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