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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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1153 | hbuss | 62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 63 | int TrimNick, TrimRoll; |
927 | hbuss | 64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
1643 | holgerb | 65 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
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805 | hbuss | 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1639 | holgerb | 68 | int NeutralAccZ = 0; |
1668 | holgerb | 69 | unsigned char ControlHeading = 0;// in 0,2° |
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; |
1246 | killagreg | 98 | long HoehenWert = 0; |
99 | long SollHoehe = 0; |
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498 | hbuss | 100 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
1153 | hbuss | 101 | //float Ki = FAKTOR_I; |
1652 | holgerb | 102 | int Ki = (10300/2) / 33; |
395 | hbuss | 103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 105 | |
106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 111 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 112 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 113 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 114 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 115 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 117 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
118 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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119 | unsigned char Parameter_UserParam1 = 0; |
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120 | unsigned char Parameter_UserParam2 = 0; |
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121 | unsigned char Parameter_UserParam3 = 0; |
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122 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 123 | unsigned char Parameter_UserParam5 = 0; |
124 | unsigned char Parameter_UserParam6 = 0; |
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125 | unsigned char Parameter_UserParam7 = 0; |
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126 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 127 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 128 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 129 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 130 | unsigned char Parameter_AchsKopplung1 = 90; |
131 | unsigned char Parameter_AchsKopplung2 = 65; |
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132 | unsigned char Parameter_CouplingYawCorrection = 64; |
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133 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 134 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 135 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
136 | unsigned char Parameter_J16Timing; // for the J16 Output |
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137 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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138 | unsigned char Parameter_J17Timing; // for the J17 Output |
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139 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 140 | unsigned char Parameter_NaviGpsGain; |
141 | unsigned char Parameter_NaviGpsP; |
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142 | unsigned char Parameter_NaviGpsI; |
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143 | unsigned char Parameter_NaviGpsD; |
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144 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 145 | unsigned char Parameter_NaviOperatingRadius; |
146 | unsigned char Parameter_NaviWindCorrection; |
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147 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 148 | unsigned char Parameter_ExternalControl; |
1403 | hbuss | 149 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 150 | unsigned char CareFree = 0; |
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 | |
1639 | holgerb | 166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // Debugwerte zuordnen |
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168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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169 | void CopyDebugValues(void) |
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170 | { |
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171 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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172 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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173 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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174 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 175 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 176 | DebugOut.Analog[5] = HoehenWert/5; |
1643 | holgerb | 177 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
1639 | holgerb | 178 | DebugOut.Analog[8] = KompassValue; |
179 | DebugOut.Analog[9] = UBat; |
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180 | DebugOut.Analog[10] = SenderOkay; |
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181 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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1672 | killagreg | 182 | DebugOut.Analog[16] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 183 | DebugOut.Analog[20] = ServoNickValue; |
184 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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185 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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186 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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187 | // DebugOut.Analog[24] = MesswertNick/2; |
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188 | // DebugOut.Analog[25] = MesswertRoll/2; |
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189 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
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190 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
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191 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
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192 | //DebugOut.Analog[28] = I2CError; |
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193 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
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194 | DebugOut.Analog[30] = GPS_Nick; |
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195 | DebugOut.Analog[31] = GPS_Roll; |
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196 | } |
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197 | |||
1232 | hbuss | 198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 199 | { |
1232 | hbuss | 200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 201 | while(Anzahl--) |
202 | { |
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1232 | hbuss | 203 | beeptime = dauer; |
204 | while(beeptime); |
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205 | Delay_ms(dauer * 2); |
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1 | ingob | 206 | } |
207 | } |
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208 | |||
209 | //############################################################################ |
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1622 | killagreg | 210 | // Messwerte beim Ermitteln der Nullage |
211 | void CalibrierMittelwert(void) |
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212 | //############################################################################ |
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213 | { |
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214 | unsigned char i; |
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215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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217 | ANALOG_OFF; |
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218 | MesswertNick = AdWertNick; |
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219 | MesswertRoll = AdWertRoll; |
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220 | MesswertGier = AdWertGier; |
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221 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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222 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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223 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
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224 | // ADC einschalten |
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225 | ANALOG_ON; |
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226 | for(i=0;i<8;i++) |
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227 | { |
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228 | int tmp; |
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229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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230 | LIMIT_MIN_MAX(tmp, 0, 255); |
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231 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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232 | } |
