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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; |
1683 | killagreg | 69 | unsigned char ControlHeading = 0;// in 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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1685 | holgerb | 78 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 79 | volatile long Mess_Integral_Hoch = 0; |
1153 | hbuss | 80 | int KompassValue = 0; |
81 | int KompassStartwert = 0; |
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82 | int KompassRichtung = 0; |
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693 | hbuss | 83 | unsigned int KompassSignalSchlecht = 500; |
855 | hbuss | 84 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 85 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 86 | unsigned char TrichterFlug = 0; |
395 | hbuss | 87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 88 | long ErsatzKompass; |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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90 | int GierGyroFehler = 0; |
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1211 | hbuss | 91 | char GyroFaktor,GyroFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 93 | int DiffNick,DiffRoll; |
1377 | hbuss | 94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 96 | volatile unsigned char SenderOkay = 0; |
595 | hbuss | 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1 | ingob | 98 | char MotorenEin = 0; |
1246 | killagreg | 99 | long HoehenWert = 0; |
100 | long SollHoehe = 0; |
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1692 | holgerb | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 102 | //float Ki = FAKTOR_I; |
1676 | holgerb | 103 | int Ki = 10300 / 33; |
395 | hbuss | 104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 106 | |
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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120 | unsigned char Parameter_UserParam1 = 0; |
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121 | unsigned char Parameter_UserParam2 = 0; |
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122 | unsigned char Parameter_UserParam3 = 0; |
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123 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 124 | unsigned char Parameter_UserParam5 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
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126 | unsigned char Parameter_UserParam7 = 0; |
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127 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 128 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 129 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 130 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 131 | unsigned char Parameter_AchsKopplung1 = 90; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
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133 | unsigned char Parameter_CouplingYawCorrection = 64; |
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134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 135 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
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138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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139 | unsigned char Parameter_J17Timing; // for the J17 Output |
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140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 141 | unsigned char Parameter_NaviGpsGain; |
142 | unsigned char Parameter_NaviGpsP; |
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143 | unsigned char Parameter_NaviGpsI; |
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144 | unsigned char Parameter_NaviGpsD; |
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145 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 146 | unsigned char Parameter_NaviOperatingRadius; |
147 | unsigned char Parameter_NaviWindCorrection; |
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148 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 149 | unsigned char Parameter_ExternalControl; |
1403 | hbuss | 150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 151 | unsigned char CareFree = 0; |
1622 | killagreg | 152 | |
492 | hbuss | 153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 154 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 155 | unsigned int modell_fliegt = 0; |
1420 | killagreg | 156 | volatile unsigned char FCFlags = 0; |
1121 | hbuss | 157 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 159 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 160 | char VarioCharacter = ' '; |
161 | |||
1391 | killagreg | 162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 165 | |
1622 | killagreg | 166 | |
1639 | holgerb | 167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // Debugwerte zuordnen |
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169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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170 | void CopyDebugValues(void) |
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171 | { |
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172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 177 | DebugOut.Analog[5] = HoehenWert/5; |
1643 | holgerb | 178 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
1639 | holgerb | 179 | DebugOut.Analog[8] = KompassValue; |
180 | DebugOut.Analog[9] = UBat; |
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181 | DebugOut.Analog[10] = SenderOkay; |
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182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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183 | DebugOut.Analog[20] = ServoNickValue; |
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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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1682 | holgerb | 193 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
194 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
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1639 | holgerb | 195 | DebugOut.Analog[30] = GPS_Nick; |
196 | DebugOut.Analog[31] = GPS_Roll; |
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197 | } |
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198 | |||
1232 | hbuss | 199 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 200 | { |
1232 | hbuss | 201 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 202 | while(Anzahl--) |
203 | { |
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1232 | hbuss | 204 | beeptime = dauer; |
205 | while(beeptime); |
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206 | Delay_ms(dauer * 2); |
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1 | ingob | 207 | } |
208 | } |
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209 | |||
210 | //############################################################################ |
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1622 | killagreg | 211 | // Messwerte beim Ermitteln der Nullage |
212 | void CalibrierMittelwert(void) |
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213 | //############################################################################ |
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214 | { |
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215 | unsigned char i; |
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216 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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217 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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218 | ANALOG_OFF; |
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219 | MesswertNick = AdWertNick; |
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220 | MesswertRoll = AdWertRoll; |
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221 | MesswertGier = AdWertGier; |
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222 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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223 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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224 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
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225 | // ADC einschalten |
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226 | ANALOG_ON; |
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227 | for(i=0;i<8;i++) |
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228 | { |
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229 | int tmp; |
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230 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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231 | LIMIT_MIN_MAX(tmp, 0, 255); |
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232 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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233 | } |
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234 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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235 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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236 | } |
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237 | |||
238 | //############################################################################ |
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1 | ingob | 239 | // Nullwerte ermitteln |
