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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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1320 | hbuss | 57 | #include "mymath.h" |
1330 | killagreg | 58 | #include "isqrt.h" |
1 | ingob | 59 | |
1352 | hbuss | 60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
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173 | holgerb | 62 | volatile unsigned int I2CTimeout = 100; |
1153 | hbuss | 63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 64 | int TrimNick, TrimRoll; |
927 | hbuss | 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
66 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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805 | hbuss | 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1 | ingob | 68 | volatile float NeutralAccZ = 0; |
69 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
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693 | hbuss | 70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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73 | long Integral_Gier = 0; |
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74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1 | ingob | 78 | volatile long Mess_Integral_Hoch = 0; |
1153 | hbuss | 79 | int KompassValue = 0; |
80 | int KompassStartwert = 0; |
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81 | int KompassRichtung = 0; |
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693 | hbuss | 82 | unsigned int KompassSignalSchlecht = 500; |
855 | hbuss | 83 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 84 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 85 | unsigned char TrichterFlug = 0; |
395 | hbuss | 86 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 87 | long ErsatzKompass; |
88 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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89 | int GierGyroFehler = 0; |
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1211 | hbuss | 90 | char GyroFaktor,GyroFaktorGier; |
91 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 92 | int DiffNick,DiffRoll; |
1377 | hbuss | 93 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 94 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 95 | volatile unsigned char SenderOkay = 0; |
595 | hbuss | 96 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1 | ingob | 97 | char MotorenEin = 0; |
1622 | killagreg | 98 | unsigned char RequiredMotors = 0; |
1246 | killagreg | 99 | long HoehenWert = 0; |
100 | long SollHoehe = 0; |
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498 | hbuss | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
1153 | hbuss | 102 | //float Ki = FAKTOR_I; |
103 | int Ki = 10300 / 33; |
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395 | hbuss | 104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 106 | |
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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120 | unsigned char Parameter_UserParam1 = 0; |
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121 | unsigned char Parameter_UserParam2 = 0; |
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122 | unsigned char Parameter_UserParam3 = 0; |
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123 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 124 | unsigned char Parameter_UserParam5 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
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126 | unsigned char Parameter_UserParam7 = 0; |
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127 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 128 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 129 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 130 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 131 | unsigned char Parameter_AchsKopplung1 = 90; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
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133 | unsigned char Parameter_CouplingYawCorrection = 64; |
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134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 135 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
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138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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139 | unsigned char Parameter_J17Timing; // for the J17 Output |
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140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 141 | unsigned char Parameter_NaviGpsGain; |
142 | unsigned char Parameter_NaviGpsP; |
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143 | unsigned char Parameter_NaviGpsI; |
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144 | unsigned char Parameter_NaviGpsD; |
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145 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 146 | unsigned char Parameter_NaviOperatingRadius; |
147 | unsigned char Parameter_NaviWindCorrection; |
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148 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 149 | unsigned char Parameter_ExternalControl; |
1403 | hbuss | 150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1622 | killagreg | 151 | |
492 | hbuss | 152 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 153 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 154 | unsigned int modell_fliegt = 0; |
1420 | killagreg | 155 | volatile unsigned char FCFlags = 0; |
1121 | hbuss | 156 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 157 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 158 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 159 | char VarioCharacter = ' '; |
160 | |||
1391 | killagreg | 161 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
162 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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163 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 164 | |
1622 | killagreg | 165 | |
1166 | hbuss | 166 | int MotorSmoothing(int neu, int alt) |
167 | { |
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168 | int motor; |
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169 | if(neu > alt) motor = (1*(int)alt + neu) / 2; |
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170 | else motor = neu - (alt - neu)*1; |
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171 | //if(Poti2 < 20) return(neu); |
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172 | return(motor); |
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173 | } |
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174 | |||
1232 | hbuss | 175 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 176 | { |
1232 | hbuss | 177 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 178 | while(Anzahl--) |
179 | { |
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1232 | hbuss | 180 | beeptime = dauer; |
181 | while(beeptime); |
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182 | Delay_ms(dauer * 2); |
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1 | ingob | 183 | } |
184 | } |
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185 | |||
186 | //############################################################################ |
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1622 | killagreg | 187 | // Messwerte beim Ermitteln der Nullage |
188 | void CalibrierMittelwert(void) |
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189 | //############################################################################ |
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190 | { |
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191 | unsigned char i; |
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192 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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193 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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194 | ANALOG_OFF; |
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195 | MesswertNick = AdWertNick; |
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196 | MesswertRoll = AdWertRoll; |
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197 | MesswertGier = AdWertGier; |
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198 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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199 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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200 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
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201 | // ADC einschalten |
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202 | ANALOG_ON; |
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203 | for(i=0;i<8;i++) |
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204 | { |
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205 | int tmp; |
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206 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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207 | LIMIT_MIN_MAX(tmp, 0, 255); |
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208 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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209 | } |
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210 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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211 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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212 | } |
