { |
1051 | killagreg | 1137 | if(!KompassSignalSchlecht) |
693 | hbuss | 1138 | { |
1051 | killagreg | 1139 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
847 | hbuss | 1140 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1141 | // r = KompassRichtung; |
||
819 | hbuss | 1142 | v = (r * w) / v; // nach Kompass ausrichten |
1143 | w = 3 * Parameter_KompassWirkung; |
||
693 | hbuss | 1144 | if(v > w) v = w; // Begrenzen |
1051 | killagreg | 1145 | else |
693 | hbuss | 1146 | if(v < -w) v = -w; |
1147 | Mess_Integral_Gier += v; |
||
1051 | killagreg | 1148 | } |
693 | hbuss | 1149 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1051 | killagreg | 1150 | } |
921 | hbuss | 1151 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1051 | killagreg | 1152 | } |
1153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1154 | |
1051 | killagreg | 1155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1156 | // Debugwerte zuordnen |
1051 | killagreg | 1157 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1158 | if(!TimerWerteausgabe--) |
1159 | { |
||
395 | hbuss | 1160 | TimerWerteausgabe = 24; |
805 | hbuss | 1161 | |
1171 | hbuss | 1162 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
1163 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
1164 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
1165 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
1 | ingob | 1166 | DebugOut.Analog[4] = MesswertGier; |
1314 | killagreg | 1167 | DebugOut.Analog[5] = HoehenWert/5; |
1224 | hbuss | 1168 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
1 | ingob | 1169 | DebugOut.Analog[8] = KompassValue; |
297 | holgerb | 1170 | DebugOut.Analog[9] = UBat; |
1283 | hbuss | 1171 | DebugOut.Analog[10] = SenderOkay; |
1051 | killagreg | 1172 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
929 | hbuss | 1173 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
1083 | killagreg | 1174 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
1253 | killagreg | 1175 | DebugOut.Analog[18] = VarioMeter; |
819 | hbuss | 1176 | DebugOut.Analog[19] = WinkelOut.CalcState; |
1328 | hbuss | 1177 | DebugOut.Analog[20] = ServoNickValue; |
1322 | hbuss | 1178 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1171 | hbuss | 1179 | // DebugOut.Analog[24] = MesswertNick/2; |
1180 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
1322 | hbuss | 1181 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
1172 | hbuss | 1182 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
1183 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
1322 | hbuss | 1184 | //DebugOut.Analog[28] = I2CError; |
1215 | hbuss | 1185 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1216 | killagreg | 1186 | DebugOut.Analog[30] = GPS_Nick; |
720 | ingob | 1187 | DebugOut.Analog[31] = GPS_Roll; |
1 | ingob | 1188 | } |
1189 | |||
1051 | killagreg | 1190 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1191 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1193 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1194 | |
1171 | hbuss | 1195 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1196 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1197 | |
1167 | hbuss | 1198 | #define TRIM_MAX 200 |
1166 | hbuss | 1199 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1200 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1201 | |
1166 | hbuss | 1202 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1203 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1204 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1205 | |
1 | ingob | 1206 | // Maximalwerte abfangen |
1153 | hbuss | 1207 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1208 | #define MAX_SENSOR (4096*4) |
||
1216 | killagreg | 1209 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1210 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1211 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1212 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1213 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1214 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1215 | |||
1051 | killagreg | 1216 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1217 | // Höhenregelung |
1218 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1278 | hbuss | 1220 | if(UBat > BattLowVoltageWarning) GasMischanteil = (GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1221 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1222 | |
1223 | // if height control is activated |
||
1322 | hbuss | 1224 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1225 | { |
1332 | hbuss | 1226 | #define HOOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1227 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
||
1309 | hbuss | 1228 | #define OPA_OFFSET_STEP 10 |
1229 | int HCGas, HeightDeviation; |
||
1230 | static int HeightTrimming = 0; // rate for change of height setpoint |
||
1231 | static int FilterHCGas = 0; |
||
1332 | hbuss | 1232 | static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023; |
1309 | hbuss | 1233 | static unsigned long HooverGasFilter = 0; |
1322 | hbuss | 1234 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1235 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1236 | |
1309 | hbuss | 1237 | // get the current hooverpoint |
1332 | hbuss | 1238 | // if(LoadHandler == 1) |
1328 | hbuss | 1239 | { |
1322 | hbuss | 1240 | DebugOut.Analog[21] = HooverGas; |
1309 | hbuss | 1241 | DebugOut.Analog[18] = VarioMeter; |
1242 | |||
1322 | hbuss | 1243 | // Expand the measurement |