1622 | killagreg | 240 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 241 | //############################################################################ |
242 | { |
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1622 | killagreg | 243 | unsigned char i; |
244 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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245 | |||
1320 | hbuss | 246 | HEF4017R_ON; |
1051 | killagreg | 247 | NeutralAccX = 0; |
1 | ingob | 248 | NeutralAccY = 0; |
249 | NeutralAccZ = 0; |
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1622 | killagreg | 250 | |
1051 | killagreg | 251 | AdNeutralNick = 0; |
252 | AdNeutralRoll = 0; |
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1 | ingob | 253 | AdNeutralGier = 0; |
1622 | killagreg | 254 | |
395 | hbuss | 255 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 256 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 257 | |
1036 | hbuss | 258 | ExpandBaro = 0; |
1622 | killagreg | 259 | |
1051 | killagreg | 260 | CalibrierMittelwert(); |
395 | hbuss | 261 | Delay_ms_Mess(100); |
1622 | killagreg | 262 | |
1 | ingob | 263 | CalibrierMittelwert(); |
1622 | killagreg | 264 | |
1 | ingob | 265 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 266 | { |
1 | ingob | 267 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
268 | } |
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1166 | hbuss | 269 | #define NEUTRAL_FILTER 32 |
270 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 271 | { |
272 | Delay_ms_Mess(10); |
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1216 | killagreg | 273 | gier_neutral += AdWertGier; |
1166 | hbuss | 274 | nick_neutral += AdWertNick; |
275 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 276 | } |
1173 | hbuss | 277 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
278 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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279 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 280 | |
401 | hbuss | 281 | StartNeutralRoll = AdNeutralRoll; |
282 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 283 | |
284 | if(AccAdjustment) |
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285 | { |
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286 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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287 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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288 | NeutralAccZ = Aktuell_az; |
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289 | |||
290 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 291 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
292 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 293 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 294 | } |
1051 | killagreg | 295 | else |
513 | hbuss | 296 | { |
1622 | killagreg | 297 | // restore from eeprom |
298 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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299 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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300 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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301 | // strange settings? |
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1638 | holgerb | 302 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 303 | { |
304 | printf("\n\rACC not calibrated!\r\n"); |
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305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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307 | NeutralAccZ = Aktuell_az; |
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308 | } |
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513 | hbuss | 309 | } |
1051 | killagreg | 310 | |
1 | ingob | 311 | MesswertNick = 0; |
312 | MesswertRoll = 0; |
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313 | MesswertGier = 0; |
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1111 | hbuss | 314 | Delay_ms_Mess(100); |
1174 | hbuss | 315 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
316 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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1173 | hbuss | 317 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
318 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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319 | Mess_IntegralNick2 = IntegralNick; |
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320 | Mess_IntegralRoll2 = IntegralRoll; |
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321 | Mess_Integral_Gier = 0; |
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1 | ingob | 322 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 323 | VarioMeter = 0; |
1 | ingob | 324 | Mess_Integral_Hoch = 0; |
325 | KompassStartwert = KompassValue; |
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326 | GPS_Neutral(); |
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1051 | killagreg | 327 | beeptime = 50; |
882 | hbuss | 328 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
329 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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492 | hbuss | 330 | ExternHoehenValue = 0; |
693 | hbuss | 331 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
332 | GierGyroFehler = 0; |
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723 | hbuss | 333 | SendVersionToNavi = 1; |
921 | hbuss | 334 | LED_Init(); |
1420 | killagreg | 335 | FCFlags |= FCFLAG_CALIBRATE; |
992 | hbuss | 336 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 337 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 338 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 339 | |
340 | for(i=0;i<8;i++) |
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1377 | hbuss | 341 | { |
342 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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343 | } |
||
1171 | hbuss | 344 | SenderOkay = 100; |
1320 | hbuss | 345 | if(ServoActive) |
346 | { |
||
347 | HEF4017R_ON; |
||
348 | DDRD |=0x80; // enable J7 -> Servo signal |
||
349 | } |
||
1 | ingob | 350 | } |
351 | |||
352 | //############################################################################ |
||
395 | hbuss | 353 | // Bearbeitet die Messwerte |
1 | ingob | 354 | void Mittelwert(void) |
355 | //############################################################################ |
||
1051 | killagreg | 356 | { |
1111 | hbuss | 357 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
358 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 359 | signed long winkel_nick, winkel_roll; |
1377 | hbuss | 360 | unsigned char i; |
1111 | hbuss | 361 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 362 | MesswertNick = (signed int) AdWertNickFilter / 8; |
363 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 364 | RohMesswertNick = MesswertNick; |
365 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 366 | |
395 | hbuss | 367 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 368 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
369 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
||
370 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
||
395 | hbuss | 371 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
372 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 373 | NaviAccNick += AdWertAccNick; |
374 | NaviAccRoll += AdWertAccRoll; |
||
375 | NaviCntAcc++; |
||
1153 | hbuss | 376 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
377 | |||
1155 | hbuss | 378 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
379 | // ADC einschalten |
||
1171 | hbuss | 380 | ANALOG_ON; |
1155 | hbuss | 381 | AdReady = 0; |
382 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
383 | |||
1216 | killagreg | 384 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
385 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 386 | else winkel_roll = Mess_IntegralRoll; |
387 | |||
1216 | killagreg | 388 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
389 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 390 | else winkel_nick = Mess_IntegralNick; |
391 | |||
1120 | hbuss | 392 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 393 | Mess_Integral_Gier += MesswertGier; |
394 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 395 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
396 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
397 | { |
||
1153 | hbuss | 398 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 399 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 400 | tmpl3 /= 4096L; |
1153 | hbuss | 401 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 402 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 403 | tmpl4 /= 4096L; |
1153 | hbuss | 404 | KopplungsteilNickRoll = tmpl3; |
405 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 406 | tmpl4 -= tmpl3; |
407 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 408 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 409 | |
1153 | hbuss | 410 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 411 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 412 | tmpl /= 4096L; |
1153 | hbuss | 413 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 414 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 415 | tmpl2 /= 4096L; |
1225 | hbuss | 416 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 417 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 418 | } |
