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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; |
1703 | holgerb | 65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
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; |
1698 | holgerb | 98 | char MotorenEin = 0,StartTrigger = 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; |
1703 | holgerb | 178 | DebugOut.Analog[6] = AdWertAccHoch;//(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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1702 | holgerb | 183 | DebugOut.Analog[12] = Motor[0].SetPoint; |
184 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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185 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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186 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 187 | DebugOut.Analog[20] = ServoNickValue; |
188 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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189 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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190 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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1682 | holgerb | 191 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
192 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
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1639 | holgerb | 193 | DebugOut.Analog[30] = GPS_Nick; |
194 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 195 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1639 | holgerb | 196 | } |
197 | |||
1232 | hbuss | 198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 199 | { |
1232 | hbuss | 200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 201 | while(Anzahl--) |
202 | { |
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1232 | hbuss | 203 | beeptime = dauer; |
204 | while(beeptime); |
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205 | Delay_ms(dauer * 2); |
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1 | ingob | 206 | } |
207 | } |
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208 | |||
209 | //############################################################################ |
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1622 | killagreg | 210 | // Messwerte beim Ermitteln der Nullage |
211 | void CalibrierMittelwert(void) |
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212 | //############################################################################ |
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213 | { |
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214 | unsigned char i; |
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215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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217 | ANALOG_OFF; |
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218 | MesswertNick = AdWertNick; |
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219 | MesswertRoll = AdWertRoll; |
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220 | MesswertGier = AdWertGier; |
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1703 | holgerb | 221 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
222 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 223 | // ADC einschalten |
224 | ANALOG_ON; |
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225 | for(i=0;i<8;i++) |
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226 | { |
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227 | int tmp; |
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228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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229 | LIMIT_MIN_MAX(tmp, 0, 255); |
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230 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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231 | } |
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232 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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233 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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234 | } |
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235 | |||
236 | //############################################################################ |
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1 | ingob | 237 | // Nullwerte ermitteln |
1622 | killagreg | 238 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 239 | //############################################################################ |
240 | { |
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1622 | killagreg | 241 | unsigned char i; |
242 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 243 | VersionInfo.HardwareError[0] = 0; |
1320 | hbuss | 244 | HEF4017R_ON; |
1051 | killagreg | 245 | NeutralAccX = 0; |
1 | ingob | 246 | NeutralAccY = 0; |
247 | NeutralAccZ = 0; |
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1622 | killagreg | 248 | |
1051 | killagreg | 249 | AdNeutralNick = 0; |
250 | AdNeutralRoll = 0; |
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1 | ingob | 251 | AdNeutralGier = 0; |
1622 | killagreg | 252 | |
395 | hbuss | 253 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 254 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 255 | |
1036 | hbuss | 256 | ExpandBaro = 0; |
1622 | killagreg | 257 | |
1051 | killagreg | 258 | CalibrierMittelwert(); |
395 | hbuss | 259 | Delay_ms_Mess(100); |
1622 | killagreg | 260 | |
1 | ingob | 261 | CalibrierMittelwert(); |
1622 | killagreg | 262 | |
1 | ingob | 263 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 264 | { |
1 | ingob | 265 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
266 | } |
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1166 | hbuss | 267 | #define NEUTRAL_FILTER 32 |
268 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 269 | { |
270 | Delay_ms_Mess(10); |
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1216 | killagreg | 271 | gier_neutral += AdWertGier; |
1166 | hbuss | 272 | nick_neutral += AdWertNick; |
273 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 274 | } |
1173 | hbuss | 275 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
276 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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277 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 278 | |
401 | hbuss | 279 | StartNeutralRoll = AdNeutralRoll; |
280 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 281 | |
282 | if(AccAdjustment) |
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283 | { |
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284 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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285 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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286 | NeutralAccZ = Aktuell_az; |
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287 | |||
288 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 289 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
290 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 291 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 292 | } |
1051 | killagreg | 293 | else |
513 | hbuss | 294 | { |
1622 | killagreg | 295 | // restore from eeprom |
296 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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297 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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298 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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299 | // strange settings? |
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1638 | holgerb | 300 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 301 | { |
302 | printf("\n\rACC not calibrated!\r\n"); |
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303 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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304 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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305 | NeutralAccZ = Aktuell_az; |
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306 | } |
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513 | hbuss | 307 | } |
1051 | killagreg | 308 | |
1 | ingob | 309 | MesswertNick = 0; |