1244 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1245 | if(!BaroExpandActive) |
||
1246 | { |
||
1247 | if(MessLuftdruck > 920) |
||
1248 | { // increase offset |
||
1330 | killagreg | 1249 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1250 | { |
1251 | ExpandBaro -= 1; |
||
1252 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1253 | beeptime = 300; |
||
1332 | hbuss | 1254 | BaroExpandActive = 250; |
1330 | killagreg | 1255 | } |
1256 | else |
||
1322 | hbuss | 1257 | { |
1258 | BaroAtLowerLimit = 1; |
||
1259 | } |
||
1260 | } |
||
1261 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1262 | else |
1322 | hbuss | 1263 | if(MessLuftdruck < 100) |
1264 | { // decrease offset |
||
1330 | killagreg | 1265 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1266 | { |
1267 | ExpandBaro += 1; |
||
1268 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1269 | beeptime = 300; |
||
1332 | hbuss | 1270 | BaroExpandActive = 250; |
1330 | killagreg | 1271 | } |
1272 | else |
||
1322 | hbuss | 1273 | { |
1274 | BaroAtUpperLimit = 1; |
||
1275 | } |
||
1276 | } |
||
1330 | killagreg | 1277 | else |
1322 | hbuss | 1278 | { |
1279 | BaroAtUpperLimit = 0; |
||
1280 | BaroAtLowerLimit = 0; |
||
1281 | } |
||
1282 | } |
||
1283 | else // delay, because of expanding the Baro-Range |
||
1284 | { |
||
1285 | // now clear the D-values |
||
1286 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1287 | VarioMeter = 0; |
||
1288 | BaroExpandActive--; |
||
1289 | } |
||
1328 | hbuss | 1290 | |
1291 | // if height control is activated by an rc channel |
||
1292 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1293 | { // check if parameter is less than activation threshold |
||
1294 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1295 | { //height control not active |
||
1296 | if(!delay--) |
||
1297 | { |
||
1298 | HoehenReglerAktiv = 0; // disable height control |
||
1299 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1300 | delay = 1; |
||
1301 | } |
||
1302 | } |
||
1303 | else |
||
1304 | { //height control is activated |
||
1305 | HoehenReglerAktiv = 1; // enable height control |
||
1306 | delay = 40; |
||
1307 | } |
||
1051 | killagreg | 1308 | } |
1309 | hbuss | 1309 | else // no switchable height control |
1310 | { |
||
1311 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1312 | HoehenReglerAktiv = 1; |
||
1051 | killagreg | 1313 | } |
1322 | hbuss | 1314 | |
1320 | hbuss | 1315 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1316 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1317 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1318 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1319 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1320 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1309 | hbuss | 1321 | if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG)) |
1322 | { |
||
1323 | #define HEIGHT_TRIM_UP 0x01 |
||
1324 | #define HEIGHT_TRIM_DOWN 0x02 |
||
1325 | static unsigned char HeightTrimmingFlag = 0x00; |
||
1326 | |||
1330 | killagreg | 1327 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1328 | // Holger original version |
1329 | // start of height control algorithm |
||
1330 | // the height control is only an attenuation of the actual gas stick. |
||
1331 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1332 | // and the hover height will be allways larger than height setpoint. |
||
1314 | killagreg | 1333 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1334 | { // old version |
||
1309 | hbuss | 1335 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1336 | HeightTrimming = 0; |
||
1337 | } |
||
1314 | killagreg | 1338 | else |
1309 | hbuss | 1339 | { |
1340 | // alternative height control |
||
1341 | // PD-Control with respect to hoover point |
||
1342 | // the thrust loss out of horizontal attitude is compensated |
||
1343 | // the setpoint will be fine adjusted with the gas stick position |
||
1344 | if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying |
||
1345 | { // gas stick is above hoover point |
||
1322 | hbuss | 1346 | if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1347 | { |
1348 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
1349 | { |
||
1350 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
1351 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1352 | } |
||
1353 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
1320 | hbuss | 1354 | HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1309 | hbuss | 1355 | } // gas stick is below hoover point |
1322 | hbuss | 1356 | else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1357 | { |
1358 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
1359 | { |
||
1360 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
1361 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1362 | } |
||
1363 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
1320 | hbuss | 1364 | HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1309 | hbuss | 1365 | } |
1366 | else // Gas Stick in Hoover Range |
||
1367 | { |
||
1368 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN)) |
||
1369 | { |
||
1370 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN); |
||
1371 | HeightTrimming = 0; |
||
1372 | SollHoehe = HoehenWert; // update setpoint to current height |
||
1373 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1374 | } |
||
1375 | } |
||
1376 | // Trim height set point |
||
1328 | hbuss | 1377 | if(abs(HeightTrimming) > 256) |