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213 | |||
214 | //############################################################################ |
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1 | ingob | 215 | // Nullwerte ermitteln |
1622 | killagreg | 216 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 217 | //############################################################################ |
218 | { |
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1622 | killagreg | 219 | unsigned char i; |
220 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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221 | |||
1320 | hbuss | 222 | HEF4017R_ON; |
1051 | killagreg | 223 | NeutralAccX = 0; |
1 | ingob | 224 | NeutralAccY = 0; |
225 | NeutralAccZ = 0; |
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1622 | killagreg | 226 | |
1051 | killagreg | 227 | AdNeutralNick = 0; |
228 | AdNeutralRoll = 0; |
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1 | ingob | 229 | AdNeutralGier = 0; |
1622 | killagreg | 230 | |
395 | hbuss | 231 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 232 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 233 | |
1036 | hbuss | 234 | ExpandBaro = 0; |
1622 | killagreg | 235 | |
1051 | killagreg | 236 | CalibrierMittelwert(); |
1622 | killagreg | 237 | |
395 | hbuss | 238 | Delay_ms_Mess(100); |
1622 | killagreg | 239 | |
1 | ingob | 240 | CalibrierMittelwert(); |
1622 | killagreg | 241 | |
1 | ingob | 242 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 243 | { |
1 | ingob | 244 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
245 | } |
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1166 | hbuss | 246 | #define NEUTRAL_FILTER 32 |
247 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 248 | { |
249 | Delay_ms_Mess(10); |
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1216 | killagreg | 250 | gier_neutral += AdWertGier; |
1166 | hbuss | 251 | nick_neutral += AdWertNick; |
252 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 253 | } |
1173 | hbuss | 254 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
255 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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256 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 257 | |
401 | hbuss | 258 | StartNeutralRoll = AdNeutralRoll; |
259 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 260 | |
261 | if(AccAdjustment) |
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262 | { |
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263 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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264 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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265 | NeutralAccZ = Aktuell_az; |
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266 | |||
267 | // Save ACC neutral settings to eeprom |
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268 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccY); |
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269 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccX); |
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270 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
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513 | hbuss | 271 | } |
1051 | killagreg | 272 | else |
513 | hbuss | 273 | { |
1622 | killagreg | 274 | // restore from eeprom |
275 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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276 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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277 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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278 | // strange settings? |
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1638 | holgerb | 279 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 280 | { |
281 | printf("\n\rACC not calibrated!\r\n"); |
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282 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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283 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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284 | NeutralAccZ = Aktuell_az; |
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285 | } |
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513 | hbuss | 286 | } |
1051 | killagreg | 287 | |
1 | ingob | 288 | MesswertNick = 0; |
289 | MesswertRoll = 0; |
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290 | MesswertGier = 0; |
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1111 | hbuss | 291 | Delay_ms_Mess(100); |
1174 | hbuss | 292 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
293 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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1173 | hbuss | 294 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
295 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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296 | Mess_IntegralNick2 = IntegralNick; |
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297 | Mess_IntegralRoll2 = IntegralRoll; |
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298 | Mess_Integral_Gier = 0; |
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1 | ingob | 299 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 300 | VarioMeter = 0; |
1 | ingob | 301 | Mess_Integral_Hoch = 0; |
302 | KompassStartwert = KompassValue; |
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303 | GPS_Neutral(); |
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1051 | killagreg | 304 | beeptime = 50; |
882 | hbuss | 305 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
306 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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492 | hbuss | 307 | ExternHoehenValue = 0; |
693 | hbuss | 308 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
309 | GierGyroFehler = 0; |
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723 | hbuss | 310 | SendVersionToNavi = 1; |
921 | hbuss | 311 | LED_Init(); |
1420 | killagreg | 312 | FCFlags |= FCFLAG_CALIBRATE; |
992 | hbuss | 313 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 314 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 315 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 316 | |
317 | for(i=0;i<8;i++) |
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1377 | hbuss | 318 | { |
319 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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320 | } |
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1171 | hbuss | 321 | SenderOkay = 100; |
1320 | hbuss | 322 | if(ServoActive) |
323 | { |
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324 | HEF4017R_ON; |
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325 | DDRD |=0x80; // enable J7 -> Servo signal |
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326 | } |
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1 | ingob | 327 | } |
328 | |||
329 | //############################################################################ |
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395 | hbuss | 330 | // Bearbeitet die Messwerte |
1 | ingob | 331 | void Mittelwert(void) |
332 | //############################################################################ |
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1051 | killagreg | 333 | { |
1111 | hbuss | 334 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
335 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
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1153 | hbuss | 336 | signed long winkel_nick, winkel_roll; |
1377 | hbuss | 337 | unsigned char i; |
1111 | hbuss | 338 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 339 | MesswertNick = (signed int) AdWertNickFilter / 8; |
340 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
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1153 | hbuss | 341 | RohMesswertNick = MesswertNick; |
342 | RohMesswertRoll = MesswertRoll; |
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1166 | hbuss | 343 | |
395 | hbuss | 344 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 345 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
346 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
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347 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
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395 | hbuss | 348 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
349 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
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805 | hbuss | 350 | NaviAccNick += AdWertAccNick; |
351 | NaviAccRoll += AdWertAccRoll; |
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352 | NaviCntAcc++; |
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1153 | hbuss | 353 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
354 | |||
1155 | hbuss | 355 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
356 | // ADC einschalten |
||
1171 | hbuss | 357 | ANALOG_ON; |
1155 | hbuss | 358 | AdReady = 0; |
359 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
360 | |||
1216 | killagreg | 361 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
362 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 363 | else winkel_roll = Mess_IntegralRoll; |
364 | |||
1216 | killagreg | 365 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
366 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 367 | else winkel_nick = Mess_IntegralNick; |