310 | MesswertRoll = 0; |
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311 | MesswertGier = 0; |
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1111 | hbuss | 312 | Delay_ms_Mess(100); |
1703 | holgerb | 313 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
314 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1173 | hbuss | 315 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
316 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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317 | Mess_IntegralNick2 = IntegralNick; |
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318 | Mess_IntegralRoll2 = IntegralRoll; |
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319 | Mess_Integral_Gier = 0; |
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1 | ingob | 320 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 321 | VarioMeter = 0; |
1 | ingob | 322 | Mess_Integral_Hoch = 0; |
323 | KompassStartwert = KompassValue; |
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324 | GPS_Neutral(); |
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1051 | killagreg | 325 | beeptime = 50; |
882 | hbuss | 326 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
327 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
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492 | hbuss | 328 | ExternHoehenValue = 0; |
693 | hbuss | 329 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
330 | GierGyroFehler = 0; |
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723 | hbuss | 331 | SendVersionToNavi = 1; |
921 | hbuss | 332 | LED_Init(); |
1420 | killagreg | 333 | FCFlags |= FCFLAG_CALIBRATE; |
992 | hbuss | 334 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 335 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 336 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 337 | |
338 | for(i=0;i<8;i++) |
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1377 | hbuss | 339 | { |
340 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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341 | } |
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1171 | hbuss | 342 | SenderOkay = 100; |
1320 | hbuss | 343 | if(ServoActive) |
344 | { |
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345 | HEF4017R_ON; |
||
346 | DDRD |=0x80; // enable J7 -> Servo signal |
||
347 | } |
||
1702 | holgerb | 348 | |
349 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
||
350 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
||
351 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
||
352 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
||
353 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
||
354 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
||
1 | ingob | 355 | } |
356 | |||
1702 | holgerb | 357 | |
1 | ingob | 358 | //############################################################################ |
395 | hbuss | 359 | // Bearbeitet die Messwerte |
1 | ingob | 360 | void Mittelwert(void) |
361 | //############################################################################ |
||
1051 | killagreg | 362 | { |
1111 | hbuss | 363 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
364 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 365 | signed long winkel_nick, winkel_roll; |
1377 | hbuss | 366 | unsigned char i; |
1111 | hbuss | 367 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 368 | MesswertNick = (signed int) AdWertNickFilter / 8; |
369 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 370 | RohMesswertNick = MesswertNick; |
371 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 372 | |
395 | hbuss | 373 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 374 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
375 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 376 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
377 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 378 | NaviAccNick += AdWertAccNick; |
379 | NaviAccRoll += AdWertAccRoll; |
||
380 | NaviCntAcc++; |
||
1153 | hbuss | 381 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
382 | |||
1155 | hbuss | 383 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
384 | // ADC einschalten |
||
1171 | hbuss | 385 | ANALOG_ON; |
1155 | hbuss | 386 | AdReady = 0; |
387 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
388 | |||
1216 | killagreg | 389 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
390 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 391 | else winkel_roll = Mess_IntegralRoll; |
392 | |||
1216 | killagreg | 393 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
394 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 395 | else winkel_nick = Mess_IntegralNick; |
396 | |||
1120 | hbuss | 397 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 398 | Mess_Integral_Gier += MesswertGier; |
399 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 400 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
401 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
402 | { |
||
1153 | hbuss | 403 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 404 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 405 | tmpl3 /= 4096L; |
1153 | hbuss | 406 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 407 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 408 | tmpl4 /= 4096L; |
1153 | hbuss | 409 | KopplungsteilNickRoll = tmpl3; |
410 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 411 | tmpl4 -= tmpl3; |
412 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 413 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 414 | |
1153 | hbuss | 415 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 416 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 417 | tmpl /= 4096L; |
1153 | hbuss | 418 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 419 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 420 | tmpl2 /= 4096L; |
1225 | hbuss | 421 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 422 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 423 | } |
1166 | hbuss | 424 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 425 | TrimRoll = tmpl - tmpl2 / 100L; |
426 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 427 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
428 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
429 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 430 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 431 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
432 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 433 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 434 | { |
882 | hbuss | 435 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 436 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 437 | } |
395 | hbuss | 438 | if(Mess_IntegralRoll <-Umschlag180Roll) |
439 | { |
||
882 | hbuss | 440 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 441 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 442 | } |
395 | hbuss | 443 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 444 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
445 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 446 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 447 | { |
448 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
449 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 450 | } |
451 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 452 | { |
882 | hbuss | 453 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 454 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 455 | } |
1111 | hbuss | 456 | |
1 | ingob | 457 | Integral_Gier = Mess_Integral_Gier; |
458 | IntegralNick = Mess_IntegralNick; |
||
459 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 460 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 461 | IntegralRoll2 = Mess_IntegralRoll2; |
462 | |||
1166 | hbuss | 463 | #define D_LIMIT 128 |
464 | |||
1171 | hbuss | 465 | MesswertNick = HiResNick / 8; |
466 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 467 | |
1167 | hbuss | 468 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
469 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
470 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
471 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
472 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
473 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
474 | |||
1216 | killagreg | 475 | if(Parameter_Gyro_D) |