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233 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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234 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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235 | } |
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236 | |||
237 | //############################################################################ |
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1 | ingob | 238 | // Nullwerte ermitteln |
1622 | killagreg | 239 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 240 | //############################################################################ |
241 | { |
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1622 | killagreg | 242 | unsigned char i; |
243 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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244 | |||
1320 | hbuss | 245 | HEF4017R_ON; |
1051 | killagreg | 246 | NeutralAccX = 0; |
1 | ingob | 247 | NeutralAccY = 0; |
248 | NeutralAccZ = 0; |
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1622 | killagreg | 249 | |
1051 | killagreg | 250 | AdNeutralNick = 0; |
251 | AdNeutralRoll = 0; |
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1 | ingob | 252 | AdNeutralGier = 0; |
1622 | killagreg | 253 | |
395 | hbuss | 254 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 255 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 256 | |
1036 | hbuss | 257 | ExpandBaro = 0; |
1622 | killagreg | 258 | |
1051 | killagreg | 259 | CalibrierMittelwert(); |
395 | hbuss | 260 | Delay_ms_Mess(100); |
1622 | killagreg | 261 | |
1 | ingob | 262 | CalibrierMittelwert(); |
1622 | killagreg | 263 | |
1 | ingob | 264 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 265 | { |
1 | ingob | 266 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
267 | } |
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1166 | hbuss | 268 | #define NEUTRAL_FILTER 32 |
269 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 270 | { |
271 | Delay_ms_Mess(10); |
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1216 | killagreg | 272 | gier_neutral += AdWertGier; |
1166 | hbuss | 273 | nick_neutral += AdWertNick; |
274 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 275 | } |
1173 | hbuss | 276 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
277 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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278 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 279 | |
401 | hbuss | 280 | StartNeutralRoll = AdNeutralRoll; |
281 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 282 | |
283 | if(AccAdjustment) |
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284 | { |
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285 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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286 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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287 | NeutralAccZ = Aktuell_az; |
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288 | |||
289 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 290 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
291 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 292 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 293 | } |
1051 | killagreg | 294 | else |
513 | hbuss | 295 | { |
1622 | killagreg | 296 | // restore from eeprom |
297 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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298 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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299 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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300 | // strange settings? |
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1638 | holgerb | 301 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 302 | { |
303 | printf("\n\rACC not calibrated!\r\n"); |
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304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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306 | NeutralAccZ = Aktuell_az; |
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307 | } |
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513 | hbuss | 308 | } |
1051 | killagreg | 309 | |
1 | ingob | 310 | MesswertNick = 0; |
311 | MesswertRoll = 0; |
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312 | MesswertGier = 0; |
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1111 | hbuss | 313 | Delay_ms_Mess(100); |
1174 | hbuss | 314 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
315 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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1173 | hbuss | 316 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
317 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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318 | Mess_IntegralNick2 = IntegralNick; |
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319 | Mess_IntegralRoll2 = IntegralRoll; |
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320 | Mess_Integral_Gier = 0; |
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1 | ingob | 321 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 322 | VarioMeter = 0; |
1 | ingob | 323 | Mess_Integral_Hoch = 0; |
324 | KompassStartwert = KompassValue; |
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325 | GPS_Neutral(); |
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1051 | killagreg | 326 | beeptime = 50; |
882 | hbuss | 327 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
328 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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492 | hbuss | 329 | ExternHoehenValue = 0; |
693 | hbuss | 330 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
331 | GierGyroFehler = 0; |
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723 | hbuss | 332 | SendVersionToNavi = 1; |
921 | hbuss | 333 | LED_Init(); |
1420 | killagreg | 334 | FCFlags |= FCFLAG_CALIBRATE; |
992 | hbuss | 335 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 336 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 337 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 338 | |
339 | for(i=0;i<8;i++) |
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1377 | hbuss | 340 | { |
341 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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342 | } |
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1171 | hbuss | 343 | SenderOkay = 100; |
1320 | hbuss | 344 | if(ServoActive) |
345 | { |
||
346 | HEF4017R_ON; |
||
347 | DDRD |=0x80; // enable J7 -> Servo signal |
||
348 | } |
||
1 | ingob | 349 | } |
350 | |||
351 | //############################################################################ |
||
395 | hbuss | 352 | // Bearbeitet die Messwerte |
1 | ingob | 353 | void Mittelwert(void) |
354 | //############################################################################ |
||
1051 | killagreg | 355 | { |
1111 | hbuss | 356 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
357 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 358 | signed long winkel_nick, winkel_roll; |
1377 | hbuss | 359 | unsigned char i; |
1111 | hbuss | 360 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 361 | MesswertNick = (signed int) AdWertNickFilter / 8; |
362 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 363 | RohMesswertNick = MesswertNick; |
364 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 365 | |
395 | hbuss | 366 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 367 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
368 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
||
369 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
||
395 | hbuss | 370 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
371 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 372 | NaviAccNick += AdWertAccNick; |
373 | NaviAccRoll += AdWertAccRoll; |
||
374 | NaviCntAcc++; |
||
1153 | hbuss | 375 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
376 | |||
1155 | hbuss | 377 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
378 | // ADC einschalten |
||
1171 | hbuss | 379 | ANALOG_ON; |
1155 | hbuss | 380 | AdReady = 0; |
381 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
382 | |||
1216 | killagreg | 383 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
384 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 385 | else winkel_roll = Mess_IntegralRoll; |
386 | |||
1216 | killagreg | 387 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
388 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 389 | else winkel_nick = Mess_IntegralNick; |
390 | |||
1120 | hbuss | 391 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 392 | Mess_Integral_Gier += MesswertGier; |
393 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 394 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
395 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
396 | { |
||
1153 | hbuss | 397 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 398 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 399 | tmpl3 /= 4096L; |
1153 | hbuss | 400 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 401 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 402 | tmpl4 /= 4096L; |
1153 | hbuss | 403 | KopplungsteilNickRoll = tmpl3; |
404 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 405 | tmpl4 -= tmpl3; |