368 | |||
1120 | hbuss | 369 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 370 | Mess_Integral_Gier += MesswertGier; |
371 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 372 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
373 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
374 | { |
||
1153 | hbuss | 375 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 376 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 377 | tmpl3 /= 4096L; |
1153 | hbuss | 378 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 379 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 380 | tmpl4 /= 4096L; |
1153 | hbuss | 381 | KopplungsteilNickRoll = tmpl3; |
382 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 383 | tmpl4 -= tmpl3; |
384 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 385 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 386 | |
1153 | hbuss | 387 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 388 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 389 | tmpl /= 4096L; |
1153 | hbuss | 390 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 391 | tmpl2 *= Parameter_AchsKopplung1; |
880 | hbuss | 392 | tmpl2 /= 4096L; |
1225 | hbuss | 393 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 394 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 395 | } |
1166 | hbuss | 396 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1111 | hbuss | 397 | |
1166 | hbuss | 398 | TrimRoll = tmpl - tmpl2 / 100L; |
399 | TrimNick = -tmpl2 + tmpl / 100L; |
||
400 | |||
1111 | hbuss | 401 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
402 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
403 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 404 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 405 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
406 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 407 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 408 | { |
882 | hbuss | 409 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 410 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 411 | } |
395 | hbuss | 412 | if(Mess_IntegralRoll <-Umschlag180Roll) |
413 | { |
||
882 | hbuss | 414 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 415 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 416 | } |
395 | hbuss | 417 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 418 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
419 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 420 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 421 | { |
422 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
423 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 424 | } |
425 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 426 | { |
882 | hbuss | 427 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 428 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 429 | } |
1111 | hbuss | 430 | |
1 | ingob | 431 | Integral_Gier = Mess_Integral_Gier; |
432 | IntegralNick = Mess_IntegralNick; |
||
433 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 434 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 435 | IntegralRoll2 = Mess_IntegralRoll2; |
436 | |||
1166 | hbuss | 437 | #define D_LIMIT 128 |
438 | |||
1171 | hbuss | 439 | MesswertNick = HiResNick / 8; |
440 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 441 | |
1167 | hbuss | 442 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
443 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
444 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
445 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
446 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
447 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
448 | |||
1216 | killagreg | 449 | if(Parameter_Gyro_D) |
1111 | hbuss | 450 | { |
1166 | hbuss | 451 | d2Nick = HiResNick - oldNick; |
452 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 453 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
454 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1166 | hbuss | 455 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
456 | d2Roll = HiResRoll - oldRoll; |
||
457 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 458 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
459 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1166 | hbuss | 460 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
461 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
462 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 463 | } |
1111 | hbuss | 464 | |
1166 | hbuss | 465 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
466 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
467 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
468 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 469 | |
470 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
471 | { |
||
472 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
473 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
474 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
475 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
476 | } |
||
1377 | hbuss | 477 | for(i=0;i<8;i++) |
478 | { |
||
479 | int tmp; |
||
480 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
481 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
1406 | hbuss | 482 | if(tmp != Poti[i]) |
483 | { |
||
484 | Poti[i] += (tmp - Poti[i]) / 8; |
||
1413 | killagreg | 485 | if(Poti[i] > tmp) Poti[i]--; |
1406 | hbuss | 486 | else Poti[i]++; |
1413 | killagreg | 487 | } |
1377 | hbuss | 488 | } |
1 | ingob | 489 | } |
490 | |||
491 | //############################################################################ |
||
492 | // Senden der Motorwerte per I2C-Bus |
||
493 | void SendMotorData(void) |
||
494 | //############################################################################ |
||
1051 | killagreg | 495 | { |
1209 | hbuss | 496 | unsigned char i; |
921 | hbuss | 497 | if(!MotorenEin) |
1 | ingob | 498 | { |
1420 | killagreg | 499 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
1216 | killagreg | 500 | for(i=0;i<MAX_MOTORS;i++) |
501 | { |
||
502 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 503 | Motor[i].SetPoint = MotorTest[i]; |
504 | Motor[i].SetPointLowerBits = 0; |
||
505 | /* |
||
506 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
507 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
508 | */ |
||
1216 | killagreg | 509 | } |
1212 | hbuss | 510 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 511 | } |
1420 | killagreg | 512 | else FCFlags |= FCFLAG_MOTOR_RUN; |
1111 | hbuss | 513 | |
1479 | killagreg | 514 | DebugOut.Analog[12] = Motor[0].SetPoint; |
515 | DebugOut.Analog[13] = Motor[1].SetPoint; |
||
1521 | killagreg | 516 | DebugOut.Analog[14] = Motor[2].SetPoint; |
517 | DebugOut.Analog[15] = Motor[3].SetPoint; |
||
1 | ingob | 518 | |
519 | //Start I2C Interrupt Mode |
||
520 | twi_state = 0; |
||
521 | motor = 0; |
||
1051 | killagreg | 522 | i2c_start(); |
1 | ingob | 523 | } |
524 | |||
525 | |||
526 | |||
527 | //############################################################################ |
||
528 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 529 | void ParameterZuordnung(void) |
1 | ingob | 530 | //############################################################################ |
531 | { |
||
1391 | killagreg | 532 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
533 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
534 | |||
921 | hbuss | 535 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
536 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
537 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
538 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
539 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
1403 | hbuss | 540 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
541 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
542 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1377 | hbuss | 543 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1403 | hbuss | 544 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1377 | hbuss | 545 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
546 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
547 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
548 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
549 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
550 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
551 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
552 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
553 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
554 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
555 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
556 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
557 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
558 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
559 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
560 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
561 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
562 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
563 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
564 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1); |
||
565 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2); |
||
566 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
||
567 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
568 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