1111 | hbuss | 476 | { |
1166 | hbuss | 477 | d2Nick = HiResNick - oldNick; |
478 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 479 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
480 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1166 | hbuss | 481 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
482 | d2Roll = HiResRoll - oldRoll; |
||
483 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 484 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
485 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1166 | hbuss | 486 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
487 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
488 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 489 | } |
1111 | hbuss | 490 | |
1166 | hbuss | 491 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
492 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
493 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
494 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 495 | |
496 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
497 | { |
||
498 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
499 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
500 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
501 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
502 | } |
||
1377 | hbuss | 503 | for(i=0;i<8;i++) |
504 | { |
||
505 | int tmp; |
||
506 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
507 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
1406 | hbuss | 508 | if(tmp != Poti[i]) |
509 | { |
||
510 | Poti[i] += (tmp - Poti[i]) / 8; |
||
1413 | killagreg | 511 | if(Poti[i] > tmp) Poti[i]--; |
1406 | hbuss | 512 | else Poti[i]++; |
1413 | killagreg | 513 | } |
1377 | hbuss | 514 | } |
1 | ingob | 515 | } |
516 | |||
517 | //############################################################################ |
||
518 | // Senden der Motorwerte per I2C-Bus |
||
519 | void SendMotorData(void) |
||
520 | //############################################################################ |
||
1051 | killagreg | 521 | { |
1209 | hbuss | 522 | unsigned char i; |
921 | hbuss | 523 | if(!MotorenEin) |
1 | ingob | 524 | { |
1420 | killagreg | 525 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
1216 | killagreg | 526 | for(i=0;i<MAX_MOTORS;i++) |
527 | { |
||
528 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 529 | Motor[i].SetPoint = MotorTest[i]; |
530 | Motor[i].SetPointLowerBits = 0; |
||
531 | /* |
||
532 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
533 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
534 | */ |
||
1216 | killagreg | 535 | } |
1212 | hbuss | 536 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 537 | } |
1420 | killagreg | 538 | else FCFlags |= FCFLAG_MOTOR_RUN; |
1 | ingob | 539 | //Start I2C Interrupt Mode |
1662 | killagreg | 540 | motor_write = 0; |
541 | I2C_Start(TWI_STATE_MOTOR_TX); |
||
1 | ingob | 542 | } |
543 | |||
544 | |||
545 | |||
546 | //############################################################################ |
||
547 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 548 | void ParameterZuordnung(void) |
1 | ingob | 549 | //############################################################################ |
550 | { |
||
1668 | holgerb | 551 | unsigned char tmp; |
1391 | killagreg | 552 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
553 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
554 | |||
921 | hbuss | 555 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
556 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
557 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
558 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
559 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
1403 | hbuss | 560 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
561 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
562 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1377 | hbuss | 563 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1403 | hbuss | 564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1377 | hbuss | 565 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
566 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
567 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
568 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
569 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
570 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
571 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
572 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
573 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
574 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
575 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
576 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
577 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
578 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
579 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
580 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
581 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
582 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
583 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 584 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
585 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 586 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
587 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
588 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
589 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 590 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 591 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 592 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 593 | |
594 | tmp = EE_Parameter.OrientationModeControl; |
||
1690 | holgerb | 595 | if(tmp > 50) |
1668 | holgerb | 596 | { |
1682 | holgerb | 597 | #ifdef SWITCH_LEARNS_CAREFREE |
598 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
||
599 | #endif |
||
600 | CareFree = 1; |
||
1668 | holgerb | 601 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1702 | holgerb | 602 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
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; |
||
1702 | holgerb | 611 | } |
612 | |||
1668 | holgerb | 613 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
1 | ingob | 614 | } |
615 | |||
616 | //############################################################################ |
||
617 | // |
||
618 | void MotorRegler(void) |
||
619 | //############################################################################ |
||
620 | { |
||
1330 | killagreg | 621 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 622 | int GierMischanteil,GasMischanteil; |
623 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 624 | static long IntegralFehlerNick = 0; |
625 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 626 | static unsigned int RcLostTimer; |
627 | static unsigned char delay_neutral = 0; |
||
628 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 629 | static unsigned char calibration_done = 0; |
1 | ingob | 630 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 631 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 632 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 633 | unsigned char i; |
1051 | killagreg | 634 | Mittelwert(); |
1 | ingob | 635 | GRN_ON; |
1051 | killagreg | 636 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 637 | // Gaswert ermitteln |
1051 | killagreg | 638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
639 | GasMischanteil = StickGas; |
||
831 | hbuss | 640 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 641 | |
1051 | killagreg | 642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 643 | // Empfang schlecht |
1051 | killagreg | 644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 645 | if(SenderOkay < 100) |
646 | { |
||
1051 | killagreg | 647 | if(RcLostTimer) RcLostTimer--; |
648 | else |
||
1 | ingob | 649 | { |
650 | MotorenEin = 0; |
||
1420 | killagreg | 651 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1051 | killagreg | 652 | } |
1 | ingob | 653 | ROT_ON; |
693 | hbuss | 654 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 655 | { |
656 | GasMischanteil = EE_Parameter.NotGas; |
||
1420 | killagreg | 657 | FCFlags |= FCFLAG_NOTLANDUNG; |
744 | hbuss | 658 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 659 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 660 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