1166 | hbuss | 419 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 420 | TrimRoll = tmpl - tmpl2 / 100L; |
421 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 422 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
423 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
424 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 425 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 426 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
427 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 428 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 429 | { |
882 | hbuss | 430 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 431 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 432 | } |
395 | hbuss | 433 | if(Mess_IntegralRoll <-Umschlag180Roll) |
434 | { |
||
882 | hbuss | 435 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 436 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 437 | } |
395 | hbuss | 438 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 439 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
440 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 441 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 442 | { |
443 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
444 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 445 | } |
446 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 447 | { |
882 | hbuss | 448 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 449 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 450 | } |
1111 | hbuss | 451 | |
1 | ingob | 452 | Integral_Gier = Mess_Integral_Gier; |
453 | IntegralNick = Mess_IntegralNick; |
||
454 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 455 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 456 | IntegralRoll2 = Mess_IntegralRoll2; |
457 | |||
1166 | hbuss | 458 | #define D_LIMIT 128 |
459 | |||
1171 | hbuss | 460 | MesswertNick = HiResNick / 8; |
461 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 462 | |
1167 | hbuss | 463 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
464 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
465 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
466 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
467 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
468 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
469 | |||
1216 | killagreg | 470 | if(Parameter_Gyro_D) |
1111 | hbuss | 471 | { |
1166 | hbuss | 472 | d2Nick = HiResNick - oldNick; |
473 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 474 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
475 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1166 | hbuss | 476 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
477 | d2Roll = HiResRoll - oldRoll; |
||
478 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 479 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
480 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1166 | hbuss | 481 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
482 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
483 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 484 | } |
1111 | hbuss | 485 | |
1166 | hbuss | 486 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
487 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
488 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
489 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 490 | |
491 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
492 | { |
||
493 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
494 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
495 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
496 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
497 | } |
||
1377 | hbuss | 498 | for(i=0;i<8;i++) |
499 | { |
||
500 | int tmp; |
||
501 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
502 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
1406 | hbuss | 503 | if(tmp != Poti[i]) |
504 | { |
||
505 | Poti[i] += (tmp - Poti[i]) / 8; |
||
1413 | killagreg | 506 | if(Poti[i] > tmp) Poti[i]--; |
1406 | hbuss | 507 | else Poti[i]++; |
1413 | killagreg | 508 | } |
1377 | hbuss | 509 | } |
1 | ingob | 510 | } |
511 | |||
512 | //############################################################################ |
||
513 | // Senden der Motorwerte per I2C-Bus |
||
514 | void SendMotorData(void) |
||
515 | //############################################################################ |
||
1051 | killagreg | 516 | { |
1209 | hbuss | 517 | unsigned char i; |
921 | hbuss | 518 | if(!MotorenEin) |
1 | ingob | 519 | { |
1420 | killagreg | 520 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
1216 | killagreg | 521 | for(i=0;i<MAX_MOTORS;i++) |
522 | { |
||
523 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 524 | Motor[i].SetPoint = MotorTest[i]; |
525 | Motor[i].SetPointLowerBits = 0; |
||
526 | /* |
||
527 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
528 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
529 | */ |
||
1216 | killagreg | 530 | } |
1212 | hbuss | 531 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 532 | } |
1420 | killagreg | 533 | else FCFlags |= FCFLAG_MOTOR_RUN; |
1111 | hbuss | 534 | |
1479 | killagreg | 535 | DebugOut.Analog[12] = Motor[0].SetPoint; |
536 | DebugOut.Analog[13] = Motor[1].SetPoint; |
||
1521 | killagreg | 537 | DebugOut.Analog[14] = Motor[2].SetPoint; |
538 | DebugOut.Analog[15] = Motor[3].SetPoint; |
||
1 | ingob | 539 | |
540 | //Start I2C Interrupt Mode |
||
1662 | killagreg | 541 | motor_write = 0; |
542 | I2C_Start(TWI_STATE_MOTOR_TX); |
||
1 | ingob | 543 | } |
544 | |||
545 | |||
546 | |||
547 | //############################################################################ |
||
548 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 549 | void ParameterZuordnung(void) |
1 | ingob | 550 | //############################################################################ |
551 | { |
||
1668 | holgerb | 552 | unsigned char tmp; |
1391 | killagreg | 553 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
554 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
555 | |||
921 | hbuss | 556 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
557 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
558 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
559 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
560 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
1403 | hbuss | 561 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
562 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
563 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1377 | hbuss | 564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1403 | hbuss | 565 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1377 | hbuss | 566 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
567 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
568 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
569 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
570 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
571 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
572 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
573 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
574 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
575 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
576 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
577 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
578 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
579 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
580 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
581 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
582 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
583 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
584 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 585 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
586 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 587 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
588 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
589 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
590 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 591 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 592 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 593 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 594 | |
595 | tmp = EE_Parameter.OrientationModeControl; |
||
1690 | holgerb | 596 | if(tmp > 50) |
1668 | holgerb | 597 | { |
1682 | holgerb | 598 | #ifdef SWITCH_LEARNS_CAREFREE |
599 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
||
600 | #endif |
||
601 | CareFree = 1; |
||
1668 | holgerb | 602 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1669 | killagreg | 603 | } |
1668 | holgerb | 604 | else CareFree = 0; |
605 | |||
1691 | holgerb | 606 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 607 | { |
608 | beeptime = 15000; |
||
609 | BeepMuster = 0xA400; |
||
610 | CareFree = 0; |
||
611 | } |
||
1668 | holgerb | 612 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
1 | ingob | 613 | } |
614 | |||
615 | //############################################################################ |
||
616 | // |
||
617 | void MotorRegler(void) |
||
618 | //############################################################################ |
||
619 | { |
||
1330 | killagreg | 620 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 621 | int GierMischanteil,GasMischanteil; |
622 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 623 | static long IntegralFehlerNick = 0; |