1309 | hbuss | 1378 | { |
1332 | hbuss | 1379 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1380 | HeightTrimming = 0; |
1381 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
||
1320 | hbuss | 1382 | //update hoover gas stick value when setpoint is shifted |
1332 | hbuss | 1383 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1384 | { |
||
1385 | StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value |
||
1386 | StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
||
1387 | if(StickGasHoover < 70) StickGasHoover = 70; |
||
1388 | else if(StickGasHoover > 150) StickGasHoover = 150; |
||
1389 | } |
||
1309 | hbuss | 1390 | } |
1332 | hbuss | 1391 | |
1309 | hbuss | 1392 | } //if MikroKopterFlags & MKFLAG_FLY |
1330 | killagreg | 1393 | else |
1394 | { |
||
1322 | hbuss | 1395 | SollHoehe = HoehenWert - 400; |
1328 | hbuss | 1396 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
1397 | else StickGasHoover = 120; |
||
1320 | hbuss | 1398 | } |
1309 | hbuss | 1399 | HCGas = HooverGas; // take hoover gas (neutral point) |
1400 | } |
||
1314 | killagreg | 1401 | |
1402 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
||
1283 | hbuss | 1403 | { |
1309 | hbuss | 1404 | // ------------------------- P-Part ---------------------------- |
1312 | hbuss | 1405 | HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high |
1309 | hbuss | 1406 | tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part |
1407 | HCGas -= tmp_int; |
||
1408 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
1409 | tmp_int = VarioMeter / 8; |
||
1410 | if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction |
||
1411 | if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4; |
||
1412 | else tmp_int = VarioMeter - (tmp_int * tmp_int) / 4; |
||
1413 | tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter |
||
1414 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
||
1415 | HCGas -= tmp_int; |
||
1416 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
||
1417 | tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
||
1418 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
||
1419 | HCGas -= tmp_int; |
||
1330 | killagreg | 1420 | |
1309 | hbuss | 1421 | // limit deviation from hoover point within the target region |
1314 | killagreg | 1422 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1423 | { |
1424 | LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point |
||
1425 | } |
||
1276 | hbuss | 1426 | |
1322 | hbuss | 1427 | if(BaroExpandActive) HCGas = HooverGas; |
1309 | hbuss | 1428 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1429 | tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L; |
||
1322 | hbuss | 1430 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
1309 | hbuss | 1431 | HCGas -= tmp_int; |
1330 | killagreg | 1432 | |
1322 | hbuss | 1433 | // strech control output by inverse attitude projection 1/cos |
1434 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1435 | tmp_long2 = (int32_t)HCGas; |
1436 | tmp_long2 *= 8192L; |
||
1437 | tmp_long2 /= CosAttitude; |
||
1438 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1439 | // update height control gas averaging |
1440 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1441 | // limit height control gas pd-control output |
||
1442 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1443 | // set GasMischanteil to HeightControlGasFilter |
||
1314 | killagreg | 1444 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1445 | { // old version |
||
1309 | hbuss | 1446 | if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas |
1314 | killagreg | 1447 | } |
1309 | hbuss | 1448 | GasMischanteil = FilterHCGas; |
1314 | killagreg | 1449 | } |
1309 | hbuss | 1450 | }// EOF height control active |
1320 | hbuss | 1451 | else // HC not active |
1452 | { |
||
1453 | //update hoover gas stick value when HC is not active |
||
1322 | hbuss | 1454 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1455 | { |
||
1456 | StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value |
||
1457 | StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
||
1458 | } |
||
1459 | else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
1330 | killagreg | 1460 | if(StickGasHoover < 70) StickGasHoover = 70; |
1461 | else if(StickGasHoover > 150) StickGasHoover = 150; |
||
1328 | hbuss | 1462 | FilterHCGas = GasMischanteil; |
1330 | killagreg | 1463 | } |
1283 | hbuss | 1464 | |
1309 | hbuss | 1465 | // Hoover gas estimation by averaging gas control output on small z-velocities |
1466 | // this is done only if height contol option is selected in global config and aircraft is flying |
||
1467 | if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG)) |
||
1468 | { |
||
1469 | if(HooverGasFilter == 0) HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
||
1470 | if(abs(VarioMeter) < 100) // only on small vertical speed |
||
1471 | { |
||
1330 | killagreg | 1472 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1473 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1474 | tmp_long2 /= 8192; |
||
1475 | |||
1309 | hbuss | 1476 | // average vertical projected thrust |
1477 | if(modell_fliegt < 2000) // the first 4 seconds |
||
1478 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
1479 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L); |
||
1330 | killagreg | 1480 | HooverGasFilter += 8L * tmp_long2; |
1309 | hbuss | 1481 | } |
1482 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
1483 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1484 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L); |