406 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 407 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 408 | |
1153 | hbuss | 409 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 410 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 411 | tmpl /= 4096L; |
1153 | hbuss | 412 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 413 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 414 | tmpl2 /= 4096L; |
1225 | hbuss | 415 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 416 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 417 | } |
1166 | hbuss | 418 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 419 | TrimRoll = tmpl - tmpl2 / 100L; |
420 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 421 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
422 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
423 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 424 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 425 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
426 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 427 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 428 | { |
882 | hbuss | 429 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 430 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 431 | } |
395 | hbuss | 432 | if(Mess_IntegralRoll <-Umschlag180Roll) |
433 | { |
||
882 | hbuss | 434 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 435 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 436 | } |
395 | hbuss | 437 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 438 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
439 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 440 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 441 | { |
442 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
443 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 444 | } |
445 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 446 | { |
882 | hbuss | 447 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 448 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 449 | } |
1111 | hbuss | 450 | |
1 | ingob | 451 | Integral_Gier = Mess_Integral_Gier; |
452 | IntegralNick = Mess_IntegralNick; |
||
453 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 454 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 455 | IntegralRoll2 = Mess_IntegralRoll2; |
456 | |||
1166 | hbuss | 457 | #define D_LIMIT 128 |
458 | |||
1171 | hbuss | 459 | MesswertNick = HiResNick / 8; |
460 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 461 | |
1167 | hbuss | 462 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
463 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
464 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
465 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
466 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
467 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
468 | |||
1216 | killagreg | 469 | if(Parameter_Gyro_D) |
1111 | hbuss | 470 | { |
1166 | hbuss | 471 | d2Nick = HiResNick - oldNick; |
472 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 473 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
474 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1166 | hbuss | 475 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
476 | d2Roll = HiResRoll - oldRoll; |
||
477 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 478 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
479 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1166 | hbuss | 480 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
481 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
482 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 483 | } |
1111 | hbuss | 484 | |
1166 | hbuss | 485 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
486 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
487 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
488 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 489 | |
490 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
491 | { |
||
492 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
493 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
494 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
495 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
496 | } |
||
1377 | hbuss | 497 | for(i=0;i<8;i++) |
498 | { |
||
499 | int tmp; |
||
500 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
501 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
1406 | hbuss | 502 | if(tmp != Poti[i]) |
503 | { |
||
504 | Poti[i] += (tmp - Poti[i]) / 8; |
||
1413 | killagreg | 505 | if(Poti[i] > tmp) Poti[i]--; |
1406 | hbuss | 506 | else Poti[i]++; |
1413 | killagreg | 507 | } |
1377 | hbuss | 508 | } |
1 | ingob | 509 | } |
510 | |||
511 | //############################################################################ |
||
512 | // Senden der Motorwerte per I2C-Bus |
||
513 | void SendMotorData(void) |
||
514 | //############################################################################ |
||
1051 | killagreg | 515 | { |
1209 | hbuss | 516 | unsigned char i; |
921 | hbuss | 517 | if(!MotorenEin) |
1 | ingob | 518 | { |
1420 | killagreg | 519 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
1216 | killagreg | 520 | for(i=0;i<MAX_MOTORS;i++) |
521 | { |
||
522 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 523 | Motor[i].SetPoint = MotorTest[i]; |
524 | Motor[i].SetPointLowerBits = 0; |
||
525 | /* |
||
526 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
527 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
528 | */ |
||
1216 | killagreg | 529 | } |
1212 | hbuss | 530 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 531 | } |
1420 | killagreg | 532 | else FCFlags |= FCFLAG_MOTOR_RUN; |
1111 | hbuss | 533 | |
1479 | killagreg | 534 | DebugOut.Analog[12] = Motor[0].SetPoint; |
535 | DebugOut.Analog[13] = Motor[1].SetPoint; |
||
1521 | killagreg | 536 | DebugOut.Analog[14] = Motor[2].SetPoint; |
537 | DebugOut.Analog[15] = Motor[3].SetPoint; |
||
1 | ingob | 538 | |
539 | //Start I2C Interrupt Mode |
||
1662 | killagreg | 540 | motor_write = 0; |
541 | I2C_Start(TWI_STATE_MOTOR_TX); |
||
1 | ingob | 542 | } |
543 | |||
544 | |||
545 | |||
546 | //############################################################################ |
||
547 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 548 | void ParameterZuordnung(void) |
1 | ingob | 549 | //############################################################################ |
550 | { |
||
1668 | holgerb | 551 | unsigned char tmp; |
1391 | killagreg | 552 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
553 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
554 | |||
921 | hbuss | 555 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
556 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
557 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
558 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
559 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
1403 | hbuss | 560 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
561 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
562 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1377 | hbuss | 563 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1403 | hbuss | 564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1377 | hbuss | 565 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
566 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
567 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
568 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
569 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
570 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
571 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
572 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
573 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
574 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
575 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
576 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
577 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
578 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
579 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
580 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
581 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
582 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
583 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 584 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
585 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 586 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
587 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
588 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
589 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1652 | holgerb | 590 | Ki = (10300 / 2) / (Parameter_I_Faktor + 1); |
1 | ingob | 591 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 592 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 593 | |
594 | tmp = EE_Parameter.OrientationModeControl; |
||
595 | if(tmp > 50 && NaviDataOkay > 200) |
||
596 | { |
||
597 | CareFree = 1; |
||
598 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
||
1669 | killagreg | 599 | } |
1668 | holgerb | 600 | else CareFree = 0; |
601 | |||
602 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
||
1 | ingob | 603 | } |
604 | |||
605 | //############################################################################ |
||
606 | // |
||
607 | void MotorRegler(void) |
||