569 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1153 | hbuss | 570 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 571 | MAX_GAS = EE_Parameter.Gas_Max; |
572 | MIN_GAS = EE_Parameter.Gas_Min; |
||
573 | } |
||
574 | |||
575 | //############################################################################ |
||
576 | // |
||
577 | void MotorRegler(void) |
||
578 | //############################################################################ |
||
579 | { |
||
1330 | killagreg | 580 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 581 | int GierMischanteil,GasMischanteil; |
582 | static long SummeNick=0,SummeRoll=0; |
||
583 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 584 | static long IntegralFehlerNick = 0; |
585 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 586 | static unsigned int RcLostTimer; |
587 | static unsigned char delay_neutral = 0; |
||
588 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 589 | static unsigned char calibration_done = 0; |
1 | ingob | 590 | static char TimerWerteausgabe = 0; |
591 | static char NeueKompassRichtungMerken = 0; |
||
395 | hbuss | 592 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 593 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 594 | unsigned char i; |
1051 | killagreg | 595 | Mittelwert(); |
1 | ingob | 596 | GRN_ON; |
1051 | killagreg | 597 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 598 | // Gaswert ermitteln |
1051 | killagreg | 599 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
600 | GasMischanteil = StickGas; |
||
831 | hbuss | 601 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 602 | |
1051 | killagreg | 603 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 604 | // Empfang schlecht |
1051 | killagreg | 605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 606 | if(SenderOkay < 100) |
607 | { |
||
1051 | killagreg | 608 | if(RcLostTimer) RcLostTimer--; |
609 | else |
||
1 | ingob | 610 | { |
611 | MotorenEin = 0; |
||
1420 | killagreg | 612 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1051 | killagreg | 613 | } |
1 | ingob | 614 | ROT_ON; |
693 | hbuss | 615 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 616 | { |
617 | GasMischanteil = EE_Parameter.NotGas; |
||
1420 | killagreg | 618 | FCFlags |= FCFLAG_NOTLANDUNG; |
744 | hbuss | 619 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 620 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 621 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
622 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
623 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 624 | } |
1 | ingob | 625 | else MotorenEin = 0; |
626 | } |
||
1051 | killagreg | 627 | else |
628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 629 | // Emfang gut |
1051 | killagreg | 630 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 631 | if(SenderOkay > 140) |
632 | { |
||
1420 | killagreg | 633 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1 | ingob | 634 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 635 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 636 | { |
637 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
638 | } |
||
871 | hbuss | 639 | if((modell_fliegt < 256)) |
1 | ingob | 640 | { |
641 | SummeNick = 0; |
||
642 | SummeRoll = 0; |
||
1051 | killagreg | 643 | if(modell_fliegt == 250) |
918 | hbuss | 644 | { |
1051 | killagreg | 645 | NeueKompassRichtungMerken = 1; |
918 | hbuss | 646 | sollGier = 0; |
1051 | killagreg | 647 | Mess_Integral_Gier = 0; |
927 | hbuss | 648 | // Mess_Integral_Gier2 = 0; |
1051 | killagreg | 649 | } |
1420 | killagreg | 650 | } else FCFlags |= FCFLAG_FLY; |
1051 | killagreg | 651 | |
595 | hbuss | 652 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 653 | { |
1051 | killagreg | 654 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 655 | // auf Nullwerte kalibrieren |
1051 | killagreg | 656 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 657 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
658 | { |
||
659 | if(++delay_neutral > 200) // nicht sofort |
||
660 | { |
||
661 | GRN_OFF; |
||
662 | MotorenEin = 0; |
||
663 | delay_neutral = 0; |
||
664 | modell_fliegt = 0; |
||
665 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
666 | { |
||
304 | ingob | 667 | unsigned char setting=1; |
1 | ingob | 668 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
669 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
670 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
671 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
672 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 673 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 674 | } |
820 | hbuss | 675 | // else |
1051 | killagreg | 676 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
677 | { |
||
819 | hbuss | 678 | WinkelOut.CalcState = 1; |
679 | beeptime = 1000; |
||
680 | } |
||
681 | else |
||
1 | ingob | 682 | { |
1622 | killagreg | 683 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 684 | LipoDetection(0); |
1626 | killagreg | 685 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
819 | hbuss | 686 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
687 | { |
||
1 | ingob | 688 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 689 | } |
1330 | killagreg | 690 | ServoActive = 0; |
1622 | killagreg | 691 | SetNeutral(0); |
692 | calibration_done = 1; |
||
1232 | hbuss | 693 | ServoActive = 1; |
694 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 695 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 696 | } |
1051 | killagreg | 697 | } |
1 | ingob | 698 | } |
1051 | killagreg | 699 | else |
513 | hbuss | 700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
701 | { |
||
702 | if(++delay_neutral > 200) // nicht sofort |
||
703 | { |
||
704 | GRN_OFF; |
||
705 | MotorenEin = 0; |
||
706 | delay_neutral = 0; |
||
707 | modell_fliegt = 0; |
||
1622 | killagreg | 708 | SetNeutral(1); |
709 | calibration_done = 1; |
||
710 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 711 | } |
513 | hbuss | 712 | } |
1 | ingob | 713 | else delay_neutral = 0; |
714 | } |
||
1051 | killagreg | 715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 716 | // Gas ist unten |
1051 | killagreg | 717 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 718 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 719 | { |
1521 | killagreg | 720 | // Motoren Starten |
721 | if(!MotorenEin) |
||
722 | { |
||
723 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
724 | { |
||
1051 | killagreg | 725 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 726 | // Einschalten |
1051 | killagreg | 727 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 728 | if(++delay_einschalten > 200) |
729 | { |
||
730 | delay_einschalten = 0; |
||
1622 | killagreg | 731 | if(calibration_done) |
732 | { |
||
733 | modell_fliegt = 1; |
||
734 | MotorenEin = 1; |
||
735 | sollGier = 0; |
||
736 | Mess_Integral_Gier = 0; |
||
737 | Mess_Integral_Gier2 = 0; |
||
738 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
739 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
740 | Mess_IntegralNick2 = IntegralNick; |
||
741 | Mess_IntegralRoll2 = IntegralRoll; |
||
742 | SummeNick = 0; |
||
743 | SummeRoll = 0; |
||
744 | FCFlags |= FCFLAG_START; |
||
745 | } |
||
746 | else |
||
747 | { |
||
748 | beeptime = 1500; // indicate missing calibration |
||
749 | } |
||
1521 | killagreg | 750 | } |
751 | } |
||
752 | else delay_einschalten = 0; |
||
753 | } |
||
1051 | killagreg | 754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 755 | // Auschalten |
1051 | killagreg | 756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 757 | else // only if motors are running |
758 | { |
||
759 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
760 | { |
||
761 | if(++delay_ausschalten > 200) // nicht sofort |
||
762 | { |
||
763 | MotorenEin = 0; |
||
764 | delay_ausschalten = 0; |
||
765 | modell_fliegt = 0; |
||
766 | } |
||
767 | } |
||
768 | else delay_ausschalten = 0; |
||
769 | } |
||
1 | ingob | 770 | } |
771 | } |
||
1051 | killagreg | 772 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 773 | // neue Werte von der Funke |
1051 | killagreg | 774 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 775 | |
1420 | killagreg | 776 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
1 | ingob | 777 | { |
604 | hbuss | 778 | static int stick_nick,stick_roll; |
1 | ingob | 779 | ParameterZuordnung(); |
1051 | killagreg | 780 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
723 | hbuss | 781 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
805 | hbuss | 782 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
604 | hbuss | 783 | |
723 | hbuss | 784 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
785 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
805 | hbuss | 786 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
723 | hbuss | 787 | |
1 | ingob | 788 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1120 | hbuss | 789 | if(StickGier > 2) StickGier -= 2; else |
790 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
791 | |||
1350 | hbuss | 792 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
1330 | killagreg | 793 | |
1153 | hbuss | 794 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
795 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 796 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
797 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 798 | |
595 | hbuss | 799 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
800 | //+ Analoge Steuerung per Seriell |
||
801 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 802 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 803 | { |