661 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
662 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 663 | } |
1 | ingob | 664 | else MotorenEin = 0; |
665 | } |
||
1051 | killagreg | 666 | else |
667 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 668 | // Emfang gut |
1051 | killagreg | 669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 670 | if(SenderOkay > 140) |
671 | { |
||
1420 | killagreg | 672 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
1 | ingob | 673 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 674 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 675 | { |
676 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
677 | } |
||
871 | hbuss | 678 | if((modell_fliegt < 256)) |
1 | ingob | 679 | { |
680 | SummeNick = 0; |
||
681 | SummeRoll = 0; |
||
1682 | holgerb | 682 | sollGier = 0; |
683 | Mess_Integral_Gier = 0; |
||
1051 | killagreg | 684 | if(modell_fliegt == 250) |
918 | hbuss | 685 | { |
1051 | killagreg | 686 | NeueKompassRichtungMerken = 1; |
927 | hbuss | 687 | // Mess_Integral_Gier2 = 0; |
1051 | killagreg | 688 | } |
1420 | killagreg | 689 | } else FCFlags |= FCFLAG_FLY; |
1051 | killagreg | 690 | |
595 | hbuss | 691 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 692 | { |
1051 | killagreg | 693 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 694 | // auf Nullwerte kalibrieren |
1051 | killagreg | 695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 696 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
697 | { |
||
698 | if(++delay_neutral > 200) // nicht sofort |
||
699 | { |
||
700 | GRN_OFF; |
||
701 | MotorenEin = 0; |
||
702 | delay_neutral = 0; |
||
703 | modell_fliegt = 0; |
||
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
705 | { |
||
304 | ingob | 706 | unsigned char setting=1; |
1 | ingob | 707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
708 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
711 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 712 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 713 | } |
820 | hbuss | 714 | // else |
1051 | killagreg | 715 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
716 | { |
||
819 | hbuss | 717 | WinkelOut.CalcState = 1; |
718 | beeptime = 1000; |
||
719 | } |
||
720 | else |
||
1 | ingob | 721 | { |
1622 | killagreg | 722 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 723 | LipoDetection(0); |
1626 | killagreg | 724 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
819 | hbuss | 725 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
726 | { |
||
1 | ingob | 727 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 728 | } |
1330 | killagreg | 729 | ServoActive = 0; |
1622 | killagreg | 730 | SetNeutral(0); |
1702 | holgerb | 731 | calibration_done = 1; |
1232 | hbuss | 732 | ServoActive = 1; |
733 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 734 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 735 | } |
1051 | killagreg | 736 | } |
1 | ingob | 737 | } |
1051 | killagreg | 738 | else |
513 | hbuss | 739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
740 | { |
||
741 | if(++delay_neutral > 200) // nicht sofort |
||
742 | { |
||
743 | GRN_OFF; |
||
744 | MotorenEin = 0; |
||
745 | delay_neutral = 0; |
||
746 | modell_fliegt = 0; |
||
1622 | killagreg | 747 | SetNeutral(1); |
748 | calibration_done = 1; |
||
749 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 750 | } |
513 | hbuss | 751 | } |
1 | ingob | 752 | else delay_neutral = 0; |
753 | } |
||
1051 | killagreg | 754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 755 | // Gas ist unten |
1051 | killagreg | 756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 757 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 758 | { |
1521 | killagreg | 759 | // Motoren Starten |
760 | if(!MotorenEin) |
||
761 | { |
||
762 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
763 | { |
||
1051 | killagreg | 764 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 765 | // Einschalten |
1051 | killagreg | 766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 767 | if(++delay_einschalten > 200) |
768 | { |
||
769 | delay_einschalten = 0; |
||
1702 | holgerb | 770 | if(!VersionInfo.HardwareError[0] && calibration_done) |
1622 | killagreg | 771 | { |
772 | modell_fliegt = 1; |
||
773 | MotorenEin = 1; |
||
774 | sollGier = 0; |
||
775 | Mess_Integral_Gier = 0; |
||
776 | Mess_Integral_Gier2 = 0; |
||
777 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
778 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
779 | Mess_IntegralNick2 = IntegralNick; |
||
780 | Mess_IntegralRoll2 = IntegralRoll; |
||
781 | SummeNick = 0; |
||
782 | SummeRoll = 0; |
||
783 | FCFlags |= FCFLAG_START; |
||
1669 | killagreg | 784 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1622 | killagreg | 785 | } |
786 | else |
||
787 | { |
||
788 | beeptime = 1500; // indicate missing calibration |
||
789 | } |
||
1521 | killagreg | 790 | } |
791 | } |
||
792 | else delay_einschalten = 0; |
||
793 | } |
||
1051 | killagreg | 794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 795 | // Auschalten |
1051 | killagreg | 796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 797 | else // only if motors are running |
798 | { |
||
799 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
800 | { |
||
801 | if(++delay_ausschalten > 200) // nicht sofort |
||
802 | { |
||
803 | MotorenEin = 0; |
||
804 | delay_ausschalten = 0; |
||
805 | modell_fliegt = 0; |
||
806 | } |
||
807 | } |
||
808 | else delay_ausschalten = 0; |
||
809 | } |
||
1 | ingob | 810 | } |
811 | } |
||
1051 | killagreg | 812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 813 | // neue Werte von der Funke |
1051 | killagreg | 814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 815 | |
1420 | killagreg | 816 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
1 | ingob | 817 | { |
604 | hbuss | 818 | static int stick_nick,stick_roll; |
1 | ingob | 819 | ParameterZuordnung(); |
1051 | killagreg | 820 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
723 | hbuss | 821 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
822 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
823 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
824 | |||
1664 | holgerb | 825 | |
1668 | holgerb | 826 | 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}; |
827 | |||
828 | if(CareFree) |
||
1658 | holgerb | 829 | { |
1664 | holgerb | 830 | signed int nick, roll; |
831 | nick = stick_nick / 4; |
||
832 | roll = stick_roll / 4; |
||
833 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
834 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1658 | holgerb | 835 | } |
1662 | killagreg | 836 | else |
1658 | holgerb | 837 | { |
1668 | holgerb | 838 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
839 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
840 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
841 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1658 | holgerb | 842 | } |
1662 | killagreg | 843 | |
1669 | killagreg | 844 | |
1 | ingob | 845 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1120 | hbuss | 846 | if(StickGier > 2) StickGier -= 2; else |
847 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
848 | |||
1658 | holgerb | 849 | StickNick -= (GPS_Nick + GPS_Nick2); |
850 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
1350 | hbuss | 851 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
1330 | killagreg | 852 | |
1153 | hbuss | 853 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
854 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 855 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
856 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 857 | |
595 | hbuss | 858 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | //+ Analoge Steuerung per Seriell |
||
860 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 861 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 862 | { |
863 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
864 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
865 | StickGier += ExternControl.Gier; |
||
866 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
867 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
868 | } |
||
855 | hbuss | 869 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 870 | |