608 | //############################################################################ |
||
609 | { |
||
1330 | killagreg | 610 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 611 | int GierMischanteil,GasMischanteil; |
612 | static long SummeNick=0,SummeRoll=0; |
||
613 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 614 | static long IntegralFehlerNick = 0; |
615 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 616 | static unsigned int RcLostTimer; |
617 | static unsigned char delay_neutral = 0; |
||
618 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 619 | static unsigned char calibration_done = 0; |
1 | ingob | 620 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 621 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 622 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 623 | unsigned char i; |
1051 | killagreg | 624 | Mittelwert(); |
1 | ingob | 625 | GRN_ON; |
1051 | killagreg | 626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 627 | // Gaswert ermitteln |
1051 | killagreg | 628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
629 | GasMischanteil = StickGas; |
||
831 | hbuss | 630 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 631 | |
1051 | killagreg | 632 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 633 | // Empfang schlecht |
1051 | killagreg | 634 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 635 | if(SenderOkay < 100) |
636 | { |
||
1051 | killagreg | 637 | if(RcLostTimer) RcLostTimer--; |
638 | else |
||
1 | ingob | 639 | { |
640 | MotorenEin = 0; |
||
1420 | killagreg | 641 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1051 | killagreg | 642 | } |
1 | ingob | 643 | ROT_ON; |
693 | hbuss | 644 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 645 | { |
646 | GasMischanteil = EE_Parameter.NotGas; |
||
1420 | killagreg | 647 | FCFlags |= FCFLAG_NOTLANDUNG; |
744 | hbuss | 648 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 649 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 650 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
651 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
652 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 653 | } |
1 | ingob | 654 | else MotorenEin = 0; |
655 | } |
||
1051 | killagreg | 656 | else |
657 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 658 | // Emfang gut |
1051 | killagreg | 659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 660 | if(SenderOkay > 140) |
661 | { |
||
1420 | killagreg | 662 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1 | ingob | 663 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 664 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 665 | { |
666 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
667 | } |
||
871 | hbuss | 668 | if((modell_fliegt < 256)) |
1 | ingob | 669 | { |
670 | SummeNick = 0; |
||
671 | SummeRoll = 0; |
||
1051 | killagreg | 672 | if(modell_fliegt == 250) |
918 | hbuss | 673 | { |
1051 | killagreg | 674 | NeueKompassRichtungMerken = 1; |
918 | hbuss | 675 | sollGier = 0; |
1051 | killagreg | 676 | Mess_Integral_Gier = 0; |
927 | hbuss | 677 | // Mess_Integral_Gier2 = 0; |
1051 | killagreg | 678 | } |
1420 | killagreg | 679 | } else FCFlags |= FCFLAG_FLY; |
1051 | killagreg | 680 | |
595 | hbuss | 681 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 682 | { |
1051 | killagreg | 683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 684 | // auf Nullwerte kalibrieren |
1051 | killagreg | 685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 686 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
687 | { |
||
688 | if(++delay_neutral > 200) // nicht sofort |
||
689 | { |
||
690 | GRN_OFF; |
||
691 | MotorenEin = 0; |
||
692 | delay_neutral = 0; |
||
693 | modell_fliegt = 0; |
||
694 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
695 | { |
||
304 | ingob | 696 | unsigned char setting=1; |
1 | ingob | 697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
698 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
699 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
701 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 702 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 703 | } |
820 | hbuss | 704 | // else |
1051 | killagreg | 705 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
706 | { |
||
819 | hbuss | 707 | WinkelOut.CalcState = 1; |
708 | beeptime = 1000; |
||
709 | } |
||
710 | else |
||
1 | ingob | 711 | { |
1622 | killagreg | 712 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 713 | LipoDetection(0); |
1626 | killagreg | 714 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
819 | hbuss | 715 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
716 | { |
||
1 | ingob | 717 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 718 | } |
1330 | killagreg | 719 | ServoActive = 0; |
1622 | killagreg | 720 | SetNeutral(0); |
721 | calibration_done = 1; |
||
1232 | hbuss | 722 | ServoActive = 1; |
723 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 724 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 725 | } |
1051 | killagreg | 726 | } |
1 | ingob | 727 | } |
1051 | killagreg | 728 | else |
513 | hbuss | 729 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
730 | { |
||
731 | if(++delay_neutral > 200) // nicht sofort |
||
732 | { |
||
733 | GRN_OFF; |
||
734 | MotorenEin = 0; |
||
735 | delay_neutral = 0; |
||
736 | modell_fliegt = 0; |
||
1622 | killagreg | 737 | SetNeutral(1); |
738 | calibration_done = 1; |
||
739 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 740 | } |
513 | hbuss | 741 | } |
1 | ingob | 742 | else delay_neutral = 0; |
743 | } |
||
1051 | killagreg | 744 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 745 | // Gas ist unten |
1051 | killagreg | 746 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 747 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 748 | { |
1521 | killagreg | 749 | // Motoren Starten |
750 | if(!MotorenEin) |
||
751 | { |
||
752 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
753 | { |
||
1051 | killagreg | 754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 755 | // Einschalten |
1051 | killagreg | 756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 757 | if(++delay_einschalten > 200) |
758 | { |
||
759 | delay_einschalten = 0; |
||
1622 | killagreg | 760 | if(calibration_done) |
761 | { |
||
762 | modell_fliegt = 1; |
||
763 | MotorenEin = 1; |
||
764 | sollGier = 0; |
||
765 | Mess_Integral_Gier = 0; |
||
766 | Mess_Integral_Gier2 = 0; |
||
767 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
768 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
769 | Mess_IntegralNick2 = IntegralNick; |
||
770 | Mess_IntegralRoll2 = IntegralRoll; |
||
771 | SummeNick = 0; |
||
772 | SummeRoll = 0; |
||
773 | FCFlags |= FCFLAG_START; |
||
1669 | killagreg | 774 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1622 | killagreg | 775 | } |
776 | else |
||
777 | { |
||
778 | beeptime = 1500; // indicate missing calibration |
||
779 | } |
||
1521 | killagreg | 780 | } |
781 | } |
||
782 | else delay_einschalten = 0; |
||
783 | } |
||
1051 | killagreg | 784 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 785 | // Auschalten |
1051 | killagreg | 786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 787 | else // only if motors are running |
788 | { |
||
789 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
790 | { |
||
791 | if(++delay_ausschalten > 200) // nicht sofort |
||
792 | { |
||
793 | MotorenEin = 0; |
||
794 | delay_ausschalten = 0; |
||
795 | modell_fliegt = 0; |
||
796 | } |
||
797 | } |
||
798 | else delay_ausschalten = 0; |
||
799 | } |
||
1 | ingob | 800 | } |
801 | } |
||
1051 | killagreg | 802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 803 | // neue Werte von der Funke |
1051 | killagreg | 804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 805 | |
1420 | killagreg | 806 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
1 | ingob | 807 | { |
604 | hbuss | 808 | static int stick_nick,stick_roll; |
1 | ingob | 809 | ParameterZuordnung(); |
1051 | killagreg | 810 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
723 | hbuss | 811 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
812 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
813 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
814 | |||
1664 | holgerb | 815 | |
1668 | holgerb | 816 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
817 | |||
818 | if(CareFree) |
||
1658 | holgerb | 819 | { |
1664 | holgerb | 820 | signed int nick, roll; |
821 | nick = stick_nick / 4; |
||
822 | roll = stick_roll / 4; |
||
823 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
824 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1658 | holgerb | 825 | } |
1662 | killagreg | 826 | else |
1658 | holgerb | 827 | { |
1668 | holgerb | 828 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
829 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
830 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
831 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1658 | holgerb | 832 | } |
1662 | killagreg | 833 | |
1669 | killagreg | 834 | |
1 | ingob | 835 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1120 | hbuss | 836 | if(StickGier > 2) StickGier -= 2; else |
837 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
838 | |||
1658 | holgerb | 839 | StickNick -= (GPS_Nick + GPS_Nick2); |
840 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
1350 | hbuss | 841 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