624 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 625 | static unsigned int RcLostTimer; |
626 | static unsigned char delay_neutral = 0; |
||
627 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 628 | static unsigned char calibration_done = 0; |
1 | ingob | 629 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 630 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 631 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 632 | unsigned char i; |
1051 | killagreg | 633 | Mittelwert(); |
1 | ingob | 634 | GRN_ON; |
1051 | killagreg | 635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 636 | // Gaswert ermitteln |
1051 | killagreg | 637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | GasMischanteil = StickGas; |
||
831 | hbuss | 639 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 640 | |
1051 | killagreg | 641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 642 | // Empfang schlecht |
1051 | killagreg | 643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 644 | if(SenderOkay < 100) |
645 | { |
||
1051 | killagreg | 646 | if(RcLostTimer) RcLostTimer--; |
647 | else |
||
1 | ingob | 648 | { |
649 | MotorenEin = 0; |
||
1420 | killagreg | 650 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1051 | killagreg | 651 | } |
1 | ingob | 652 | ROT_ON; |
693 | hbuss | 653 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 654 | { |
655 | GasMischanteil = EE_Parameter.NotGas; |
||
1420 | killagreg | 656 | FCFlags |= FCFLAG_NOTLANDUNG; |
744 | hbuss | 657 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 658 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 659 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
660 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
661 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 662 | } |
1 | ingob | 663 | else MotorenEin = 0; |
664 | } |
||
1051 | killagreg | 665 | else |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 667 | // Emfang gut |
1051 | killagreg | 668 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 669 | if(SenderOkay > 140) |
670 | { |
||
1420 | killagreg | 671 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1 | ingob | 672 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 673 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 674 | { |
675 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
676 | } |
||
871 | hbuss | 677 | if((modell_fliegt < 256)) |
1 | ingob | 678 | { |
679 | SummeNick = 0; |
||
680 | SummeRoll = 0; |
||
1682 | holgerb | 681 | sollGier = 0; |
682 | Mess_Integral_Gier = 0; |
||
1051 | killagreg | 683 | if(modell_fliegt == 250) |
918 | hbuss | 684 | { |
1051 | killagreg | 685 | NeueKompassRichtungMerken = 1; |
927 | hbuss | 686 | // Mess_Integral_Gier2 = 0; |
1051 | killagreg | 687 | } |
1420 | killagreg | 688 | } else FCFlags |= FCFLAG_FLY; |
1051 | killagreg | 689 | |
595 | hbuss | 690 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 691 | { |
1051 | killagreg | 692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 693 | // auf Nullwerte kalibrieren |
1051 | killagreg | 694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 695 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
696 | { |
||
697 | if(++delay_neutral > 200) // nicht sofort |
||
698 | { |
||
699 | GRN_OFF; |
||
700 | MotorenEin = 0; |
||
701 | delay_neutral = 0; |
||
702 | modell_fliegt = 0; |
||
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
704 | { |
||
304 | ingob | 705 | unsigned char setting=1; |
1 | ingob | 706 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
708 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 711 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 712 | } |
820 | hbuss | 713 | // else |
1051 | killagreg | 714 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
715 | { |
||
819 | hbuss | 716 | WinkelOut.CalcState = 1; |
717 | beeptime = 1000; |
||
718 | } |
||
719 | else |
||
1 | ingob | 720 | { |
1622 | killagreg | 721 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 722 | LipoDetection(0); |
1626 | killagreg | 723 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
819 | hbuss | 724 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
725 | { |
||
1 | ingob | 726 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 727 | } |
1330 | killagreg | 728 | ServoActive = 0; |
1622 | killagreg | 729 | SetNeutral(0); |
730 | calibration_done = 1; |
||
1232 | hbuss | 731 | ServoActive = 1; |
732 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 733 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 734 | } |
1051 | killagreg | 735 | } |
1 | ingob | 736 | } |
1051 | killagreg | 737 | else |
513 | hbuss | 738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
739 | { |
||
740 | if(++delay_neutral > 200) // nicht sofort |
||
741 | { |
||
742 | GRN_OFF; |
||
743 | MotorenEin = 0; |
||
744 | delay_neutral = 0; |
||
745 | modell_fliegt = 0; |
||
1622 | killagreg | 746 | SetNeutral(1); |
747 | calibration_done = 1; |
||
748 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 749 | } |
513 | hbuss | 750 | } |
1 | ingob | 751 | else delay_neutral = 0; |
752 | } |
||
1051 | killagreg | 753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 754 | // Gas ist unten |
1051 | killagreg | 755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 756 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 757 | { |
1521 | killagreg | 758 | // Motoren Starten |
759 | if(!MotorenEin) |
||
760 | { |
||
761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
762 | { |
||
1051 | killagreg | 763 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 764 | // Einschalten |
1051 | killagreg | 765 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 766 | if(++delay_einschalten > 200) |
767 | { |
||
768 | delay_einschalten = 0; |
||
1622 | killagreg | 769 | if(calibration_done) |
770 | { |
||
771 | modell_fliegt = 1; |
||
772 | MotorenEin = 1; |
||
773 | sollGier = 0; |
||
774 | Mess_Integral_Gier = 0; |
||
775 | Mess_Integral_Gier2 = 0; |
||
776 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
777 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
778 | Mess_IntegralNick2 = IntegralNick; |
||
779 | Mess_IntegralRoll2 = IntegralRoll; |
||
780 | SummeNick = 0; |
||
781 | SummeRoll = 0; |
||
782 | FCFlags |= FCFLAG_START; |
||
1669 | killagreg | 783 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1622 | killagreg | 784 | } |
785 | else |
||
786 | { |
||
787 | beeptime = 1500; // indicate missing calibration |
||
788 | } |
||
1521 | killagreg | 789 | } |
790 | } |
||
791 | else delay_einschalten = 0; |
||
792 | } |
||
1051 | killagreg | 793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 794 | // Auschalten |
1051 | killagreg | 795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 796 | else // only if motors are running |
797 | { |
||
798 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
799 | { |
||
800 | if(++delay_ausschalten > 200) // nicht sofort |
||
801 | { |
||
802 | MotorenEin = 0; |
||
803 | delay_ausschalten = 0; |
||
804 | modell_fliegt = 0; |
||
805 | } |
||
806 | } |
||
807 | else delay_ausschalten = 0; |
||
808 | } |
||
1 | ingob | 809 | } |
810 | } |
||
1051 | killagreg | 811 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 812 | // neue Werte von der Funke |
1051 | killagreg | 813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 814 | |
1420 | killagreg | 815 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
1 | ingob | 816 | { |
604 | hbuss | 817 | static int stick_nick,stick_roll; |
1 | ingob | 818 | ParameterZuordnung(); |
1051 | killagreg | 819 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
723 | hbuss | 820 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
821 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
822 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
823 | |||
1664 | holgerb | 824 | |
1668 | holgerb | 825 | 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}; |
826 | |||
827 | if(CareFree) |
||
1658 | holgerb | 828 | { |
1664 | holgerb | 829 | signed int nick, roll; |
830 | nick = stick_nick / 4; |
||
831 | roll = stick_roll / 4; |
||
832 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
833 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1658 | holgerb | 834 | } |
1662 | killagreg | 835 | else |
1658 | holgerb | 836 | { |
1668 | holgerb | 837 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
838 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
839 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
840 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1658 | holgerb | 841 | } |
1662 | killagreg | 842 | |
1669 | killagreg | 843 | |
1 | ingob | 844 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1120 | hbuss | 845 | if(StickGier > 2) StickGier -= 2; else |
846 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
847 | |||
1658 | holgerb | 848 | StickNick -= (GPS_Nick + GPS_Nick2); |
849 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
1350 | hbuss | 850 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
1330 | killagreg | 851 | |
1153 | hbuss | 852 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
853 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 854 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
855 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 856 | |
595 | hbuss | 857 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
858 | //+ Analoge Steuerung per Seriell |
||
859 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 860 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 861 | { |