1 | ingob | 871 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1330 | killagreg | 872 | //if(GyroFaktor < 0) GyroFaktor = 0; |
873 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
723 | hbuss | 874 | |
1051 | killagreg | 875 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 876 | { |
1051 | killagreg | 877 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 878 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 879 | } |
928 | hbuss | 880 | else MaxStickNick--; |
1051 | killagreg | 881 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 882 | { |
1051 | killagreg | 883 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 884 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 885 | } |
928 | hbuss | 886 | else MaxStickRoll--; |
1420 | killagreg | 887 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 888 | |
1051 | killagreg | 889 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 890 | // Looping? |
1051 | killagreg | 891 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 892 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 893 | else |
894 | { |
||
395 | hbuss | 895 | { |
1051 | killagreg | 896 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
897 | } |
||
898 | } |
||
993 | hbuss | 899 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 900 | else |
395 | hbuss | 901 | { |
902 | if(Looping_Rechts) // Hysterese |
||
903 | { |
||
904 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
905 | } |
||
1051 | killagreg | 906 | } |
173 | holgerb | 907 | |
993 | hbuss | 908 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 909 | else |
910 | { |
||
395 | hbuss | 911 | if(Looping_Oben) // Hysterese |
912 | { |
||
1051 | killagreg | 913 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
914 | } |
||
915 | } |
||
993 | hbuss | 916 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 917 | else |
395 | hbuss | 918 | { |
919 | if(Looping_Unten) // Hysterese |
||
920 | { |
||
921 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
922 | } |
||
1051 | killagreg | 923 | } |
395 | hbuss | 924 | |
925 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 926 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 927 | } // Ende neue Funken-Werte |
928 | |||
929 | if(Looping_Roll || Looping_Nick) |
||
930 | { |
||
173 | holgerb | 931 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 932 | TrichterFlug = 1; |
173 | holgerb | 933 | } |
934 | |||
1051 | killagreg | 935 | |
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
937 | // Bei Empfangsausfall im Flug |
||
938 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1420 | killagreg | 939 | if(FCFlags & FCFLAG_NOTLANDUNG) |
1 | ingob | 940 | { |
941 | StickGier = 0; |
||
942 | StickNick = 0; |
||
943 | StickRoll = 0; |
||
1211 | hbuss | 944 | GyroFaktor = 90; |
945 | IntegralFaktor = 120; |
||
946 | GyroFaktorGier = 90; |
||
947 | IntegralFaktorGier = 120; |
||
173 | holgerb | 948 | Looping_Roll = 0; |
949 | Looping_Nick = 0; |
||
1051 | killagreg | 950 | } |
395 | hbuss | 951 | |
952 | |||
1051 | killagreg | 953 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 954 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 955 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 956 | #define ABGLEICH_ANZAHL 256L |
957 | |||
958 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
959 | MittelIntegralRoll += IntegralRoll; |
||
960 | MittelIntegralNick2 += IntegralNick2; |
||
961 | MittelIntegralRoll2 += IntegralRoll2; |
||
962 | |||
963 | if(Looping_Nick || Looping_Roll) |
||
964 | { |
||
965 | IntegralAccNick = 0; |
||
966 | IntegralAccRoll = 0; |
||
967 | MittelIntegralNick = 0; |
||
968 | MittelIntegralRoll = 0; |
||
969 | MittelIntegralNick2 = 0; |
||
970 | MittelIntegralRoll2 = 0; |
||
971 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
972 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
973 | ZaehlMessungen = 0; |
||
498 | hbuss | 974 | LageKorrekturNick = 0; |
975 | LageKorrekturRoll = 0; |
||
395 | hbuss | 976 | } |
977 | |||
1051 | killagreg | 978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 979 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 980 | { |
981 | long tmp_long, tmp_long2; |
||
1171 | hbuss | 982 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
992 | hbuss | 983 | { |
984 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 985 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
986 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
987 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
992 | hbuss | 988 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
989 | { |
||
990 | tmp_long /= 2; |
||
991 | tmp_long2 /= 2; |
||
992 | } |
||
993 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
994 | { |
||
995 | tmp_long /= 3; |
||
996 | tmp_long2 /= 3; |
||
997 | } |
||
998 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
999 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1000 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1001 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1002 | } |
||
1051 | killagreg | 1003 | else |
992 | hbuss | 1004 | { |
1005 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1006 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 1007 | tmp_long /= 16; |
1008 | tmp_long2 /= 16; |
||
1009 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1010 | { |
||
1011 | tmp_long /= 3; |
||
1012 | tmp_long2 /= 3; |
||
1216 | killagreg | 1013 | } |
1014 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1015 | { |
1016 | tmp_long /= 3; |
||
1017 | tmp_long2 /= 3; |
||
1018 | } |
||
1155 | hbuss | 1019 | |
1020 | #define AUSGLEICH 32 |
||
992 | hbuss | 1021 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1022 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1023 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1024 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1025 | } |
||
1166 | hbuss | 1026 | |
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 | |
1243 | killagreg | 1081 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1082 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1083 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1084 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1085 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1086 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1087 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1088 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1089 | { |
1051 | killagreg | 1090 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1091 | { |
1051 | killagreg | 1092 | if(last_n_p) |
395 | hbuss | 1093 | { |
1173 | hbuss | 1094 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1095 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1096 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1097 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1098 | } |
395 | hbuss | 1099 | else last_n_p = 1; |
1100 | } else last_n_p = 0; |
||
1051 | killagreg | 1101 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1102 | { |
1103 | if(last_n_n) |
||
1051 | killagreg | 1104 | { |
1173 | hbuss | 1105 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1106 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1107 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1108 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1109 | } |
395 | hbuss | 1110 | else last_n_n = 1; |
1111 | } else last_n_n = 0; |
||
1051 | killagreg | 1112 | } |
1113 | else |
||
847 | hbuss | 1114 | { |
1115 | cnt = 0; |
||
921 | hbuss | 1116 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1117 | } |
499 | hbuss | 1118 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1119 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1120 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1121 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1122 | |
395 | hbuss | 1123 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1124 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1125 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1126 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1127 | { |
1051 | killagreg | 1128 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1129 | { |
1051 | killagreg | 1130 | if(last_r_p) |
395 | hbuss | 1131 | { |
1173 | hbuss | 1132 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1133 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1134 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1135 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1136 | } |