1330 | killagreg | 842 | |
1153 | hbuss | 843 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
844 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 845 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
846 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 847 | |
595 | hbuss | 848 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | //+ Analoge Steuerung per Seriell |
||
850 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 851 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 852 | { |
853 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
854 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
855 | StickGier += ExternControl.Gier; |
||
856 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
857 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
858 | } |
||
855 | hbuss | 859 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 860 | |
1 | ingob | 861 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1330 | killagreg | 862 | //if(GyroFaktor < 0) GyroFaktor = 0; |
863 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
723 | hbuss | 864 | |
1051 | killagreg | 865 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 866 | { |
1051 | killagreg | 867 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 868 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 869 | } |
928 | hbuss | 870 | else MaxStickNick--; |
1051 | killagreg | 871 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 872 | { |
1051 | killagreg | 873 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 874 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 875 | } |
928 | hbuss | 876 | else MaxStickRoll--; |
1420 | killagreg | 877 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 878 | |
1051 | killagreg | 879 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 880 | // Looping? |
1051 | killagreg | 881 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 882 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 883 | else |
884 | { |
||
395 | hbuss | 885 | { |
1051 | killagreg | 886 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
887 | } |
||
888 | } |
||
993 | hbuss | 889 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 890 | else |
395 | hbuss | 891 | { |
892 | if(Looping_Rechts) // Hysterese |
||
893 | { |
||
894 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
895 | } |
||
1051 | killagreg | 896 | } |
173 | holgerb | 897 | |
993 | hbuss | 898 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 899 | else |
900 | { |
||
395 | hbuss | 901 | if(Looping_Oben) // Hysterese |
902 | { |
||
1051 | killagreg | 903 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
904 | } |
||
905 | } |
||
993 | hbuss | 906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 907 | else |
395 | hbuss | 908 | { |
909 | if(Looping_Unten) // Hysterese |
||
910 | { |
||
911 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
912 | } |
||
1051 | killagreg | 913 | } |
395 | hbuss | 914 | |
915 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 916 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 917 | } // Ende neue Funken-Werte |
918 | |||
919 | if(Looping_Roll || Looping_Nick) |
||
920 | { |
||
173 | holgerb | 921 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 922 | TrichterFlug = 1; |
173 | holgerb | 923 | } |
924 | |||
1051 | killagreg | 925 | |
926 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
927 | // Bei Empfangsausfall im Flug |
||
928 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1420 | killagreg | 929 | if(FCFlags & FCFLAG_NOTLANDUNG) |
1 | ingob | 930 | { |
931 | StickGier = 0; |
||
932 | StickNick = 0; |
||
933 | StickRoll = 0; |
||
1211 | hbuss | 934 | GyroFaktor = 90; |
935 | IntegralFaktor = 120; |
||
936 | GyroFaktorGier = 90; |
||
937 | IntegralFaktorGier = 120; |
||
173 | holgerb | 938 | Looping_Roll = 0; |
939 | Looping_Nick = 0; |
||
1051 | killagreg | 940 | } |
395 | hbuss | 941 | |
942 | |||
1051 | killagreg | 943 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 944 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 945 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 946 | #define ABGLEICH_ANZAHL 256L |
947 | |||
948 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
949 | MittelIntegralRoll += IntegralRoll; |
||
950 | MittelIntegralNick2 += IntegralNick2; |
||
951 | MittelIntegralRoll2 += IntegralRoll2; |
||
952 | |||
953 | if(Looping_Nick || Looping_Roll) |
||
954 | { |
||
955 | IntegralAccNick = 0; |
||
956 | IntegralAccRoll = 0; |
||
957 | MittelIntegralNick = 0; |
||
958 | MittelIntegralRoll = 0; |
||
959 | MittelIntegralNick2 = 0; |
||
960 | MittelIntegralRoll2 = 0; |
||
961 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
962 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
963 | ZaehlMessungen = 0; |
||
498 | hbuss | 964 | LageKorrekturNick = 0; |
965 | LageKorrekturRoll = 0; |
||
395 | hbuss | 966 | } |
967 | |||
1051 | killagreg | 968 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 969 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 970 | { |
971 | long tmp_long, tmp_long2; |
||
1171 | hbuss | 972 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
992 | hbuss | 973 | { |
974 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 975 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
976 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
977 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
992 | hbuss | 978 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
979 | { |
||
980 | tmp_long /= 2; |
||
981 | tmp_long2 /= 2; |
||
982 | } |
||
983 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
984 | { |
||
985 | tmp_long /= 3; |
||
986 | tmp_long2 /= 3; |
||
987 | } |
||
988 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
989 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
990 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
991 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | } |
||
1051 | killagreg | 993 | else |
992 | hbuss | 994 | { |
995 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 996 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 997 | tmp_long /= 16; |
998 | tmp_long2 /= 16; |
||
999 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1000 | { |
||
1001 | tmp_long /= 3; |
||
1002 | tmp_long2 /= 3; |
||
1216 | killagreg | 1003 | } |
1004 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1005 | { |
1006 | tmp_long /= 3; |
||
1007 | tmp_long2 /= 3; |
||
1008 | } |
||
1155 | hbuss | 1009 | |
1010 | #define AUSGLEICH 32 |
||
992 | hbuss | 1011 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1012 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1013 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1014 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1015 | } |
||
1166 | hbuss | 1016 | |
1017 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
1111 | hbuss | 1018 | Mess_IntegralNick -= tmp_long; |
1019 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1020 | } |
1051 | killagreg | 1021 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1022 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1023 | { |
||
1024 | static int cnt = 0; |
||
1025 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1026 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1027 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1028 | { |
395 | hbuss | 1029 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1030 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1031 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1032 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1033 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
492 | hbuss | 1034 | #define MAX_I 0//(Poti2/10) |
395 | hbuss | 1035 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1036 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1037 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1038 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1039 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1040 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1041 | |
1042 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1043 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1044 | |
992 | hbuss | 1045 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1046 | { |
1047 | LageKorrekturNick /= 2; |
||
720 | ingob | 1048 | LageKorrekturRoll /= 2; |
614 | hbuss | 1049 | } |
498 | hbuss | 1050 | |
1051 | killagreg | 1051 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1052 | // Gyro-Drift ermitteln |
1051 | killagreg | 1053 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1054 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1055 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1056 | tmp_long = IntegralNick2 - IntegralNick; |
1057 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1058 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1059 | |||
1060 | IntegralFehlerNick = tmp_long; |
||
1061 | IntegralFehlerRoll = tmp_long2; |
||
1062 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1063 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1064 | |||
1111 | hbuss | 1065 | if(EE_Parameter.Driftkomp) |
1066 | { |
||
1622 | killagreg | 1067 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1068 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1069 | } |
693 | hbuss | 1070 | GierGyroFehler = 0; |
720 | ingob | 1071 | |
1072 | |||