804 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
805 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
806 | StickGier += ExternControl.Gier; |
||
807 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
808 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
809 | } |
||
855 | hbuss | 810 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 811 | |
1 | ingob | 812 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1330 | killagreg | 813 | //if(GyroFaktor < 0) GyroFaktor = 0; |
814 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
723 | hbuss | 815 | |
1051 | killagreg | 816 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 817 | { |
1051 | killagreg | 818 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 819 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 820 | } |
928 | hbuss | 821 | else MaxStickNick--; |
1051 | killagreg | 822 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 823 | { |
1051 | killagreg | 824 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 825 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 826 | } |
928 | hbuss | 827 | else MaxStickRoll--; |
1420 | killagreg | 828 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 829 | |
1051 | killagreg | 830 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 831 | // Looping? |
1051 | killagreg | 832 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 833 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 834 | else |
835 | { |
||
395 | hbuss | 836 | { |
1051 | killagreg | 837 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
838 | } |
||
839 | } |
||
993 | hbuss | 840 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 841 | else |
395 | hbuss | 842 | { |
843 | if(Looping_Rechts) // Hysterese |
||
844 | { |
||
845 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
846 | } |
||
1051 | killagreg | 847 | } |
173 | holgerb | 848 | |
993 | hbuss | 849 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 850 | else |
851 | { |
||
395 | hbuss | 852 | if(Looping_Oben) // Hysterese |
853 | { |
||
1051 | killagreg | 854 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
855 | } |
||
856 | } |
||
993 | hbuss | 857 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 858 | else |
395 | hbuss | 859 | { |
860 | if(Looping_Unten) // Hysterese |
||
861 | { |
||
862 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
863 | } |
||
1051 | killagreg | 864 | } |
395 | hbuss | 865 | |
866 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 867 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 868 | } // Ende neue Funken-Werte |
869 | |||
870 | if(Looping_Roll || Looping_Nick) |
||
871 | { |
||
173 | holgerb | 872 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 873 | TrichterFlug = 1; |
173 | holgerb | 874 | } |
875 | |||
1051 | killagreg | 876 | |
877 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
878 | // Bei Empfangsausfall im Flug |
||
879 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1420 | killagreg | 880 | if(FCFlags & FCFLAG_NOTLANDUNG) |
1 | ingob | 881 | { |
882 | StickGier = 0; |
||
883 | StickNick = 0; |
||
884 | StickRoll = 0; |
||
1211 | hbuss | 885 | GyroFaktor = 90; |
886 | IntegralFaktor = 120; |
||
887 | GyroFaktorGier = 90; |
||
888 | IntegralFaktorGier = 120; |
||
173 | holgerb | 889 | Looping_Roll = 0; |
890 | Looping_Nick = 0; |
||
1051 | killagreg | 891 | } |
395 | hbuss | 892 | |
893 | |||
1051 | killagreg | 894 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 895 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 896 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 897 | #define ABGLEICH_ANZAHL 256L |
898 | |||
899 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
900 | MittelIntegralRoll += IntegralRoll; |
||
901 | MittelIntegralNick2 += IntegralNick2; |
||
902 | MittelIntegralRoll2 += IntegralRoll2; |
||
903 | |||
904 | if(Looping_Nick || Looping_Roll) |
||
905 | { |
||
906 | IntegralAccNick = 0; |
||
907 | IntegralAccRoll = 0; |
||
908 | MittelIntegralNick = 0; |
||
909 | MittelIntegralRoll = 0; |
||
910 | MittelIntegralNick2 = 0; |
||
911 | MittelIntegralRoll2 = 0; |
||
912 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
913 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
914 | ZaehlMessungen = 0; |
||
498 | hbuss | 915 | LageKorrekturNick = 0; |
916 | LageKorrekturRoll = 0; |
||
395 | hbuss | 917 | } |
918 | |||
1051 | killagreg | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 920 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 921 | { |
922 | long tmp_long, tmp_long2; |
||
1171 | hbuss | 923 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
992 | hbuss | 924 | { |
925 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 926 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
927 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
928 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
992 | hbuss | 929 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
930 | { |
||
931 | tmp_long /= 2; |
||
932 | tmp_long2 /= 2; |
||
933 | } |
||
934 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
935 | { |
||
936 | tmp_long /= 3; |
||
937 | tmp_long2 /= 3; |
||
938 | } |
||
939 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
940 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
941 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
942 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
943 | } |
||
1051 | killagreg | 944 | else |
992 | hbuss | 945 | { |
946 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 947 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 948 | tmp_long /= 16; |
949 | tmp_long2 /= 16; |
||
950 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
951 | { |
||
952 | tmp_long /= 3; |
||
953 | tmp_long2 /= 3; |
||
1216 | killagreg | 954 | } |
955 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 956 | { |
957 | tmp_long /= 3; |
||
958 | tmp_long2 /= 3; |
||
959 | } |
||
1155 | hbuss | 960 | |
961 | #define AUSGLEICH 32 |
||
992 | hbuss | 962 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
963 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
964 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
965 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
966 | } |
||
1166 | hbuss | 967 | |
968 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
1111 | hbuss | 969 | Mess_IntegralNick -= tmp_long; |
970 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 971 | } |
1051 | killagreg | 972 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 973 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
974 | { |
||
975 | static int cnt = 0; |
||
976 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
977 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 978 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 979 | { |
395 | hbuss | 980 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
981 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
982 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
983 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
984 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
492 | hbuss | 985 | #define MAX_I 0//(Poti2/10) |
395 | hbuss | 986 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
987 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
988 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 989 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
990 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 991 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 992 | |
993 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 994 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 995 | |
992 | hbuss | 996 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 997 | { |
998 | LageKorrekturNick /= 2; |
||
720 | ingob | 999 | LageKorrekturRoll /= 2; |
614 | hbuss | 1000 | } |
498 | hbuss | 1001 | |
1051 | killagreg | 1002 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1003 | // Gyro-Drift ermitteln |
1051 | killagreg | 1004 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1005 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1006 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1007 | tmp_long = IntegralNick2 - IntegralNick; |
1008 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1009 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1010 | |||
1011 | IntegralFehlerNick = tmp_long; |
||
1012 | IntegralFehlerRoll = tmp_long2; |
||
1013 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1014 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1015 | |||
1111 | hbuss | 1016 | if(EE_Parameter.Driftkomp) |
1017 | { |
||
1622 | killagreg | 1018 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1019 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1020 | } |
693 | hbuss | 1021 | GierGyroFehler = 0; |
720 | ingob | 1022 | |
1023 | |||
1243 | killagreg | 1024 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1025 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1026 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1027 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1028 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1029 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1030 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1031 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1032 | { |
1051 | killagreg | 1033 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1034 | { |
1051 | killagreg | 1035 | if(last_n_p) |
395 | hbuss | 1036 | { |