||
1330 | killagreg | 1485 | HooverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1486 | } |
1487 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
1488 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1489 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L); |
||
1330 | killagreg | 1490 | HooverGasFilter += 2L * tmp_long2; |
1309 | hbuss | 1491 | } |
1492 | else //later |
||
1493 | { |
||
1494 | HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE; |
||
1330 | killagreg | 1495 | HooverGasFilter += tmp_long2; |
1309 | hbuss | 1496 | } |
1497 | HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE); |
||
1498 | if(EE_Parameter.Hoehe_HoverBand) |
||
1499 | { |
||
1500 | int16_t band; |
||
1501 | band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
||
1502 | HooverGasMin = HooverGas - band; |
||
1503 | HooverGasMax = HooverGas + band; |
||
1504 | } |
||
1505 | else |
||
1506 | { // no limit |
||
1507 | HooverGasMin = 0; |
||
1508 | HooverGasMax = 1023; |
||
1509 | } |
||
1510 | } |
||
1511 | } |
||
1330 | killagreg | 1512 | } |
1322 | hbuss | 1513 | //DebugOut.Analog[26] = HooverGasMax; |
1309 | hbuss | 1514 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1515 | |||
1516 | // limit gas to parameter setting |
||
1320 | hbuss | 1517 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1518 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1519 | |
1051 | killagreg | 1520 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1521 | // all BL-Ctrl connected? |
1522 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1330 | killagreg | 1523 | if(MissingMotor) |
1320 | hbuss | 1524 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1525 | { |
||
1526 | modell_fliegt = 1; |
||
1527 | GasMischanteil = MIN_GAS; |
||
1528 | } |
||
1529 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1530 | // + Mischer und PI-Regler |
1051 | killagreg | 1531 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1532 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1533 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1534 | // Gier-Anteil |
1051 | killagreg | 1535 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1536 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1537 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1538 | if(GasMischanteil > MIN_GIERGAS) |
1539 | { |
||
1051 | killagreg | 1540 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1541 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1542 | } |
1051 | killagreg | 1543 | else |
693 | hbuss | 1544 | { |
1051 | killagreg | 1545 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1546 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1547 | } |
855 | hbuss | 1548 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1549 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1550 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1551 | |
1051 | killagreg | 1552 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1553 | // Nick-Achse |
1051 | killagreg | 1554 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1555 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1556 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1557 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1558 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1559 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1153 | hbuss | 1560 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1 | ingob | 1561 | // Motor Vorn |
499 | hbuss | 1562 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1563 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1564 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1565 | |
1153 | hbuss | 1566 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1567 | // Roll-Achse |
||
1568 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1569 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1570 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1571 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1572 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1573 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1574 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
1575 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
1576 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
1577 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1578 | |||
1579 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1580 | // Universal Mixer |
1155 | hbuss | 1581 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1582 | for(i=0; i<MAX_MOTORS; i++) |
1209 | hbuss | 1583 | { |
1584 | signed int tmp_int; |
||
1585 | if(Mixer.Motor[i][0] > 0) |
||
1586 | { |
||
1587 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
1588 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1589 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1590 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1591 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
1216 | killagreg | 1592 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
1209 | hbuss | 1593 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
1216 | killagreg | 1594 | Motor[i] = tmp_int; |
1209 | hbuss | 1595 | } |
1596 | else Motor[i] = 0; |
||
1597 | } |
||
1167 | hbuss | 1598 | /* |
1153 | hbuss | 1599 | if(Poti1 > 20) Motor1 = 0; |
1600 | if(Poti1 > 90) Motor6 = 0; |
||
1601 | if(Poti1 > 140) Motor2 = 0; |
||
1175 | hbuss | 1602 | //if(Poti1 > 200) Motor7 = 0; |
1167 | hbuss | 1603 | */ |
1111 | hbuss | 1604 | } |