395 | hbuss | 1137 | else last_r_p = 1; |
1138 | } else last_r_p = 0; |
||
1051 | killagreg | 1139 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1140 | { |
1051 | killagreg | 1141 | if(last_r_n) |
395 | hbuss | 1142 | { |
1173 | hbuss | 1143 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1144 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1145 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1146 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1147 | } |
1148 | else last_r_n = 1; |
||
1149 | } else last_r_n = 0; |
||
1051 | killagreg | 1150 | } else |
492 | hbuss | 1151 | { |
1152 | cnt = 0; |
||
921 | hbuss | 1153 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1154 | } |
499 | hbuss | 1155 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1156 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1157 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1158 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1159 | } |
1051 | killagreg | 1160 | else |
498 | hbuss | 1161 | { |
1162 | LageKorrekturRoll = 0; |
||
1163 | LageKorrekturNick = 0; |
||
880 | hbuss | 1164 | TrichterFlug = 0; |
498 | hbuss | 1165 | } |
1051 | killagreg | 1166 | |
498 | hbuss | 1167 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1169 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1170 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1172 | IntegralAccNick = 0; |
1173 | IntegralAccRoll = 0; |
||
1174 | IntegralAccZ = 0; |
||
1175 | MittelIntegralNick = 0; |
||
1176 | MittelIntegralRoll = 0; |
||
1177 | MittelIntegralNick2 = 0; |
||
1178 | MittelIntegralRoll2 = 0; |
||
1179 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1180 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1181 | |
1051 | killagreg | 1182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1183 | // Gieren |
1051 | killagreg | 1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1185 | if(abs(StickGier) > 15) // war 35 |
||
1 | ingob | 1186 | { |
921 | hbuss | 1187 | KompassSignalSchlecht = 1000; |
1051 | killagreg | 1188 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1189 | { |
||
1190 | NeueKompassRichtungMerken = 1; |
||
824 | hbuss | 1191 | }; |
1 | ingob | 1192 | } |
395 | hbuss | 1193 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1194 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
173 | holgerb | 1195 | sollGier = tmp_int; |
1051 | killagreg | 1196 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1197 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1198 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1199 | |
1200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1201 | // Kompass |
1051 | killagreg | 1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
1 | ingob | 1204 | { |
819 | hbuss | 1205 | int w,v,r,fehler,korrektur; |
1 | ingob | 1206 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1207 | v = abs(IntegralRoll /512); |
||
1208 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1658 | holgerb | 1209 | korrektur = w / 8 + 2; |
921 | hbuss | 1210 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1664 | holgerb | 1211 | //fehler += MesswertGier / 12; |
1662 | killagreg | 1212 | |
921 | hbuss | 1213 | if(!KompassSignalSchlecht && w < 25) |
1214 | { |
||
1215 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1216 | if(NeueKompassRichtungMerken) |
1217 | { |
||
1171 | hbuss | 1218 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
921 | hbuss | 1219 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1220 | NeueKompassRichtungMerken = 0; |
||
1221 | } |
||
1 | ingob | 1222 | } |
1658 | holgerb | 1223 | ErsatzKompass += (fehler * 16) / korrektur; |
921 | hbuss | 1224 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1 | ingob | 1225 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
921 | hbuss | 1226 | if(w >= 0) |
1 | ingob | 1227 | { |
1051 | killagreg | 1228 | if(!KompassSignalSchlecht) |
693 | hbuss | 1229 | { |
1051 | killagreg | 1230 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
847 | hbuss | 1231 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
819 | hbuss | 1232 | v = (r * w) / v; // nach Kompass ausrichten |
1233 | w = 3 * Parameter_KompassWirkung; |
||
693 | hbuss | 1234 | if(v > w) v = w; // Begrenzen |
1051 | killagreg | 1235 | else |
693 | hbuss | 1236 | if(v < -w) v = -w; |
1237 | Mess_Integral_Gier += v; |
||
1051 | killagreg | 1238 | } |
693 | hbuss | 1239 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1051 | killagreg | 1240 | } |
921 | hbuss | 1241 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1051 | killagreg | 1242 | } |
1 | ingob | 1243 | |
1051 | killagreg | 1244 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1245 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1246 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1247 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1248 | |
1171 | hbuss | 1249 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1250 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1251 | |
1167 | hbuss | 1252 | #define TRIM_MAX 200 |
1166 | hbuss | 1253 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1254 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1255 | |
1166 | hbuss | 1256 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1257 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1258 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1259 | |
1 | ingob | 1260 | // Maximalwerte abfangen |
1153 | hbuss | 1261 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1685 | holgerb | 1262 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1263 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1264 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1265 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1266 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1267 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1268 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1269 | |||
1051 | killagreg | 1270 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1271 | // Höhenregelung |
1272 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1274 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1275 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1276 | // if height control is activated |
1322 | hbuss | 1277 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1278 | { |
1698 | holgerb | 1279 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1280 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1281 | |
1282 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1283 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1284 | #else |
1638 | holgerb | 1285 | #define OPA_OFFSET_STEP 10 |
1286 | #endif |
||
1697 | holgerb | 1287 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1288 | static int HeightTrimming = 0; // rate for change of height setpoint |
1289 | static int FilterHCGas = 0; |
||
1692 | holgerb | 1290 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1587 | killagreg | 1291 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1292 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1293 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1294 | |
1309 | hbuss | 1295 | // get the current hooverpoint |
1587 | killagreg | 1296 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1297 | |
1322 | hbuss | 1298 | // Expand the measurement |
1299 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1300 | if(!BaroExpandActive) |
||
1301 | { |
||
1302 | if(MessLuftdruck > 920) |
||
1303 | { // increase offset |
||
1330 | killagreg | 1304 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1305 | { |
1306 | ExpandBaro -= 1; |
||
1307 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1308 | beeptime = 300; |
||
1352 | hbuss | 1309 | BaroExpandActive = 350; |
1330 | killagreg | 1310 | } |
1311 | else |
||
1322 | hbuss | 1312 | { |
1313 | BaroAtLowerLimit = 1; |
||
1314 | } |
||
1315 | } |
||
1316 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1317 | else |
1322 | hbuss | 1318 | if(MessLuftdruck < 100) |
1319 | { // decrease offset |
||
1330 | killagreg | 1320 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1321 | { |
1322 | ExpandBaro += 1; |
||
1323 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1324 | beeptime = 300; |
||
1352 | hbuss | 1325 | BaroExpandActive = 350; |
1330 | killagreg | 1326 | } |
1327 | else |
||
1322 | hbuss | 1328 | { |