862 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
863 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
864 | StickGier += ExternControl.Gier; |
||
865 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
866 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
867 | } |
||
855 | hbuss | 868 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 869 | |
1 | ingob | 870 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1330 | killagreg | 871 | //if(GyroFaktor < 0) GyroFaktor = 0; |
872 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
723 | hbuss | 873 | |
1051 | killagreg | 874 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 875 | { |
1051 | killagreg | 876 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 877 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 878 | } |
928 | hbuss | 879 | else MaxStickNick--; |
1051 | killagreg | 880 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 881 | { |
1051 | killagreg | 882 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 883 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 884 | } |
928 | hbuss | 885 | else MaxStickRoll--; |
1420 | killagreg | 886 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 887 | |
1051 | killagreg | 888 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 889 | // Looping? |
1051 | killagreg | 890 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 891 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 892 | else |
893 | { |
||
395 | hbuss | 894 | { |
1051 | killagreg | 895 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
896 | } |
||
897 | } |
||
993 | hbuss | 898 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 899 | else |
395 | hbuss | 900 | { |
901 | if(Looping_Rechts) // Hysterese |
||
902 | { |
||
903 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
904 | } |
||
1051 | killagreg | 905 | } |
173 | holgerb | 906 | |
993 | hbuss | 907 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 908 | else |
909 | { |
||
395 | hbuss | 910 | if(Looping_Oben) // Hysterese |
911 | { |
||
1051 | killagreg | 912 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
913 | } |
||
914 | } |
||
993 | hbuss | 915 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 916 | else |
395 | hbuss | 917 | { |
918 | if(Looping_Unten) // Hysterese |
||
919 | { |
||
920 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
921 | } |
||
1051 | killagreg | 922 | } |
395 | hbuss | 923 | |
924 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 925 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 926 | } // Ende neue Funken-Werte |
927 | |||
928 | if(Looping_Roll || Looping_Nick) |
||
929 | { |
||
173 | holgerb | 930 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 931 | TrichterFlug = 1; |
173 | holgerb | 932 | } |
933 | |||
1051 | killagreg | 934 | |
935 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
936 | // Bei Empfangsausfall im Flug |
||
937 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1420 | killagreg | 938 | if(FCFlags & FCFLAG_NOTLANDUNG) |
1 | ingob | 939 | { |
940 | StickGier = 0; |
||
941 | StickNick = 0; |
||
942 | StickRoll = 0; |
||
1211 | hbuss | 943 | GyroFaktor = 90; |
944 | IntegralFaktor = 120; |
||
945 | GyroFaktorGier = 90; |
||
946 | IntegralFaktorGier = 120; |
||
173 | holgerb | 947 | Looping_Roll = 0; |
948 | Looping_Nick = 0; |
||
1051 | killagreg | 949 | } |
395 | hbuss | 950 | |
951 | |||
1051 | killagreg | 952 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 953 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 955 | #define ABGLEICH_ANZAHL 256L |
956 | |||
957 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
958 | MittelIntegralRoll += IntegralRoll; |
||
959 | MittelIntegralNick2 += IntegralNick2; |
||
960 | MittelIntegralRoll2 += IntegralRoll2; |
||
961 | |||
962 | if(Looping_Nick || Looping_Roll) |
||
963 | { |
||
964 | IntegralAccNick = 0; |
||
965 | IntegralAccRoll = 0; |
||
966 | MittelIntegralNick = 0; |
||
967 | MittelIntegralRoll = 0; |
||
968 | MittelIntegralNick2 = 0; |
||
969 | MittelIntegralRoll2 = 0; |
||
970 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
971 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
972 | ZaehlMessungen = 0; |
||
498 | hbuss | 973 | LageKorrekturNick = 0; |
974 | LageKorrekturRoll = 0; |
||
395 | hbuss | 975 | } |
976 | |||
1051 | killagreg | 977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 978 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 979 | { |
980 | long tmp_long, tmp_long2; |
||
1171 | hbuss | 981 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
992 | hbuss | 982 | { |
983 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 984 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
985 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
986 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
992 | hbuss | 987 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
988 | { |
||
989 | tmp_long /= 2; |
||
990 | tmp_long2 /= 2; |
||
991 | } |
||
992 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
993 | { |
||
994 | tmp_long /= 3; |
||
995 | tmp_long2 /= 3; |
||
996 | } |
||
997 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
998 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
999 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1000 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1001 | } |
||
1051 | killagreg | 1002 | else |
992 | hbuss | 1003 | { |
1004 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1005 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 1006 | tmp_long /= 16; |
1007 | tmp_long2 /= 16; |
||
1008 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1009 | { |
||
1010 | tmp_long /= 3; |
||
1011 | tmp_long2 /= 3; |
||
1216 | killagreg | 1012 | } |
1013 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1014 | { |
1015 | tmp_long /= 3; |
||
1016 | tmp_long2 /= 3; |
||
1017 | } |
||
1155 | hbuss | 1018 | |
1019 | #define AUSGLEICH 32 |
||
992 | hbuss | 1020 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1021 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1022 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1023 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1024 | } |
||
1166 | hbuss | 1025 | |
1026 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
1111 | hbuss | 1027 | Mess_IntegralNick -= tmp_long; |
1028 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1029 | } |
1051 | killagreg | 1030 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1031 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1032 | { |
||
1033 | static int cnt = 0; |
||
1034 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1035 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1036 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1037 | { |
395 | hbuss | 1038 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1039 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1040 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1041 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1042 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
492 | hbuss | 1043 | #define MAX_I 0//(Poti2/10) |
395 | hbuss | 1044 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1046 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1047 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1048 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1049 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1050 | |
1051 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1052 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1053 | |
992 | hbuss | 1054 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1055 | { |
1056 | LageKorrekturNick /= 2; |
||
720 | ingob | 1057 | LageKorrekturRoll /= 2; |
614 | hbuss | 1058 | } |
498 | hbuss | 1059 | |
1051 | killagreg | 1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1061 | // Gyro-Drift ermitteln |
1051 | killagreg | 1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1063 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1064 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1065 | tmp_long = IntegralNick2 - IntegralNick; |
1066 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1067 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1068 | |||
1069 | IntegralFehlerNick = tmp_long; |
||
1070 | IntegralFehlerRoll = tmp_long2; |
||
1071 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1072 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1073 | |||
1111 | hbuss | 1074 | if(EE_Parameter.Driftkomp) |
1075 | { |
||
1622 | killagreg | 1076 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1077 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1078 | } |
693 | hbuss | 1079 | GierGyroFehler = 0; |
720 | ingob | 1080 | |
1081 | |||
1243 | killagreg | 1082 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1083 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1084 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1085 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1086 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1087 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1088 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1089 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1090 | { |
1051 | killagreg | 1091 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1092 | { |
1051 | killagreg | 1093 | if(last_n_p) |
395 | hbuss | 1094 | { |
1173 | hbuss | 1095 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1096 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1097 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1098 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1099 | } |