1243 | killagreg | 1073 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1074 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1075 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1076 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1077 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1078 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1079 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1080 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1081 | { |
1051 | killagreg | 1082 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1083 | { |
1051 | killagreg | 1084 | if(last_n_p) |
395 | hbuss | 1085 | { |
1173 | hbuss | 1086 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1087 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1088 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1089 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1090 | } |
395 | hbuss | 1091 | else last_n_p = 1; |
1092 | } else last_n_p = 0; |
||
1051 | killagreg | 1093 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1094 | { |
1095 | if(last_n_n) |
||
1051 | killagreg | 1096 | { |
1173 | hbuss | 1097 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1098 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1099 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1100 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1101 | } |
395 | hbuss | 1102 | else last_n_n = 1; |
1103 | } else last_n_n = 0; |
||
1051 | killagreg | 1104 | } |
1105 | else |
||
847 | hbuss | 1106 | { |
1107 | cnt = 0; |
||
921 | hbuss | 1108 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1109 | } |
499 | hbuss | 1110 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1111 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1112 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1113 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1114 | |
395 | hbuss | 1115 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 1116 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1225 | hbuss | 1117 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
498 | hbuss | 1118 | ausgleichRoll = 0; |
1173 | hbuss | 1119 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1120 | { |
1051 | killagreg | 1121 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1122 | { |
1051 | killagreg | 1123 | if(last_r_p) |
395 | hbuss | 1124 | { |
1173 | hbuss | 1125 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1126 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1127 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1128 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1129 | } |
395 | hbuss | 1130 | else last_r_p = 1; |
1131 | } else last_r_p = 0; |
||
1051 | killagreg | 1132 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1133 | { |
1051 | killagreg | 1134 | if(last_r_n) |
395 | hbuss | 1135 | { |
1173 | hbuss | 1136 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1137 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1138 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1139 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1140 | } |
1141 | else last_r_n = 1; |
||
1142 | } else last_r_n = 0; |
||
1051 | killagreg | 1143 | } else |
492 | hbuss | 1144 | { |
1145 | cnt = 0; |
||
921 | hbuss | 1146 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1147 | } |
499 | hbuss | 1148 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1149 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1150 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1151 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1152 | } |
1051 | killagreg | 1153 | else |
498 | hbuss | 1154 | { |
1155 | LageKorrekturRoll = 0; |
||
1156 | LageKorrekturNick = 0; |
||
880 | hbuss | 1157 | TrichterFlug = 0; |
498 | hbuss | 1158 | } |
1051 | killagreg | 1159 | |
498 | hbuss | 1160 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1161 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1162 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1163 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1165 | IntegralAccNick = 0; |
1166 | IntegralAccRoll = 0; |
||
1167 | IntegralAccZ = 0; |
||
1168 | MittelIntegralNick = 0; |
||
1169 | MittelIntegralRoll = 0; |
||
1170 | MittelIntegralNick2 = 0; |
||
1171 | MittelIntegralRoll2 = 0; |
||
1172 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1173 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1174 | |
1051 | killagreg | 1175 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1176 | // Gieren |
1051 | killagreg | 1177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 1178 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1051 | killagreg | 1179 | if(abs(StickGier) > 15) // war 35 |
1 | ingob | 1180 | { |
921 | hbuss | 1181 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1182 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1183 | { |
||
1184 | NeueKompassRichtungMerken = 1; |
||
824 | hbuss | 1185 | }; |
1 | ingob | 1186 | } |
395 | hbuss | 1187 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1188 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
173 | holgerb | 1189 | sollGier = tmp_int; |
1051 | killagreg | 1190 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1191 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1192 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1193 | |
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1195 | // Kompass |
1051 | killagreg | 1196 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1664 | holgerb | 1197 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
819 | hbuss | 1198 | |
1051 | killagreg | 1199 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1200 | { |
819 | hbuss | 1201 | int w,v,r,fehler,korrektur; |
1 | ingob | 1202 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1203 | v = abs(IntegralRoll /512); |
||
1204 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1658 | holgerb | 1205 | korrektur = w / 8 + 2; |
921 | hbuss | 1206 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1664 | holgerb | 1207 | //fehler += MesswertGier / 12; |
1662 | killagreg | 1208 | |
921 | hbuss | 1209 | if(!KompassSignalSchlecht && w < 25) |
1210 | { |
||
1211 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1212 | if(NeueKompassRichtungMerken) |
1213 | { |
||
1171 | hbuss | 1214 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
921 | hbuss | 1215 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1216 | NeueKompassRichtungMerken = 0; |
||
1217 | } |
||
1 | ingob | 1218 | } |
1664 | holgerb | 1219 | //DebugOut.Analog[16] = fehler; |
1220 | //DebugOut.Analog[17] = korrektur; |
||
1658 | holgerb | 1221 | ErsatzKompass += (fehler * 16) / korrektur; |
921 | hbuss | 1222 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1 | ingob | 1223 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
921 | hbuss | 1224 | if(w >= 0) |
1 | ingob | 1225 | { |
1051 | killagreg | 1226 | if(!KompassSignalSchlecht) |
693 | hbuss | 1227 | { |
1051 | killagreg | 1228 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
847 | hbuss | 1229 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1230 | // r = KompassRichtung; |
||
819 | hbuss | 1231 | v = (r * w) / v; // nach Kompass ausrichten |
1232 | w = 3 * Parameter_KompassWirkung; |
||
693 | hbuss | 1233 | if(v > w) v = w; // Begrenzen |
1051 | killagreg | 1234 | else |
693 | hbuss | 1235 | if(v < -w) v = -w; |
1236 | Mess_Integral_Gier += v; |
||
1051 | killagreg | 1237 | } |
693 | hbuss | 1238 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1051 | killagreg | 1239 | } |
921 | hbuss | 1240 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1051 | killagreg | 1241 | } |
1 | ingob | 1242 | |
1051 | killagreg | 1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1244 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1245 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1246 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1247 | |
1171 | hbuss | 1248 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1249 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1250 | |
1167 | hbuss | 1251 | #define TRIM_MAX 200 |
1166 | hbuss | 1252 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1253 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1254 | |
1166 | hbuss | 1255 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1256 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1257 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1258 | |
1 | ingob | 1259 | // Maximalwerte abfangen |
1153 | hbuss | 1260 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1261 | #define MAX_SENSOR (4096*4) |
||
1216 | killagreg | 1262 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1263 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1264 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1265 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1266 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1267 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1268 | |||
1051 | killagreg | 1269 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1270 | // Höhenregelung |
1271 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1273 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1274 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1275 | // if height control is activated |
1322 | hbuss | 1276 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1277 | { |
1590 | killagreg | 1278 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1332 | hbuss | 1279 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1280 | |
1281 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1282 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1283 | #else |
