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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; |
1840 | holgerb | 80 | int KompassValue = -1; |
1837 | holgerb | 81 | int KompassSollWert = 0; |
1153 | hbuss | 82 | int KompassRichtung = 0; |
1839 | holgerb | 83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
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85 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 86 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 87 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 88 | unsigned char TrichterFlug = 0; |
395 | hbuss | 89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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92 | int GierGyroFehler = 0; |
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1211 | hbuss | 93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 95 | int DiffNick,DiffRoll; |
1377 | hbuss | 96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 98 | volatile unsigned char SenderOkay = 0; |
595 | hbuss | 99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1698 | holgerb | 100 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 101 | long HoehenWert = 0; |
102 | long SollHoehe = 0; |
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1855 | holgerb | 103 | long FromNC_AltitudeSetpoint = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
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105 | |||
1840 | holgerb | 106 | int CompassGierSetpoint = 0; |
1692 | holgerb | 107 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 108 | //float Ki = FAKTOR_I; |
1676 | holgerb | 109 | int Ki = 10300 / 33; |
395 | hbuss | 110 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
111 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 112 | |
113 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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114 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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115 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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116 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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117 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 118 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 119 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 120 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 121 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 122 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 124 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
125 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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126 | unsigned char Parameter_UserParam1 = 0; |
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127 | unsigned char Parameter_UserParam2 = 0; |
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128 | unsigned char Parameter_UserParam3 = 0; |
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129 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 130 | unsigned char Parameter_UserParam5 = 0; |
131 | unsigned char Parameter_UserParam6 = 0; |
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132 | unsigned char Parameter_UserParam7 = 0; |
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133 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 134 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 135 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 136 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 137 | unsigned char Parameter_AchsKopplung1 = 90; |
138 | unsigned char Parameter_AchsKopplung2 = 65; |
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139 | unsigned char Parameter_CouplingYawCorrection = 64; |
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140 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 141 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 142 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
143 | unsigned char Parameter_J16Timing; // for the J16 Output |
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144 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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145 | unsigned char Parameter_J17Timing; // for the J17 Output |
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146 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 147 | unsigned char Parameter_NaviGpsGain; |
148 | unsigned char Parameter_NaviGpsP; |
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149 | unsigned char Parameter_NaviGpsI; |
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150 | unsigned char Parameter_NaviGpsD; |
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151 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 152 | unsigned char Parameter_NaviOperatingRadius; |
153 | unsigned char Parameter_NaviWindCorrection; |
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154 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 155 | unsigned char Parameter_ExternalControl; |
1403 | hbuss | 156 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 157 | unsigned char CareFree = 0; |
1760 | holgerb | 158 | const 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}; |
1622 | killagreg | 159 | |
492 | hbuss | 160 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 161 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 162 | unsigned int modell_fliegt = 0; |
1765 | killagreg | 163 | volatile unsigned char FC_StatusFlags = 0; |
1121 | hbuss | 164 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 165 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 166 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 167 | char VarioCharacter = ' '; |
168 | |||
1391 | killagreg | 169 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
170 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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171 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 172 | |
1622 | killagreg | 173 | |
1639 | holgerb | 174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // Debugwerte zuordnen |
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176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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177 | void CopyDebugValues(void) |
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178 | { |
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179 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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180 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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181 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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182 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 183 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 184 | DebugOut.Analog[5] = HoehenWert/5; |
1703 | holgerb | 185 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
1639 | holgerb | 186 | DebugOut.Analog[8] = KompassValue; |
187 | DebugOut.Analog[9] = UBat; |
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188 | DebugOut.Analog[10] = SenderOkay; |
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189 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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1702 | holgerb | 190 | DebugOut.Analog[12] = Motor[0].SetPoint; |