1329 | BaroAtUpperLimit = 1; |
||
1330 | } |
||
1331 | } |
||
1330 | killagreg | 1332 | else |
1322 | hbuss | 1333 | { |
1334 | BaroAtUpperLimit = 0; |
||
1335 | BaroAtLowerLimit = 0; |
||
1336 | } |
||
1337 | } |
||
1338 | else // delay, because of expanding the Baro-Range |
||
1339 | { |
||
1340 | // now clear the D-values |
||
1341 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1342 | VarioMeter = 0; |
||
1343 | BaroExpandActive--; |
||
1344 | } |
||
1328 | hbuss | 1345 | |
1346 | // if height control is activated by an rc channel |
||
1347 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1348 | { // check if parameter is less than activation threshold |
||
1349 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1350 | { //height control not active |
||
1351 | if(!delay--) |
||
1352 | { |
||
1353 | HoehenReglerAktiv = 0; // disable height control |
||
1354 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1355 | delay = 1; |
||
1356 | } |
||
1357 | } |
||
1358 | else |
||
1359 | { //height control is activated |
||
1360 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1361 | delay = 200; |
1328 | hbuss | 1362 | } |
1051 | killagreg | 1363 | } |
1309 | hbuss | 1364 | else // no switchable height control |
1365 | { |
||
1366 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1367 | HoehenReglerAktiv = 1; |
||
1051 | killagreg | 1368 | } |
1322 | hbuss | 1369 | |
1320 | hbuss | 1370 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1371 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1372 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1373 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1374 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1375 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1376 | VarioCharacter = ' '; |
1420 | killagreg | 1377 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1378 | { |
1379 | #define HEIGHT_TRIM_UP 0x01 |
||
1380 | #define HEIGHT_TRIM_DOWN 0x02 |
||
1381 | static unsigned char HeightTrimmingFlag = 0x00; |
||
1382 | |||
1330 | killagreg | 1383 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1384 | // Holger original version |
1385 | // start of height control algorithm |
||
1386 | // the height control is only an attenuation of the actual gas stick. |
||
1387 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1388 | // and the hover height will be allways larger than height setpoint. |
||
1314 | killagreg | 1389 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1390 | { // old version |
||
1309 | hbuss | 1391 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1392 | HeightTrimming = 0; |
||
1393 | } |
||
1314 | killagreg | 1394 | else |
1309 | hbuss | 1395 | { |
1396 | // alternative height control |
||
1397 | // PD-Control with respect to hoover point |
||
1398 | // the thrust loss out of horizontal attitude is compensated |
||
1399 | // the setpoint will be fine adjusted with the gas stick position |
||
1420 | killagreg | 1400 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1309 | hbuss | 1401 | { // gas stick is above hoover point |
1587 | killagreg | 1402 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1403 | { |
1404 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
1405 | { |
||
1406 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
1407 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1408 | } |
||
1409 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
1587 | killagreg | 1410 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1411 | VarioCharacter = '+'; |
1309 | hbuss | 1412 | } // gas stick is below hoover point |
1587 | killagreg | 1413 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1414 | { |
1415 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
1416 | { |
||
1417 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
1418 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1419 | } |
||
1420 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
1587 | killagreg | 1421 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1422 | VarioCharacter = '-'; |
1309 | hbuss | 1423 | } |
1587 | killagreg | 1424 | else // Gas Stick in Hover Range |
1309 | hbuss | 1425 | { |
1352 | hbuss | 1426 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1309 | hbuss | 1427 | { |
1352 | hbuss | 1428 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1309 | hbuss | 1429 | HeightTrimming = 0; |
1430 | SollHoehe = HoehenWert; // update setpoint to current height |
||
1431 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1698 | holgerb | 1432 | if(!StartTrigger && HoehenWert > 50) |
1433 | { |
||
1434 | StartTrigger = 1; |
||
1435 | } |
||
1309 | hbuss | 1436 | } |
1591 | holgerb | 1437 | VarioCharacter = '='; |
1309 | hbuss | 1438 | } |
1439 | // Trim height set point |
||
1334 | killagreg | 1440 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1441 | { |
1332 | hbuss | 1442 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1443 | HeightTrimming = 0; |
1587 | killagreg | 1444 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1309 | hbuss | 1445 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1320 | hbuss | 1446 | //update hoover gas stick value when setpoint is shifted |
1332 | hbuss | 1447 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1448 | { |
||
1587 | killagreg | 1449 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1450 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1451 | if(StickGasHover < 70) StickGasHover = 70; |
||
1452 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1453 | } |
1309 | hbuss | 1454 | } |
1352 | hbuss | 1455 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1456 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1457 | else |
1458 | { |
||
1322 | hbuss | 1459 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1460 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1461 | else StickGasHover = 120; |
||
1698 | holgerb | 1462 | HoverGas = GasMischanteil; |
1320 | hbuss | 1463 | } |
1590 | killagreg | 1464 | HCGas = HoverGas; // take hover gas (neutral point) |
1465 | } |
||
1314 | killagreg | 1466 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1467 | { |
1590 | killagreg | 1468 | // from this point the Heigth Control Algorithm is identical for both versions |
1469 | if(BaroExpandActive) // baro range expanding active |
||
1470 | { |
||
1471 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1472 | HeightDeviation = 0; |
||
1473 | } // EOF // baro range expanding active |
||
1474 | else // valid data from air pressure sensor |
||
1475 | { |
||
1476 | // ------------------------- P-Part ---------------------------- |
||
1477 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1478 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1479 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1480 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1481 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1482 | GasReduction = tmp_long; |
||
1590 | killagreg | 1483 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1484 | tmp_int = VarioMeter / 8; |
||
1695 | holgerb | 1485 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1486 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1487 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1488 | if(HeightTrimmingFlag) tmp_int /= 4; // reduce d-part while trimming setpoint |
||
1698 | holgerb | 1489 | GasReduction += tmp_int; |
1590 | killagreg | 1490 | } // EOF no baro range expanding |
1309 | hbuss | 1491 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1492 | if(Parameter_Hoehe_ACC_Wirkung) |
1493 | { |
||
1494 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1495 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1496 | GasReduction += tmp_long; |
||
1497 | } |
||
1587 | killagreg | 1498 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1499 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1500 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1501 | GasReduction += tmp_int; |
1701 | holgerb | 1502 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1695 | holgerb | 1503 | |
1701 | holgerb | 1504 | // ------------------------ ---------------------------------- |
1505 | HCGas -= GasReduction; |
||
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 | { |
1705 | holgerb | 1509 | unsigned int tmp; |
1510 | tmp = abs(HeightDeviation); |
||
1511 | if(tmp <= 60) |
||
1512 | { |
||
1513 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1514 | } |
||