1638 | holgerb | 1284 | #define OPA_OFFSET_STEP 10 |
1285 | #endif |
||
1587 | killagreg | 1286 | int HCGas, HeightDeviation = 0; |
1309 | hbuss | 1287 | static int HeightTrimming = 0; // rate for change of height setpoint |
1288 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1289 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
1290 | static unsigned long HoverGasFilter = 0; |
||
1322 | hbuss | 1291 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1292 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1293 | |
1309 | hbuss | 1294 | // get the current hooverpoint |
1587 | killagreg | 1295 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1296 | |
1322 | hbuss | 1297 | // Expand the measurement |
1298 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1299 | if(!BaroExpandActive) |
||
1300 | { |
||
1301 | if(MessLuftdruck > 920) |
||
1302 | { // increase offset |
||
1330 | killagreg | 1303 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1304 | { |
1305 | ExpandBaro -= 1; |
||
1306 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1307 | beeptime = 300; |
||
1352 | hbuss | 1308 | BaroExpandActive = 350; |
1330 | killagreg | 1309 | } |
1310 | else |
||
1322 | hbuss | 1311 | { |
1312 | BaroAtLowerLimit = 1; |
||
1313 | } |
||
1314 | } |
||
1315 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1316 | else |
1322 | hbuss | 1317 | if(MessLuftdruck < 100) |
1318 | { // decrease offset |
||
1330 | killagreg | 1319 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1320 | { |
1321 | ExpandBaro += 1; |
||
1322 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1323 | beeptime = 300; |
||
1352 | hbuss | 1324 | BaroExpandActive = 350; |
1330 | killagreg | 1325 | } |
1326 | else |
||
1322 | hbuss | 1327 | { |
1328 | BaroAtUpperLimit = 1; |
||
1329 | } |
||
1330 | } |
||
1330 | killagreg | 1331 | else |
1322 | hbuss | 1332 | { |
1333 | BaroAtUpperLimit = 0; |
||
1334 | BaroAtLowerLimit = 0; |
||
1335 | } |
||
1336 | } |
||
1337 | else // delay, because of expanding the Baro-Range |
||
1338 | { |
||
1339 | // now clear the D-values |
||
1340 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1341 | VarioMeter = 0; |
||
1342 | BaroExpandActive--; |
||
1343 | } |
||
1328 | hbuss | 1344 | |
1345 | // if height control is activated by an rc channel |
||
1346 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1347 | { // check if parameter is less than activation threshold |
||
1348 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1349 | { //height control not active |
||
1350 | if(!delay--) |
||
1351 | { |
||
1352 | HoehenReglerAktiv = 0; // disable height control |
||
1353 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1354 | delay = 1; |
||
1355 | } |
||
1356 | } |
||
1357 | else |
||
1358 | { //height control is activated |
||
1359 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1360 | delay = 200; |
1328 | hbuss | 1361 | } |
1051 | killagreg | 1362 | } |
1309 | hbuss | 1363 | else // no switchable height control |
1364 | { |
||
1365 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1366 | HoehenReglerAktiv = 1; |
||
1051 | killagreg | 1367 | } |
1322 | hbuss | 1368 | |
1320 | hbuss | 1369 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1370 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1371 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1372 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1373 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1374 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1375 | VarioCharacter = ' '; |
1420 | killagreg | 1376 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1377 | { |
1378 | #define HEIGHT_TRIM_UP 0x01 |
||
1379 | #define HEIGHT_TRIM_DOWN 0x02 |
||
1380 | static unsigned char HeightTrimmingFlag = 0x00; |
||
1381 | |||
1330 | killagreg | 1382 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1383 | // Holger original version |
1384 | // start of height control algorithm |
||
1385 | // the height control is only an attenuation of the actual gas stick. |
||
1386 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1387 | // and the hover height will be allways larger than height setpoint. |
||
1314 | killagreg | 1388 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1389 | { // old version |
||
1309 | hbuss | 1390 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1391 | HeightTrimming = 0; |
||
1392 | } |
||
1314 | killagreg | 1393 | else |
1309 | hbuss | 1394 | { |
1395 | // alternative height control |
||
1396 | // PD-Control with respect to hoover point |
||
1397 | // the thrust loss out of horizontal attitude is compensated |
||
1398 | // the setpoint will be fine adjusted with the gas stick position |
||
1420 | killagreg | 1399 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1309 | hbuss | 1400 | { // gas stick is above hoover point |
1587 | killagreg | 1401 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1402 | { |
1403 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
1404 | { |
||
1405 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
1406 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1407 | } |
||
1408 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
1587 | killagreg | 1409 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1410 | VarioCharacter = '+'; |
1309 | hbuss | 1411 | } // gas stick is below hoover point |
1587 | killagreg | 1412 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1413 | { |
1414 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
1415 | { |
||
1416 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
1417 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1418 | } |
||
1419 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
1587 | killagreg | 1420 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1421 | VarioCharacter = '-'; |
1309 | hbuss | 1422 | } |
1587 | killagreg | 1423 | else // Gas Stick in Hover Range |
1309 | hbuss | 1424 | { |
1352 | hbuss | 1425 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1309 | hbuss | 1426 | { |
1352 | hbuss | 1427 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1309 | hbuss | 1428 | HeightTrimming = 0; |
1429 | SollHoehe = HoehenWert; // update setpoint to current height |
||
1430 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1431 | } |
||
1591 | holgerb | 1432 | VarioCharacter = '='; |
1309 | hbuss | 1433 | } |
1434 | // Trim height set point |
||
1334 | killagreg | 1435 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1436 | { |
1332 | hbuss | 1437 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1438 | HeightTrimming = 0; |
1587 | killagreg | 1439 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1309 | hbuss | 1440 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1320 | hbuss | 1441 | //update hoover gas stick value when setpoint is shifted |
1332 | hbuss | 1442 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1443 | { |
||
1587 | killagreg | 1444 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1445 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1446 | if(StickGasHover < 70) StickGasHover = 70; |
||
1447 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1448 | } |
1309 | hbuss | 1449 | } |
1352 | hbuss | 1450 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1451 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1452 | else |
1453 | { |
||
1322 | hbuss | 1454 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1455 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1456 | else StickGasHover = 120; |
||
1320 | hbuss | 1457 | } |
1590 | killagreg | 1458 | HCGas = HoverGas; // take hover gas (neutral point) |
1459 | } |
||
1314 | killagreg | 1460 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1461 | { |
1590 | killagreg | 1462 | // from this point the Heigth Control Algorithm is identical for both versions |
1463 | if(BaroExpandActive) // baro range expanding active |
||
1464 | { |
||
1465 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1466 | HeightDeviation = 0; |
||
1467 | } // EOF // baro range expanding active |
||
1468 | else // valid data from air pressure sensor |
||
1469 | { |
||
1470 | // ------------------------- P-Part ---------------------------- |
||
1471 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1472 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1473 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1474 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
||
1475 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
||
1476 | HCGas -= tmp_long; |
||
1477 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
1478 | tmp_int = VarioMeter / 8; |
||
1479 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
||
1480 | tmp_int2 = tmp_int; |
||
1481 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
||
1482 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
||
1483 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
||
1484 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
||
1485 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1486 | HCGas -= tmp_int; |
||
1487 | } // EOF no baro range expanding |
||
1309 | hbuss | 1488 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1587 | killagreg | 1489 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1490 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1491 | HCGas -= tmp_long; |
||
1492 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