1173 | hbuss | 1037 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1038 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1039 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1040 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1041 | } |
395 | hbuss | 1042 | else last_n_p = 1; |
1043 | } else last_n_p = 0; |
||
1051 | killagreg | 1044 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1045 | { |
1046 | if(last_n_n) |
||
1051 | killagreg | 1047 | { |
1173 | hbuss | 1048 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1049 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1050 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1051 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1052 | } |
395 | hbuss | 1053 | else last_n_n = 1; |
1054 | } else last_n_n = 0; |
||
1051 | killagreg | 1055 | } |
1056 | else |
||
847 | hbuss | 1057 | { |
1058 | cnt = 0; |
||
921 | hbuss | 1059 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1060 | } |
499 | hbuss | 1061 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1062 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1063 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1064 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1065 | |
395 | hbuss | 1066 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 1067 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1225 | hbuss | 1068 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
498 | hbuss | 1069 | ausgleichRoll = 0; |
1173 | hbuss | 1070 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1071 | { |
1051 | killagreg | 1072 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1073 | { |
1051 | killagreg | 1074 | if(last_r_p) |
395 | hbuss | 1075 | { |
1173 | hbuss | 1076 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1077 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1078 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1079 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1080 | } |
395 | hbuss | 1081 | else last_r_p = 1; |
1082 | } else last_r_p = 0; |
||
1051 | killagreg | 1083 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1084 | { |
1051 | killagreg | 1085 | if(last_r_n) |
395 | hbuss | 1086 | { |
1173 | hbuss | 1087 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1088 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1089 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1090 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1091 | } |
1092 | else last_r_n = 1; |
||
1093 | } else last_r_n = 0; |
||
1051 | killagreg | 1094 | } else |
492 | hbuss | 1095 | { |
1096 | cnt = 0; |
||
921 | hbuss | 1097 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1098 | } |
499 | hbuss | 1099 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1100 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1101 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1102 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1103 | } |
1051 | killagreg | 1104 | else |
498 | hbuss | 1105 | { |
1106 | LageKorrekturRoll = 0; |
||
1107 | LageKorrekturNick = 0; |
||
880 | hbuss | 1108 | TrichterFlug = 0; |
498 | hbuss | 1109 | } |
1051 | killagreg | 1110 | |
498 | hbuss | 1111 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1113 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1114 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1116 | IntegralAccNick = 0; |
1117 | IntegralAccRoll = 0; |
||
1118 | IntegralAccZ = 0; |
||
1119 | MittelIntegralNick = 0; |
||
1120 | MittelIntegralRoll = 0; |
||
1121 | MittelIntegralNick2 = 0; |
||
1122 | MittelIntegralRoll2 = 0; |
||
1123 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1124 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1125 | |
1173 | hbuss | 1126 | |
1051 | killagreg | 1127 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1128 | // Gieren |
1051 | killagreg | 1129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 1130 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1051 | killagreg | 1131 | if(abs(StickGier) > 15) // war 35 |
1 | ingob | 1132 | { |
921 | hbuss | 1133 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1134 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1135 | { |
||
1136 | NeueKompassRichtungMerken = 1; |
||
824 | hbuss | 1137 | }; |
1 | ingob | 1138 | } |
395 | hbuss | 1139 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1140 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
173 | holgerb | 1141 | sollGier = tmp_int; |
1051 | killagreg | 1142 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1143 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1144 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1145 | |
1146 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1147 | // Kompass |
1051 | killagreg | 1148 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1175 | hbuss | 1149 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
819 | hbuss | 1150 | |
1051 | killagreg | 1151 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1152 | { |
819 | hbuss | 1153 | int w,v,r,fehler,korrektur; |
1 | ingob | 1154 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1155 | v = abs(IntegralRoll /512); |
||
1156 | if(v > w) w = v; // grösste Neigung ermitteln |
||
824 | hbuss | 1157 | korrektur = w / 8 + 1; |
921 | hbuss | 1158 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1171 | hbuss | 1159 | if(abs(MesswertGier) > 128) |
1036 | hbuss | 1160 | { |
1161 | fehler = 0; |
||
1051 | killagreg | 1162 | } |
921 | hbuss | 1163 | if(!KompassSignalSchlecht && w < 25) |
1164 | { |
||
1165 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1166 | if(NeueKompassRichtungMerken) |
1167 | { |
||
1352 | hbuss | 1168 | // beeptime = 200; |
847 | hbuss | 1169 | // KompassStartwert = KompassValue; |
1171 | hbuss | 1170 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
921 | hbuss | 1171 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1172 | NeueKompassRichtungMerken = 0; |
||
1173 | } |
||
1 | ingob | 1174 | } |
824 | hbuss | 1175 | ErsatzKompass += (fehler * 8) / korrektur; |
921 | hbuss | 1176 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1 | ingob | 1177 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
921 | hbuss | 1178 | if(w >= 0) |
1 | ingob | 1179 | { |
1051 | killagreg | 1180 | if(!KompassSignalSchlecht) |
693 | hbuss | 1181 | { |
1051 | killagreg | 1182 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
847 | hbuss | 1183 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1184 | // r = KompassRichtung; |
||
819 | hbuss | 1185 | v = (r * w) / v; // nach Kompass ausrichten |
1186 | w = 3 * Parameter_KompassWirkung; |
||
693 | hbuss | 1187 | if(v > w) v = w; // Begrenzen |
1051 | killagreg | 1188 | else |
693 | hbuss | 1189 | if(v < -w) v = -w; |
1190 | Mess_Integral_Gier += v; |
||
1051 | killagreg | 1191 | } |
693 | hbuss | 1192 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1051 | killagreg | 1193 | } |
921 | hbuss | 1194 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1051 | killagreg | 1195 | } |
1196 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1197 | |
1051 | killagreg | 1198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1199 | // Debugwerte zuordnen |
1051 | killagreg | 1200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1201 | if(!TimerWerteausgabe--) |
1202 | { |
||
395 | hbuss | 1203 | TimerWerteausgabe = 24; |
805 | hbuss | 1204 | |
1171 | hbuss | 1205 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
1206 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
1207 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
||
1208 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
1 | ingob | 1209 | DebugOut.Analog[4] = MesswertGier; |
1314 | killagreg | 1210 | DebugOut.Analog[5] = HoehenWert/5; |
1224 | hbuss | 1211 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
1 | ingob | 1212 | DebugOut.Analog[8] = KompassValue; |
297 | holgerb | 1213 | DebugOut.Analog[9] = UBat; |
1283 | hbuss | 1214 | DebugOut.Analog[10] = SenderOkay; |
1051 | killagreg | 1215 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
1638 | holgerb | 1216 | //DebugOut.Analog[16] = Motor[0].Temperature; |
1083 | killagreg | 1217 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
1638 | holgerb | 1218 | // DebugOut.Analog[18] = VarioMeter; |
1219 | // DebugOut.Analog[19] = WinkelOut.CalcState; |
||
1328 | hbuss | 1220 | DebugOut.Analog[20] = ServoNickValue; |
1497 | holgerb | 1221 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
1222 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
||
1322 | hbuss | 1223 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1171 | hbuss | 1224 | // DebugOut.Analog[24] = MesswertNick/2; |
1225 | // DebugOut.Analog[25] = MesswertRoll/2; |
||
1322 | hbuss | 1226 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
1172 | hbuss | 1227 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
1228 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
||
1322 | hbuss | 1229 | //DebugOut.Analog[28] = I2CError; |
1423 | hbuss | 1230 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1216 | killagreg | 1231 | DebugOut.Analog[30] = GPS_Nick; |
720 | ingob | 1232 | DebugOut.Analog[31] = GPS_Roll; |
1 | ingob | 1233 | } |
1234 | |||
1051 | killagreg | 1235 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1236 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1237 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1238 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1239 | |
1171 | hbuss | 1240 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1241 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1242 | |
1167 | hbuss | 1243 | #define TRIM_MAX 200 |