395 | hbuss | 1100 | else last_n_p = 1; |
1101 | } else last_n_p = 0; |
||
1051 | killagreg | 1102 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1103 | { |
1104 | if(last_n_n) |
||
1051 | killagreg | 1105 | { |
1173 | hbuss | 1106 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1107 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1108 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1109 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1110 | } |
395 | hbuss | 1111 | else last_n_n = 1; |
1112 | } else last_n_n = 0; |
||
1051 | killagreg | 1113 | } |
1114 | else |
||
847 | hbuss | 1115 | { |
1116 | cnt = 0; |
||
921 | hbuss | 1117 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1118 | } |
499 | hbuss | 1119 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1120 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1121 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1122 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1123 | |
395 | hbuss | 1124 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | hbuss | 1125 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1225 | hbuss | 1126 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
498 | hbuss | 1127 | ausgleichRoll = 0; |
1173 | hbuss | 1128 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1129 | { |
1051 | killagreg | 1130 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1131 | { |
1051 | killagreg | 1132 | if(last_r_p) |
395 | hbuss | 1133 | { |
1173 | hbuss | 1134 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1135 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1136 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1137 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1138 | } |
395 | hbuss | 1139 | else last_r_p = 1; |
1140 | } else last_r_p = 0; |
||
1051 | killagreg | 1141 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1142 | { |
1051 | killagreg | 1143 | if(last_r_n) |
395 | hbuss | 1144 | { |
1173 | hbuss | 1145 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1146 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1147 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1148 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1149 | } |
1150 | else last_r_n = 1; |
||
1151 | } else last_r_n = 0; |
||
1051 | killagreg | 1152 | } else |
492 | hbuss | 1153 | { |
1154 | cnt = 0; |
||
921 | hbuss | 1155 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1156 | } |
499 | hbuss | 1157 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1158 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1159 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1160 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1161 | } |
1051 | killagreg | 1162 | else |
498 | hbuss | 1163 | { |
1164 | LageKorrekturRoll = 0; |
||
1165 | LageKorrekturNick = 0; |
||
880 | hbuss | 1166 | TrichterFlug = 0; |
498 | hbuss | 1167 | } |
1051 | killagreg | 1168 | |
498 | hbuss | 1169 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1171 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1172 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1173 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1174 | IntegralAccNick = 0; |
1175 | IntegralAccRoll = 0; |
||
1176 | IntegralAccZ = 0; |
||
1177 | MittelIntegralNick = 0; |
||
1178 | MittelIntegralRoll = 0; |
||
1179 | MittelIntegralNick2 = 0; |
||
1180 | MittelIntegralRoll2 = 0; |
||
1181 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1182 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1183 | |
1051 | killagreg | 1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1185 | // Gieren |
1051 | killagreg | 1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 1187 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1051 | killagreg | 1188 | if(abs(StickGier) > 15) // war 35 |
1 | ingob | 1189 | { |
921 | hbuss | 1190 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1191 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1192 | { |
||
1193 | NeueKompassRichtungMerken = 1; |
||
824 | hbuss | 1194 | }; |
1 | ingob | 1195 | } |
395 | hbuss | 1196 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1197 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
173 | holgerb | 1198 | sollGier = tmp_int; |
1051 | killagreg | 1199 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1200 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1201 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1202 | |
1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1204 | // Kompass |
1051 | killagreg | 1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1664 | holgerb | 1206 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
819 | hbuss | 1207 | |
1051 | killagreg | 1208 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1209 | { |
819 | hbuss | 1210 | int w,v,r,fehler,korrektur; |
1 | ingob | 1211 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1212 | v = abs(IntegralRoll /512); |
||
1213 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1658 | holgerb | 1214 | korrektur = w / 8 + 2; |
921 | hbuss | 1215 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1664 | holgerb | 1216 | //fehler += MesswertGier / 12; |
1662 | killagreg | 1217 | |
921 | hbuss | 1218 | if(!KompassSignalSchlecht && w < 25) |
1219 | { |
||
1220 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1221 | if(NeueKompassRichtungMerken) |
1222 | { |
||
1171 | hbuss | 1223 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
921 | hbuss | 1224 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1225 | NeueKompassRichtungMerken = 0; |
||
1226 | } |
||
1 | ingob | 1227 | } |
1664 | holgerb | 1228 | //DebugOut.Analog[16] = fehler; |
1229 | //DebugOut.Analog[17] = korrektur; |
||
1658 | holgerb | 1230 | ErsatzKompass += (fehler * 16) / korrektur; |
921 | hbuss | 1231 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1 | ingob | 1232 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
921 | hbuss | 1233 | if(w >= 0) |
1 | ingob | 1234 | { |
1051 | killagreg | 1235 | if(!KompassSignalSchlecht) |
693 | hbuss | 1236 | { |
1051 | killagreg | 1237 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
847 | hbuss | 1238 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1239 | // r = KompassRichtung; |
||
819 | hbuss | 1240 | v = (r * w) / v; // nach Kompass ausrichten |
1241 | w = 3 * Parameter_KompassWirkung; |
||
693 | hbuss | 1242 | if(v > w) v = w; // Begrenzen |
1051 | killagreg | 1243 | else |
693 | hbuss | 1244 | if(v < -w) v = -w; |
1245 | Mess_Integral_Gier += v; |
||
1051 | killagreg | 1246 | } |
693 | hbuss | 1247 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1051 | killagreg | 1248 | } |
921 | hbuss | 1249 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1051 | killagreg | 1250 | } |
1 | ingob | 1251 | |
1051 | killagreg | 1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1253 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1254 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1255 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1256 | |
1171 | hbuss | 1257 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1258 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1259 | |
1167 | hbuss | 1260 | #define TRIM_MAX 200 |
1166 | hbuss | 1261 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1262 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1263 | |
1166 | hbuss | 1264 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1265 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1266 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1267 | |
1 | ingob | 1268 | // Maximalwerte abfangen |
1153 | hbuss | 1269 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1685 | holgerb | 1270 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1271 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1272 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1273 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1274 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1275 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1276 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1277 | |||
1051 | killagreg | 1278 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1279 | // Höhenregelung |
1280 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1282 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1283 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1284 | // if height control is activated |
1322 | hbuss | 1285 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1286 | { |
1590 | killagreg | 1287 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1332 | hbuss | 1288 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1289 | |
1290 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1291 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1292 | #else |
1638 | holgerb | 1293 | #define OPA_OFFSET_STEP 10 |
1294 | #endif |
||
1587 | killagreg | 1295 | int HCGas, HeightDeviation = 0; |
1309 | hbuss | 1296 | static int HeightTrimming = 0; // rate for change of height setpoint |
1297 | static int FilterHCGas = 0; |
||
1692 | holgerb | 1298 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1587 | killagreg | 1299 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1300 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1301 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1302 | |
1309 | hbuss | 1303 | // get the current hooverpoint |
1587 | killagreg | 1304 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1305 | |
1322 | hbuss | 1306 | // Expand the measurement |