1588 | killagreg | 1493 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1494 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1309 | hbuss | 1495 | HCGas -= tmp_int; |
1587 | killagreg | 1496 | |
1309 | hbuss | 1497 | // limit deviation from hoover point within the target region |
1587 | killagreg | 1498 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1499 | { |
1587 | killagreg | 1500 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1309 | hbuss | 1501 | } |
1276 | hbuss | 1502 | |
1322 | hbuss | 1503 | // strech control output by inverse attitude projection 1/cos |
1504 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1505 | tmp_long2 = (int32_t)HCGas; |
1506 | tmp_long2 *= 8192L; |
||
1507 | tmp_long2 /= CosAttitude; |
||
1508 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1509 | // update height control gas averaging |
1510 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1511 | // limit height control gas pd-control output |
||
1512 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1513 | // set GasMischanteil to HeightControlGasFilter |
||
1314 | killagreg | 1514 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1515 | { // old version |
1516 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1517 | } |
||
1309 | hbuss | 1518 | GasMischanteil = FilterHCGas; |
1314 | killagreg | 1519 | } |
1309 | hbuss | 1520 | }// EOF height control active |
1320 | hbuss | 1521 | else // HC not active |
1522 | { |
||
1523 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1524 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1525 | { |
||
1526 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1527 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1528 | } |
1587 | killagreg | 1529 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1530 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1531 | FilterHCGas = GasMischanteil; |
1330 | killagreg | 1532 | } |
1283 | hbuss | 1533 | |
1587 | killagreg | 1534 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1535 | // this is done only if height contol option is selected in global config and aircraft is flying |
1420 | killagreg | 1536 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1537 | { |
1590 | killagreg | 1538 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1309 | hbuss | 1539 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1540 | { |
||
1330 | killagreg | 1541 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1542 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1543 | tmp_long2 /= 8192; |
||
1544 | |||
1309 | hbuss | 1545 | // average vertical projected thrust |
1546 | if(modell_fliegt < 2000) // the first 4 seconds |
||
1547 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
1590 | killagreg | 1548 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1587 | killagreg | 1549 | HoverGasFilter += 8L * tmp_long2; |
1309 | hbuss | 1550 | } |
1551 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
1552 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1590 | killagreg | 1553 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1554 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1555 | } |
1556 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
1557 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1558 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1587 | killagreg | 1559 | HoverGasFilter += 2L * tmp_long2; |
1309 | hbuss | 1560 | } |
1561 | else //later |
||
1562 | { |
||
1590 | killagreg | 1563 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1564 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1565 | } |
1590 | killagreg | 1566 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1567 | if(EE_Parameter.Hoehe_HoverBand) |
1568 | { |
||
1569 | int16_t band; |
||
1587 | killagreg | 1570 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1571 | HoverGasMin = HoverGas - band; |
||
1572 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1573 | } |
1574 | else |
||
1575 | { // no limit |
||
1587 | killagreg | 1576 | HoverGasMin = 0; |
1577 | HoverGasMax = 1023; |
||
1309 | hbuss | 1578 | } |
1579 | } |
||
1580 | } |
||
1581 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
||
1582 | |||
1583 | // limit gas to parameter setting |
||
1320 | hbuss | 1584 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1585 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1586 | |
1051 | killagreg | 1587 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1588 | // all BL-Ctrl connected? |
1589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1675 | holgerb | 1590 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1320 | hbuss | 1591 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1592 | { |
||
1593 | modell_fliegt = 1; |
||
1675 | holgerb | 1594 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1595 | } |
1596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1597 | // + Mischer und PI-Regler |
1051 | killagreg | 1598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1599 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1600 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1601 | // Gier-Anteil |
1051 | killagreg | 1602 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1603 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1604 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1605 | if(GasMischanteil > MIN_GIERGAS) |
1606 | { |
||
1051 | killagreg | 1607 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1608 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1609 | } |
1051 | killagreg | 1610 | else |
693 | hbuss | 1611 | { |
1051 | killagreg | 1612 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1613 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1614 | } |
855 | hbuss | 1615 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1616 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1617 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1618 | |
1051 | killagreg | 1619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1620 | // Nick-Achse |
1051 | killagreg | 1621 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1622 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1623 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1624 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1625 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1626 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1153 | hbuss | 1627 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1 | ingob | 1628 | // Motor Vorn |
1652 | holgerb | 1629 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
1153 | hbuss | 1630 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1631 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1632 | |
1153 | hbuss | 1633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1634 | // Roll-Achse |
||
1635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1636 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1637 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1638 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1639 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1640 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1641 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
1652 | holgerb | 1642 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
1153 | hbuss | 1643 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1644 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1645 | |||
1646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1647 | // Universal Mixer |
1155 | hbuss | 1648 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1649 | for(i=0; i<MAX_MOTORS; i++) |
1650 | { |
||
1651 | signed int tmp_int; |
||
1652 | if(Mixer.Motor[i][0] > 0) |
||
1653 | { |
||
1652 | holgerb | 1654 | // Gas |
1654 | killagreg | 1655 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil * 2; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 32L; |
1652 | holgerb | 1656 | // Nick |
1657 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1658 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1659 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1660 | // Roll |
||
1661 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1662 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1663 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1664 | // Gier |
||
1665 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil * 2; |
||
1666 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil * 2; |
||
1667 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 32L; |
||
1675 | holgerb | 1668 | |
1669 | if(Parameter_UserParam5 > 50) |
||
1670 | { |
||
1671 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
||
1672 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
1673 | } |
||
1674 | |||
1653 | holgerb | 1675 | /* |
1676 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
||
1677 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
1678 | if(Poti2 > 50) |
||
1679 | { |
||
1652 | holgerb | 1680 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1653 | holgerb | 1681 | else if(Poti2 > 150) tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1682 | } |
||
1683 | */ |
||
1652 | holgerb | 1684 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 8,MAX_GAS * 8); |
1685 | Motor[i].SetPoint = tmp_int / 8; |
||
1686 | Motor[i].SetPointLowerBits = tmp_int % 8; |
||
1687 | tmp_motorwert[i] = tmp_int; |
||
1642 | killagreg | 1688 | } |
1689 | else |
||
1690 | { |
||
1691 | Motor[i].SetPoint = 0; |
||
1692 | Motor[i].SetPointLowerBits = 0; |
||
1693 | } |
||
1694 | } |
||
1111 | hbuss | 1695 | } |