191 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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192 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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193 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 194 | DebugOut.Analog[20] = ServoNickValue; |
195 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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196 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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197 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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1682 | holgerb | 198 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1839 | holgerb | 199 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 200 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 201 | DebugOut.Analog[30] = GPS_Nick; |
202 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 203 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1760 | holgerb | 204 | |
1787 | holgerb | 205 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
1639 | holgerb | 206 | } |
207 | |||
1760 | holgerb | 208 | |
209 | |||
1232 | hbuss | 210 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 211 | { |
1232 | hbuss | 212 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 213 | while(Anzahl--) |
214 | { |
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1232 | hbuss | 215 | beeptime = dauer; |
216 | while(beeptime); |
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217 | Delay_ms(dauer * 2); |
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1 | ingob | 218 | } |
219 | } |
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220 | |||
221 | //############################################################################ |
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1622 | killagreg | 222 | // Messwerte beim Ermitteln der Nullage |
223 | void CalibrierMittelwert(void) |
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224 | //############################################################################ |
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225 | { |
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226 | unsigned char i; |
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227 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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228 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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229 | ANALOG_OFF; |
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230 | MesswertNick = AdWertNick; |
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231 | MesswertRoll = AdWertRoll; |
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232 | MesswertGier = AdWertGier; |
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1703 | holgerb | 233 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
234 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 235 | // ADC einschalten |
236 | ANALOG_ON; |
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237 | for(i=0;i<8;i++) |
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238 | { |
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239 | int tmp; |
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240 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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241 | LIMIT_MIN_MAX(tmp, 0, 255); |
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242 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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243 | } |
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244 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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245 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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246 | } |
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247 | |||
248 | //############################################################################ |
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1 | ingob | 249 | // Nullwerte ermitteln |
1622 | killagreg | 250 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 251 | //############################################################################ |
252 | { |
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1622 | killagreg | 253 | unsigned char i; |
254 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 255 | VersionInfo.HardwareError[0] = 0; |
1320 | hbuss | 256 | HEF4017R_ON; |
1051 | killagreg | 257 | NeutralAccX = 0; |
1 | ingob | 258 | NeutralAccY = 0; |
259 | NeutralAccZ = 0; |
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1622 | killagreg | 260 | |
1051 | killagreg | 261 | AdNeutralNick = 0; |
262 | AdNeutralRoll = 0; |
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1 | ingob | 263 | AdNeutralGier = 0; |
1622 | killagreg | 264 | |
395 | hbuss | 265 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 266 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 267 | |
1036 | hbuss | 268 | ExpandBaro = 0; |
1622 | killagreg | 269 | |
1051 | killagreg | 270 | CalibrierMittelwert(); |
395 | hbuss | 271 | Delay_ms_Mess(100); |
1622 | killagreg | 272 | |
1 | ingob | 273 | CalibrierMittelwert(); |
1622 | killagreg | 274 | |
1 | ingob | 275 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 276 | { |
1 | ingob | 277 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
278 | } |
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1166 | hbuss | 279 | #define NEUTRAL_FILTER 32 |
280 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 281 | { |
282 | Delay_ms_Mess(10); |
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1216 | killagreg | 283 | gier_neutral += AdWertGier; |
1166 | hbuss | 284 | nick_neutral += AdWertNick; |
285 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 286 | } |
1173 | hbuss | 287 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
288 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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289 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 290 | |
401 | hbuss | 291 | StartNeutralRoll = AdNeutralRoll; |
292 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 293 | |
294 | if(AccAdjustment) |
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295 | { |
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296 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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297 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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298 | NeutralAccZ = Aktuell_az; |
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299 | |||
300 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 301 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
302 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 303 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 304 | } |
1051 | killagreg | 305 | else |
513 | hbuss | 306 | { |
1622 | killagreg | 307 | // restore from eeprom |
308 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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309 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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310 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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311 | // strange settings? |
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1638 | holgerb | 312 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 313 | { |
314 | printf("\n\rACC not calibrated!\r\n"); |