1307 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1308 | if(!BaroExpandActive) |
||
1309 | { |
||
1310 | if(MessLuftdruck > 920) |
||
1311 | { // increase offset |
||
1330 | killagreg | 1312 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1313 | { |
1314 | ExpandBaro -= 1; |
||
1315 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1316 | beeptime = 300; |
||
1352 | hbuss | 1317 | BaroExpandActive = 350; |
1330 | killagreg | 1318 | } |
1319 | else |
||
1322 | hbuss | 1320 | { |
1321 | BaroAtLowerLimit = 1; |
||
1322 | } |
||
1323 | } |
||
1324 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1325 | else |
1322 | hbuss | 1326 | if(MessLuftdruck < 100) |
1327 | { // decrease offset |
||
1330 | killagreg | 1328 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1329 | { |
1330 | ExpandBaro += 1; |
||
1331 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1332 | beeptime = 300; |
||
1352 | hbuss | 1333 | BaroExpandActive = 350; |
1330 | killagreg | 1334 | } |
1335 | else |
||
1322 | hbuss | 1336 | { |
1337 | BaroAtUpperLimit = 1; |
||
1338 | } |
||
1339 | } |
||
1330 | killagreg | 1340 | else |
1322 | hbuss | 1341 | { |
1342 | BaroAtUpperLimit = 0; |
||
1343 | BaroAtLowerLimit = 0; |
||
1344 | } |
||
1345 | } |
||
1346 | else // delay, because of expanding the Baro-Range |
||
1347 | { |
||
1348 | // now clear the D-values |
||
1349 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1350 | VarioMeter = 0; |
||
1351 | BaroExpandActive--; |
||
1352 | } |
||
1328 | hbuss | 1353 | |
1354 | // if height control is activated by an rc channel |
||
1355 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1356 | { // check if parameter is less than activation threshold |
||
1357 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1358 | { //height control not active |
||
1359 | if(!delay--) |
||
1360 | { |
||
1361 | HoehenReglerAktiv = 0; // disable height control |
||
1362 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1363 | delay = 1; |
||
1364 | } |
||
1365 | } |
||
1366 | else |
||
1367 | { //height control is activated |
||
1368 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1369 | delay = 200; |
1328 | hbuss | 1370 | } |
1051 | killagreg | 1371 | } |
1309 | hbuss | 1372 | else // no switchable height control |
1373 | { |
||
1374 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1375 | HoehenReglerAktiv = 1; |
||
1051 | killagreg | 1376 | } |
1322 | hbuss | 1377 | |
1320 | hbuss | 1378 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1379 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1380 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1381 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1382 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1383 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1384 | VarioCharacter = ' '; |
1420 | killagreg | 1385 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1386 | { |
1387 | #define HEIGHT_TRIM_UP 0x01 |
||
1388 | #define HEIGHT_TRIM_DOWN 0x02 |
||
1389 | static unsigned char HeightTrimmingFlag = 0x00; |
||
1390 | |||
1330 | killagreg | 1391 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1392 | // Holger original version |
1393 | // start of height control algorithm |
||
1394 | // the height control is only an attenuation of the actual gas stick. |
||
1395 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1396 | // and the hover height will be allways larger than height setpoint. |
||
1314 | killagreg | 1397 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1398 | { // old version |
||
1309 | hbuss | 1399 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1400 | HeightTrimming = 0; |
||
1401 | } |
||
1314 | killagreg | 1402 | else |
1309 | hbuss | 1403 | { |
1404 | // alternative height control |
||
1405 | // PD-Control with respect to hoover point |
||
1406 | // the thrust loss out of horizontal attitude is compensated |
||
1407 | // the setpoint will be fine adjusted with the gas stick position |
||
1420 | killagreg | 1408 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1309 | hbuss | 1409 | { // gas stick is above hoover point |
1587 | killagreg | 1410 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1411 | { |
1412 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
1413 | { |
||
1414 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
1415 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1416 | } |
||
1417 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
1587 | killagreg | 1418 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1419 | VarioCharacter = '+'; |
1309 | hbuss | 1420 | } // gas stick is below hoover point |
1587 | killagreg | 1421 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1422 | { |
1423 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
1424 | { |
||
1425 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
1426 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1427 | } |
||
1428 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
1587 | killagreg | 1429 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1430 | VarioCharacter = '-'; |
1309 | hbuss | 1431 | } |
1587 | killagreg | 1432 | else // Gas Stick in Hover Range |
1309 | hbuss | 1433 | { |
1352 | hbuss | 1434 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1309 | hbuss | 1435 | { |
1352 | hbuss | 1436 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1309 | hbuss | 1437 | HeightTrimming = 0; |
1438 | SollHoehe = HoehenWert; // update setpoint to current height |
||
1439 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1440 | } |
||
1591 | holgerb | 1441 | VarioCharacter = '='; |
1309 | hbuss | 1442 | } |
1443 | // Trim height set point |
||
1334 | killagreg | 1444 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1445 | { |
1332 | hbuss | 1446 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1447 | HeightTrimming = 0; |
1587 | killagreg | 1448 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1309 | hbuss | 1449 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1320 | hbuss | 1450 | //update hoover gas stick value when setpoint is shifted |
1332 | hbuss | 1451 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1452 | { |
||
1587 | killagreg | 1453 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1454 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1455 | if(StickGasHover < 70) StickGasHover = 70; |
||
1456 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1457 | } |
1309 | hbuss | 1458 | } |
1352 | hbuss | 1459 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1460 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1461 | else |
1462 | { |
||
1322 | hbuss | 1463 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1464 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1465 | else StickGasHover = 120; |
||
1320 | hbuss | 1466 | } |
1590 | killagreg | 1467 | HCGas = HoverGas; // take hover gas (neutral point) |
1468 | } |
||
1314 | killagreg | 1469 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1470 | { |
1590 | killagreg | 1471 | // from this point the Heigth Control Algorithm is identical for both versions |
1472 | if(BaroExpandActive) // baro range expanding active |
||
1473 | { |
||
1474 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1475 | HeightDeviation = 0; |
||
1476 | } // EOF // baro range expanding active |
||
1477 | else // valid data from air pressure sensor |
||
1478 | { |
||
1479 | // ------------------------- P-Part ---------------------------- |
||
1480 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1481 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1482 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1483 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
||
1484 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
||
1485 | HCGas -= tmp_long; |
||
1486 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
1487 | tmp_int = VarioMeter / 8; |
||
1488 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
||
1489 | tmp_int2 = tmp_int; |
||
1490 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
||
1491 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
||
1492 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
||
1493 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
||
1494 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1495 | HCGas -= tmp_int; |
||
1496 | } // EOF no baro range expanding |
||
1309 | hbuss | 1497 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1587 | killagreg | 1498 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1499 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1500 | HCGas -= tmp_long; |
||
1501 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
1588 | killagreg | 1502 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1503 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1309 | hbuss | 1504 | HCGas -= tmp_int; |
1587 | killagreg | 1505 | |
1309 | hbuss | 1506 | // limit deviation from hoover point within the target region |
1692 | holgerb | 1507 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1508 | { |
1692 | holgerb | 1509 | unsigned int tmp,min,max; |
1510 | if(abs(HeightDeviation) < 60) |
||
1511 | { |
||
1512 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1513 | } |
||
1514 | else |
||
1515 | { |
||
1516 | tmp = (abs(HeightDeviation) - 60)/32; |
||
1517 | if(tmp > 15) tmp = 15; |
||
1518 | max = (HoverGasMax * (tmp + 16)) / 16; |
||
1519 | min = (HoverGasMin * (16 - tmp)) / 16; |
||
1520 | LIMIT_MIN_MAX(HCGas, min, max); // limit gas around the hoover point |
||
1521 | DebugOut.Analog[16] = min; |