1166 | hbuss | 1244 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1245 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1246 | |
1166 | hbuss | 1247 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1248 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1249 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1250 | |
1 | ingob | 1251 | // Maximalwerte abfangen |
1153 | hbuss | 1252 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1253 | #define MAX_SENSOR (4096*4) |
||
1216 | killagreg | 1254 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1255 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1256 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1257 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1258 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1259 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1260 | |||
1051 | killagreg | 1261 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1262 | // Höhenregelung |
1263 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1264 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1265 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1266 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1267 | |
1268 | // if height control is activated |
||
1322 | hbuss | 1269 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1270 | { |
1590 | killagreg | 1271 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1332 | hbuss | 1272 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1273 | |
1274 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1275 | #define OPA_OFFSET_STEP 15 |
||
1276 | #else |
||
1277 | #define OPA_OFFSET_STEP 10 |
||
1278 | #endif |
||
1587 | killagreg | 1279 | int HCGas, HeightDeviation = 0; |
1309 | hbuss | 1280 | static int HeightTrimming = 0; // rate for change of height setpoint |
1281 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1282 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
1283 | static unsigned long HoverGasFilter = 0; |
||
1322 | hbuss | 1284 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1285 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1286 | |
1309 | hbuss | 1287 | // get the current hooverpoint |
1587 | killagreg | 1288 | DebugOut.Analog[21] = HoverGas; |
1638 | holgerb | 1289 | |
1322 | hbuss | 1290 | // Expand the measurement |
1291 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1292 | if(!BaroExpandActive) |
||
1293 | { |
||
1294 | if(MessLuftdruck > 920) |
||
1295 | { // increase offset |
||
1330 | killagreg | 1296 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1297 | { |
1298 | ExpandBaro -= 1; |
||
1299 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1300 | beeptime = 300; |
||
1352 | hbuss | 1301 | BaroExpandActive = 350; |
1330 | killagreg | 1302 | } |
1303 | else |
||
1322 | hbuss | 1304 | { |
1305 | BaroAtLowerLimit = 1; |
||
1306 | } |
||
1307 | } |
||
1308 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1309 | else |
1322 | hbuss | 1310 | if(MessLuftdruck < 100) |
1311 | { // decrease offset |
||
1330 | killagreg | 1312 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1313 | { |
1314 | ExpandBaro += 1; |
||
1315 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1316 | beeptime = 300; |
||
1352 | hbuss | 1317 | BaroExpandActive = 350; |
1330 | killagreg | 1318 | } |
1319 | else |
||
1322 | hbuss | 1320 | { |
1321 | BaroAtUpperLimit = 1; |
||
1322 | } |
||
1323 | } |
||
1330 | killagreg | 1324 | else |
1322 | hbuss | 1325 | { |
1326 | BaroAtUpperLimit = 0; |
||
1327 | BaroAtLowerLimit = 0; |
||
1328 | } |
||
1329 | } |
||
1330 | else // delay, because of expanding the Baro-Range |
||
1331 | { |
||
1332 | // now clear the D-values |
||
1333 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1334 | VarioMeter = 0; |
||
1335 | BaroExpandActive--; |
||
1336 | } |
||
1328 | hbuss | 1337 | |
1338 | // if height control is activated by an rc channel |
||
1339 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1340 | { // check if parameter is less than activation threshold |
||
1341 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1342 | { //height control not active |
||
1343 | if(!delay--) |
||
1344 | { |
||
1345 | HoehenReglerAktiv = 0; // disable height control |
||
1346 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1347 | delay = 1; |
||
1348 | } |
||
1349 | } |
||
1350 | else |
||
1351 | { //height control is activated |
||
1352 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1353 | delay = 200; |
1328 | hbuss | 1354 | } |
1051 | killagreg | 1355 | } |
1309 | hbuss | 1356 | else // no switchable height control |
1357 | { |
||
1358 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1359 | HoehenReglerAktiv = 1; |
||
1051 | killagreg | 1360 | } |
1322 | hbuss | 1361 | |
1320 | hbuss | 1362 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1363 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1364 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1365 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1366 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1367 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1368 | VarioCharacter = ' '; |
1420 | killagreg | 1369 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1370 | { |
1371 | #define HEIGHT_TRIM_UP 0x01 |
||
1372 | #define HEIGHT_TRIM_DOWN 0x02 |
||
1373 | static unsigned char HeightTrimmingFlag = 0x00; |
||
1374 | |||
1330 | killagreg | 1375 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1376 | // Holger original version |
1377 | // start of height control algorithm |
||
1378 | // the height control is only an attenuation of the actual gas stick. |
||
1379 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1380 | // and the hover height will be allways larger than height setpoint. |
||
1314 | killagreg | 1381 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1382 | { // old version |
||
1309 | hbuss | 1383 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1384 | HeightTrimming = 0; |
||
1385 | } |
||
1314 | killagreg | 1386 | else |
1309 | hbuss | 1387 | { |
1388 | // alternative height control |
||
1389 | // PD-Control with respect to hoover point |
||
1390 | // the thrust loss out of horizontal attitude is compensated |
||
1391 | // the setpoint will be fine adjusted with the gas stick position |
||
1420 | killagreg | 1392 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1309 | hbuss | 1393 | { // gas stick is above hoover point |
1587 | killagreg | 1394 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1395 | { |
1396 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
1397 | { |
||
1398 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
1399 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1400 | } |
||
1401 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
1587 | killagreg | 1402 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1403 | VarioCharacter = '+'; |
1309 | hbuss | 1404 | } // gas stick is below hoover point |
1587 | killagreg | 1405 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1406 | { |
1407 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
1408 | { |
||
1409 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
1410 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1411 | } |
||
1412 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
1587 | killagreg | 1413 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1414 | VarioCharacter = '-'; |
1309 | hbuss | 1415 | } |
1587 | killagreg | 1416 | else // Gas Stick in Hover Range |
1309 | hbuss | 1417 | { |
1352 | hbuss | 1418 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1309 | hbuss | 1419 | { |
1352 | hbuss | 1420 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1309 | hbuss | 1421 | HeightTrimming = 0; |
1422 | SollHoehe = HoehenWert; // update setpoint to current height |
||
1423 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1424 | } |
||
1591 | holgerb | 1425 | VarioCharacter = '='; |
1309 | hbuss | 1426 | } |
1427 | // Trim height set point |
||
1334 | killagreg | 1428 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1429 | { |
1332 | hbuss | 1430 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1431 | HeightTrimming = 0; |
1587 | killagreg | 1432 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1309 | hbuss | 1433 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1320 | hbuss | 1434 | //update hoover gas stick value when setpoint is shifted |
1332 | hbuss | 1435 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1436 | { |
||
1587 | killagreg | 1437 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1438 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1439 | if(StickGasHover < 70) StickGasHover = 70; |
||
1440 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1441 | } |
1309 | hbuss | 1442 | } |
1352 | hbuss | 1443 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1444 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1445 | else |
1446 | { |
||
1322 | hbuss | 1447 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1448 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1449 | else StickGasHover = 120; |
||
1320 | hbuss | 1450 | } |
1590 | killagreg | 1451 | HCGas = HoverGas; // take hover gas (neutral point) |
1452 | } |
||
1314 | killagreg | 1453 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1454 | { |
1590 | killagreg | 1455 | // from this point the Heigth Control Algorithm is identical for both versions |
1456 | if(BaroExpandActive) // baro range expanding active |
||
1457 | { |
||
1458 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1459 | HeightDeviation = 0; |
||
1460 | } // EOF // baro range expanding active |