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315 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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316 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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317 | NeutralAccZ = Aktuell_az; |
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318 | } |
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513 | hbuss | 319 | } |
1051 | killagreg | 320 | |
1 | ingob | 321 | MesswertNick = 0; |
322 | MesswertRoll = 0; |
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323 | MesswertGier = 0; |
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1111 | hbuss | 324 | Delay_ms_Mess(100); |
1703 | holgerb | 325 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
326 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1173 | hbuss | 327 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
328 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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329 | Mess_IntegralNick2 = IntegralNick; |
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330 | Mess_IntegralRoll2 = IntegralRoll; |
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331 | Mess_Integral_Gier = 0; |
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1 | ingob | 332 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 333 | VarioMeter = 0; |
1 | ingob | 334 | Mess_Integral_Hoch = 0; |
1837 | holgerb | 335 | KompassSollWert = KompassValue; |
1839 | holgerb | 336 | KompassSignalSchlecht = 100; |
1 | ingob | 337 | GPS_Neutral(); |
1051 | killagreg | 338 | beeptime = 50; |
882 | hbuss | 339 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
340 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 341 | ExternHoehenValue = 0; |
693 | hbuss | 342 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
343 | GierGyroFehler = 0; |
||
723 | hbuss | 344 | SendVersionToNavi = 1; |
921 | hbuss | 345 | LED_Init(); |
1765 | killagreg | 346 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 347 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 348 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 349 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 350 | |
351 | for(i=0;i<8;i++) |
||
1377 | hbuss | 352 | { |
353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
354 | } |
||
1171 | hbuss | 355 | SenderOkay = 100; |
1320 | hbuss | 356 | if(ServoActive) |
357 | { |
||
358 | HEF4017R_ON; |
||
359 | DDRD |=0x80; // enable J7 -> Servo signal |
||
360 | } |
||
1702 | holgerb | 361 | |
1765 | killagreg | 362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
1 | ingob | 368 | } |
369 | |||
1702 | holgerb | 370 | |
1 | ingob | 371 | //############################################################################ |
395 | hbuss | 372 | // Bearbeitet die Messwerte |
1 | ingob | 373 | void Mittelwert(void) |
374 | //############################################################################ |
||
1051 | killagreg | 375 | { |
1111 | hbuss | 376 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
377 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 378 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 379 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 380 | MesswertNick = (signed int) AdWertNickFilter / 8; |
381 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 382 | RohMesswertNick = MesswertNick; |
383 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 384 | |
395 | hbuss | 385 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 386 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
387 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 388 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
389 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 390 | NaviAccNick += AdWertAccNick; |
391 | NaviAccRoll += AdWertAccRoll; |
||
392 | NaviCntAcc++; |
||
1153 | hbuss | 393 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
394 | |||
1155 | hbuss | 395 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | // ADC einschalten |
||
1171 | hbuss | 397 | ANALOG_ON; |
1155 | hbuss | 398 | AdReady = 0; |
399 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
400 | |||
1216 | killagreg | 401 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
402 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 403 | else winkel_roll = Mess_IntegralRoll; |
404 | |||
1216 | killagreg | 405 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
406 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 407 | else winkel_nick = Mess_IntegralNick; |
408 | |||
1120 | hbuss | 409 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 410 | Mess_Integral_Gier += MesswertGier; |
411 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 412 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
413 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
414 | { |
||
1153 | hbuss | 415 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 416 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 417 | tmpl3 /= 4096L; |
1153 | hbuss | 418 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 419 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 420 | tmpl4 /= 4096L; |
1153 | hbuss | 421 | KopplungsteilNickRoll = tmpl3; |
422 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 423 | tmpl4 -= tmpl3; |
424 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 425 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 426 | |
1153 | hbuss | 427 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 428 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 429 | tmpl /= 4096L; |
1153 | hbuss | 430 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 431 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 432 | tmpl2 /= 4096L; |
1225 | hbuss | 433 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 434 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 435 | } |
1166 | hbuss | 436 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 437 | TrimRoll = tmpl - tmpl2 / 100L; |
438 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 439 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
441 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 442 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 443 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
444 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 445 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 446 | { |
882 | hbuss | 447 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 448 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 449 | } |
395 | hbuss | 450 | if(Mess_IntegralRoll <-Umschlag180Roll) |
451 | { |
||
882 | hbuss | 452 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 453 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 454 | } |
395 | hbuss | 455 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 456 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
457 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 458 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 459 | { |
460 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
461 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 462 | } |
463 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 464 | { |
882 | hbuss | 465 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 466 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 467 | } |
1111 | hbuss | 468 | |
1 | ingob | 469 | Integral_Gier = Mess_Integral_Gier; |
470 | IntegralNick = Mess_IntegralNick; |
||