||
1522 | DebugOut.Analog[17] = max; |
||
1523 | DebugOut.Analog[18] = SollHoehe; |
||
1524 | } |
||
1309 | hbuss | 1525 | } |
1322 | hbuss | 1526 | // strech control output by inverse attitude projection 1/cos |
1527 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1528 | tmp_long2 = (int32_t)HCGas; |
1529 | tmp_long2 *= 8192L; |
||
1530 | tmp_long2 /= CosAttitude; |
||
1531 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1532 | // update height control gas averaging |
1533 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1534 | // limit height control gas pd-control output |
||
1535 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1536 | // set GasMischanteil to HeightControlGasFilter |
||
1314 | killagreg | 1537 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1538 | { // old version |
1539 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1540 | } |
||
1309 | hbuss | 1541 | GasMischanteil = FilterHCGas; |
1314 | killagreg | 1542 | } |
1309 | hbuss | 1543 | }// EOF height control active |
1320 | hbuss | 1544 | else // HC not active |
1545 | { |
||
1546 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1547 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1548 | { |
||
1549 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1550 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1551 | } |
1587 | killagreg | 1552 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1553 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1554 | FilterHCGas = GasMischanteil; |
1330 | killagreg | 1555 | } |
1283 | hbuss | 1556 | |
1587 | killagreg | 1557 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1558 | // this is done only if height contol option is selected in global config and aircraft is flying |
1420 | killagreg | 1559 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1560 | { |
1590 | killagreg | 1561 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1309 | hbuss | 1562 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1563 | { |
||
1330 | killagreg | 1564 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1565 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1566 | tmp_long2 /= 8192; |
||
1567 | |||
1309 | hbuss | 1568 | // average vertical projected thrust |
1569 | if(modell_fliegt < 2000) // the first 4 seconds |
||
1570 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
1590 | killagreg | 1571 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1587 | killagreg | 1572 | HoverGasFilter += 8L * tmp_long2; |
1309 | hbuss | 1573 | } |
1574 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
1575 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1590 | killagreg | 1576 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1577 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1578 | } |
1579 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
1580 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1581 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1587 | killagreg | 1582 | HoverGasFilter += 2L * tmp_long2; |
1309 | hbuss | 1583 | } |
1584 | else //later |
||
1585 | { |
||
1590 | killagreg | 1586 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1587 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1588 | } |
1590 | killagreg | 1589 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1590 | if(EE_Parameter.Hoehe_HoverBand) |
1591 | { |
||
1592 | int16_t band; |
||
1587 | killagreg | 1593 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1594 | HoverGasMin = HoverGas - band; |
||
1595 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1596 | } |
1597 | else |
||
1598 | { // no limit |
||
1587 | killagreg | 1599 | HoverGasMin = 0; |
1600 | HoverGasMax = 1023; |
||
1309 | hbuss | 1601 | } |
1602 | } |
||
1603 | } |
||
1604 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
||
1605 | |||
1606 | // limit gas to parameter setting |
||
1320 | hbuss | 1607 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1608 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1609 | |
1051 | killagreg | 1610 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1611 | // all BL-Ctrl connected? |
1612 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1675 | holgerb | 1613 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1320 | hbuss | 1614 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1615 | { |
||
1616 | modell_fliegt = 1; |
||
1675 | holgerb | 1617 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1618 | } |
1619 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1620 | // + Mischer und PI-Regler |
1051 | killagreg | 1621 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1622 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1623 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1624 | // Gier-Anteil |
1051 | killagreg | 1625 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1626 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1627 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1628 | if(GasMischanteil > MIN_GIERGAS) |
1629 | { |
||
1051 | killagreg | 1630 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1631 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1632 | } |
1051 | killagreg | 1633 | else |
693 | hbuss | 1634 | { |
1051 | killagreg | 1635 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1636 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1637 | } |
855 | hbuss | 1638 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1639 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1640 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1641 | |
1051 | killagreg | 1642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1643 | // Nick-Achse |
1051 | killagreg | 1644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1645 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1646 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1647 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1648 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1649 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1685 | holgerb | 1650 | |
1692 | holgerb | 1651 | //if(Parameter_UserParam5 > 50) |
1685 | holgerb | 1652 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1692 | holgerb | 1653 | //else |
1654 | // pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
||
1682 | holgerb | 1655 | |
1 | ingob | 1656 | // Motor Vorn |
1676 | holgerb | 1657 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1658 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1659 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1660 | |
1153 | hbuss | 1661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1662 | // Roll-Achse |
||
1663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1664 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1665 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1666 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1667 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1668 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1682 | holgerb | 1669 | |
1690 | holgerb | 1670 | //if(Parameter_UserParam5 > 50) |
1685 | holgerb | 1671 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1690 | holgerb | 1672 | //else |
1673 | // pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
1682 | holgerb | 1674 | |
1676 | holgerb | 1675 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1676 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1677 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1678 | |||
1679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1680 | // Universal Mixer |
1155 | hbuss | 1681 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1682 | for(i=0; i<MAX_MOTORS; i++) |
1683 | { |
||
1684 | signed int tmp_int; |
||
1685 | if(Mixer.Motor[i][0] > 0) |
||
1686 | { |
||
1652 | holgerb | 1687 | // Gas |
1676 | holgerb | 1688 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1689 | // Nick |
1690 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1691 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1692 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1693 | // Roll |
||
1694 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1695 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1696 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1697 | // Gier |
||
1676 | holgerb | 1698 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1699 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1700 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1701 | |
1690 | holgerb | 1702 | //if(Parameter_UserParam4 < 50) |
1703 | { |
||
1680 | holgerb | 1704 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1705 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
1690 | holgerb | 1706 | } |
1707 | |||
1680 | holgerb | 1708 | /* |
1675 | holgerb | 1709 | if(Parameter_UserParam5 > 50) |
1710 | { |
||
1711 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
||
1680 | holgerb | 1712 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1713 | else tmp_int -= Parameter_UserParam6 * (tmp_motorwert[i] - tmp_int); // MotorSmoothing |
||
1675 | holgerb | 1714 | } |
1680 | holgerb | 1715 | */ |
1677 | killagreg | 1716 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1676 | holgerb | 1717 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1718 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1719 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1720 | } |
1721 | else |
||
1722 | { |
||
1723 | Motor[i].SetPoint = 0; |
||
1724 | Motor[i].SetPointLowerBits = 0; |
||
1725 | } |
||
1726 | } |
||
1111 | hbuss | 1727 | } |