||
1461 | else // valid data from air pressure sensor |
||
1462 | { |
||
1463 | // ------------------------- P-Part ---------------------------- |
||
1464 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1465 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1466 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1467 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
||
1468 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
||
1469 | HCGas -= tmp_long; |
||
1470 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
1471 | tmp_int = VarioMeter / 8; |
||
1472 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
||
1473 | tmp_int2 = tmp_int; |
||
1474 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
||
1475 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
||
1476 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
||
1477 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
||
1478 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1479 | HCGas -= tmp_int; |
||
1480 | } // EOF no baro range expanding |
||
1309 | hbuss | 1481 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1587 | killagreg | 1482 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1483 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1484 | HCGas -= tmp_long; |
||
1485 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
1588 | killagreg | 1486 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1487 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1309 | hbuss | 1488 | HCGas -= tmp_int; |
1587 | killagreg | 1489 | |
1309 | hbuss | 1490 | // limit deviation from hoover point within the target region |
1587 | killagreg | 1491 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1492 | { |
1587 | killagreg | 1493 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1309 | hbuss | 1494 | } |
1276 | hbuss | 1495 | |
1322 | hbuss | 1496 | // strech control output by inverse attitude projection 1/cos |
1497 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1498 | tmp_long2 = (int32_t)HCGas; |
1499 | tmp_long2 *= 8192L; |
||
1500 | tmp_long2 /= CosAttitude; |
||
1501 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1502 | // update height control gas averaging |
1503 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1504 | // limit height control gas pd-control output |
||
1505 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1506 | // set GasMischanteil to HeightControlGasFilter |
||
1314 | killagreg | 1507 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1508 | { // old version |
1509 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1510 | } |
||
1309 | hbuss | 1511 | GasMischanteil = FilterHCGas; |
1314 | killagreg | 1512 | } |
1309 | hbuss | 1513 | }// EOF height control active |
1320 | hbuss | 1514 | else // HC not active |
1515 | { |
||
1516 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1517 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1518 | { |
||
1519 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1520 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1521 | } |
1587 | killagreg | 1522 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1523 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1524 | FilterHCGas = GasMischanteil; |
1330 | killagreg | 1525 | } |
1283 | hbuss | 1526 | |
1587 | killagreg | 1527 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1528 | // this is done only if height contol option is selected in global config and aircraft is flying |
1420 | killagreg | 1529 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1530 | { |
1590 | killagreg | 1531 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1309 | hbuss | 1532 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1533 | { |
||
1330 | killagreg | 1534 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1535 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1536 | tmp_long2 /= 8192; |
||
1537 | |||
1309 | hbuss | 1538 | // average vertical projected thrust |
1539 | if(modell_fliegt < 2000) // the first 4 seconds |
||
1540 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
1590 | killagreg | 1541 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1587 | killagreg | 1542 | HoverGasFilter += 8L * tmp_long2; |
1309 | hbuss | 1543 | } |
1544 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
1545 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1590 | killagreg | 1546 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1547 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1548 | } |
1549 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
1550 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1551 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1587 | killagreg | 1552 | HoverGasFilter += 2L * tmp_long2; |
1309 | hbuss | 1553 | } |
1554 | else //later |
||
1555 | { |
||
1590 | killagreg | 1556 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1557 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1558 | } |
1590 | killagreg | 1559 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1560 | if(EE_Parameter.Hoehe_HoverBand) |
1561 | { |
||
1562 | int16_t band; |
||
1587 | killagreg | 1563 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1564 | HoverGasMin = HoverGas - band; |
||
1565 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1566 | } |
1567 | else |
||
1568 | { // no limit |
||
1587 | killagreg | 1569 | HoverGasMin = 0; |
1570 | HoverGasMax = 1023; |
||
1309 | hbuss | 1571 | } |
1572 | } |
||
1573 | } |
||
1574 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
||
1575 | |||
1576 | // limit gas to parameter setting |
||
1320 | hbuss | 1577 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1578 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1579 | |
1051 | killagreg | 1580 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1581 | // all BL-Ctrl connected? |
1582 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1330 | killagreg | 1583 | if(MissingMotor) |
1320 | hbuss | 1584 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1585 | { |
||
1586 | modell_fliegt = 1; |
||
1587 | GasMischanteil = MIN_GAS; |
||
1588 | } |
||
1589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1590 | // + Mischer und PI-Regler |
1051 | killagreg | 1591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1592 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1594 | // Gier-Anteil |
1051 | killagreg | 1595 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1596 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1597 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1598 | if(GasMischanteil > MIN_GIERGAS) |
1599 | { |
||
1051 | killagreg | 1600 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1601 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1602 | } |
1051 | killagreg | 1603 | else |
693 | hbuss | 1604 | { |
1051 | killagreg | 1605 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1606 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1607 | } |
855 | hbuss | 1608 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1609 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1610 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1611 | |
1051 | killagreg | 1612 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1613 | // Nick-Achse |
1051 | killagreg | 1614 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1615 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1616 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1617 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1618 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1619 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1153 | hbuss | 1620 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1 | ingob | 1621 | // Motor Vorn |
499 | hbuss | 1622 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1623 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1624 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1625 | |
1153 | hbuss | 1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1627 | // Roll-Achse |
||
1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1629 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1630 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1631 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1632 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1633 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1634 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
1635 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
1636 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
1637 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1638 | |||
1639 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1640 | // Universal Mixer |
1155 | hbuss | 1641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 1642 | for(i=0; i<MAX_MOTORS; i++) |
1209 | hbuss | 1643 | { |
1644 | signed int tmp_int; |
||
1645 | if(Mixer.Motor[i][0] > 0) |
||
1646 | { |
||
1647 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
1648 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1649 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1650 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1651 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
1638 | holgerb | 1652 | tmp_int = tmp_motorwert[i] / 4; |
1653 | Motor[i].SetPointLowerBits = tmp_motorwert[i] % 4; |
||
1622 | killagreg | 1654 | LIMIT_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
1479 | killagreg | 1655 | Motor[i].SetPoint = tmp_int; |
1209 | hbuss | 1656 | } |
1479 | killagreg | 1657 | else Motor[i].SetPoint = 0; |
1209 | hbuss | 1658 | } |
1111 | hbuss | 1659 | } |