1515 | else |
||
1516 | { |
||
1517 | tmp = (tmp - 60) / 32; |
||
1692 | holgerb | 1518 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1519 | if(HeightDeviation > 0) |
1693 | holgerb | 1520 | { |
1705 | holgerb | 1521 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1522 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1523 | } |
1705 | holgerb | 1524 | else |
1525 | { |
||
1526 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1527 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1528 | } |
||
1529 | } |
||
1309 | hbuss | 1530 | } |
1705 | holgerb | 1531 | |
1322 | hbuss | 1532 | // strech control output by inverse attitude projection 1/cos |
1533 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1534 | tmp_long2 = (int32_t)HCGas; |
1535 | tmp_long2 *= 8192L; |
||
1536 | tmp_long2 /= CosAttitude; |
||
1537 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1538 | // update height control gas averaging |
1539 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1540 | // limit height control gas pd-control output |
||
1541 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1542 | // set GasMischanteil to HeightControlGasFilter |
||
1314 | killagreg | 1543 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1544 | { // old version |
1545 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1546 | } |
||
1698 | holgerb | 1547 | GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
1314 | killagreg | 1548 | } |
1309 | hbuss | 1549 | }// EOF height control active |
1320 | hbuss | 1550 | else // HC not active |
1551 | { |
||
1552 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1553 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1554 | { |
||
1555 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1556 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1557 | } |
1587 | killagreg | 1558 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1559 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1560 | FilterHCGas = GasMischanteil; |
1330 | killagreg | 1561 | } |
1283 | hbuss | 1562 | |
1587 | killagreg | 1563 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1564 | // this is done only if height contol option is selected in global config and aircraft is flying |
1698 | holgerb | 1565 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1309 | hbuss | 1566 | { |
1698 | holgerb | 1567 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1568 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1569 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1570 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1571 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1572 | // average vertical projected thrust |
1698 | holgerb | 1573 | if(modell_fliegt < 4000) // the first 8 seconds |
1574 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1575 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1576 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1577 | } |
1698 | holgerb | 1578 | if(modell_fliegt < 8000) // the first 16 seconds |
1579 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1580 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1581 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1582 | } |
1698 | holgerb | 1583 | else //later |
1584 | if(abs(VarioMeter) < 100) // only on small vertical speed |
||
1309 | hbuss | 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 | } |
1698 | holgerb | 1602 | } |
1603 | else |
||
1604 | { |
||
1605 | StartTrigger = 0; |
||
1606 | HoverGasFilter = 0; |
||
1607 | HoverGas = 0; |
||
1608 | } |
||
1309 | hbuss | 1609 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1610 | // limit gas to parameter setting |
||
1320 | hbuss | 1611 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1612 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1613 | |
1051 | killagreg | 1614 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1615 | // all BL-Ctrl connected? |
1616 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1675 | holgerb | 1617 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1320 | hbuss | 1618 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1619 | { |
||
1620 | modell_fliegt = 1; |
||
1675 | holgerb | 1621 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1622 | } |
1623 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1624 | // + Mischer und PI-Regler |
1051 | killagreg | 1625 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1626 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1627 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1628 | // Gier-Anteil |
1051 | killagreg | 1629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1630 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1631 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1632 | if(GasMischanteil > MIN_GIERGAS) |
1633 | { |
||
1051 | killagreg | 1634 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1635 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1636 | } |
1051 | killagreg | 1637 | else |
693 | hbuss | 1638 | { |
1051 | killagreg | 1639 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1640 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1641 | } |
855 | hbuss | 1642 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1643 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1644 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1645 | |
1051 | killagreg | 1646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1647 | // Nick-Achse |
1051 | killagreg | 1648 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1649 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1650 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1651 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1652 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1653 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1685 | holgerb | 1654 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1 | ingob | 1655 | // Motor Vorn |
1676 | holgerb | 1656 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1657 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1658 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1659 | |
1153 | hbuss | 1660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1661 | // Roll-Achse |
||
1662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1663 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1664 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1665 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1666 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1667 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1685 | holgerb | 1668 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1676 | holgerb | 1669 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1670 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1671 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1672 | |||
1673 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1674 | // Universal Mixer |
1155 | hbuss | 1675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1676 | for(i=0; i<MAX_MOTORS; i++) |
1677 | { |
||
1678 | signed int tmp_int; |
||
1679 | if(Mixer.Motor[i][0] > 0) |
||
1680 | { |
||
1652 | holgerb | 1681 | // Gas |
1676 | holgerb | 1682 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1683 | // Nick |
1684 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1685 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1686 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1687 | // Roll |
||
1688 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1689 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1690 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1691 | // Gier |
||
1676 | holgerb | 1692 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1693 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1694 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1695 | |
1680 | holgerb | 1696 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1697 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
1693 | holgerb | 1698 | |
1677 | killagreg | 1699 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1676 | holgerb | 1700 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1701 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1702 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1703 | } |
1704 | else |
||
1705 | { |
||
1706 | Motor[i].SetPoint = 0; |
||
1707 | Motor[i].SetPointLowerBits = 0; |
||
1708 | } |
||
1709 | } |
||
1111 | hbuss | 1710 | } |