471 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 472 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 473 | IntegralRoll2 = Mess_IntegralRoll2; |
474 | |||
1166 | hbuss | 475 | #define D_LIMIT 128 |
476 | |||
1171 | hbuss | 477 | MesswertNick = HiResNick / 8; |
478 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 479 | |
1167 | hbuss | 480 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
481 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
482 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
483 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
484 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
485 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
486 | |||
1216 | killagreg | 487 | if(Parameter_Gyro_D) |
1111 | hbuss | 488 | { |
1166 | hbuss | 489 | d2Nick = HiResNick - oldNick; |
490 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 491 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
492 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 493 | |
1166 | hbuss | 494 | d2Roll = HiResRoll - oldRoll; |
495 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 496 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
497 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 498 | |
499 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 500 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
501 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
502 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 503 | } |
1111 | hbuss | 504 | |
1166 | hbuss | 505 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
506 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
507 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
508 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 509 | |
510 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
511 | { |
||
512 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
513 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
514 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
515 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
516 | } |
||
1 | ingob | 517 | } |
518 | |||
519 | //############################################################################ |
||
520 | // Senden der Motorwerte per I2C-Bus |
||
521 | void SendMotorData(void) |
||
522 | //############################################################################ |
||
1051 | killagreg | 523 | { |
1209 | hbuss | 524 | unsigned char i; |
921 | hbuss | 525 | if(!MotorenEin) |
1 | ingob | 526 | { |
1765 | killagreg | 527 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
1216 | killagreg | 528 | for(i=0;i<MAX_MOTORS;i++) |
529 | { |
||
530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 531 | Motor[i].SetPoint = MotorTest[i]; |
532 | Motor[i].SetPointLowerBits = 0; |
||
533 | /* |
||
1760 | holgerb | 534 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 536 | */ |
1216 | killagreg | 537 | } |
1212 | hbuss | 538 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 539 | } |
1765 | killagreg | 540 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 541 | |
1765 | killagreg | 542 | if(I2C_TransferActive) |
1744 | holgerb | 543 | { |
1760 | holgerb | 544 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 545 | } |
546 | else |
||
1744 | holgerb | 547 | { |
548 | motor_write = 0; |
||
1760 | holgerb | 549 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 550 | } |
1 | ingob | 551 | } |
552 | |||
553 | |||
554 | |||
555 | //############################################################################ |
||
556 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 557 | void ParameterZuordnung(void) |
1 | ingob | 558 | //############################################################################ |
559 | { |
||
1787 | holgerb | 560 | unsigned char tmp,i; |
1839 | holgerb | 561 | static unsigned char carefree_old = 2; |
1391 | killagreg | 562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
1787 | holgerb | 564 | for(i=0;i<8;i++) |
565 | { |
||
566 | int tmp2; |
||
567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
||
569 | if(tmp2 != Poti[i]) |
||
570 | { |
||
571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
572 | if(Poti[i] > tmp2) Poti[i]--; |
||
573 | else Poti[i]++; |
||
574 | } |
||
575 | } |
||
921 | hbuss | 576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
1403 | hbuss | 581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1377 | hbuss | 584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1403 | hbuss | 585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
1377 | hbuss | 586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 612 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 613 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 614 | |
615 | tmp = EE_Parameter.OrientationModeControl; |
||
1690 | holgerb | 616 | if(tmp > 50) |
1668 | holgerb | 617 | { |
1682 | holgerb | 618 | #ifdef SWITCH_LEARNS_CAREFREE |
1839 | holgerb | 619 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1682 | holgerb | 620 | #endif |
621 | CareFree = 1; |
||
1839 | holgerb | 622 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
623 | if(carefree_old == 0 && CareFree) beeptime = 1000; |
||
624 | if(carefree_old == 1 && !CareFree) beeptime = 200; |
||
625 | carefree_old = CareFree; |
||
626 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
||
1669 | killagreg | 627 | } |
1839 | holgerb | 628 | else |
629 | { |
||
630 | CareFree = 0; |
||
631 | carefree_old = 0; |
||
632 | } |
||
1668 | holgerb | 633 | |
1691 | holgerb | 634 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 635 | { |
636 | beeptime = 15000; |
||
637 | BeepMuster = 0xA400; |
||
638 | CareFree = 0; |
||
1765 | killagreg | 639 | } |
1702 | holgerb | 640 | |
1668 | holgerb | 641 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
1 | ingob | 642 | } |
643 | |||
644 | //############################################################################ |
||
645 | // |
||
646 | void MotorRegler(void) |
||
647 | //############################################################################ |
||
648 | { |
||
1330 | killagreg | 649 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 650 | int GierMischanteil,GasMischanteil; |
651 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 652 | static long IntegralFehlerNick = 0; |
653 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 654 | static unsigned int RcLostTimer; |
655 | static unsigned char delay_neutral = 0; |
||
656 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 657 | static unsigned char calibration_done = 0; |
1 | ingob | 658 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 659 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 660 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 661 | unsigned char i; |
1051 | killagreg | 662 | Mittelwert(); |
1 | ingob | 663 | GRN_ON; |
1051 | killagreg | 664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 665 | // Gaswert ermitteln |
1051 | killagreg | 666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | GasMischanteil = StickGas; |
||
831 | hbuss | 668 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 669 | |
1051 | killagreg | 670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 671 | // Empfang schlecht |
1051 | killagreg | 672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 673 | if(SenderOkay < 100) |
674 | { |
||
1051 | killagreg | 675 | if(RcLostTimer) RcLostTimer--; |
676 | else |
||
1 | ingob | 677 | { |
678 | MotorenEin = 0; |
||
1765 | killagreg | 679 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1051 | killagreg | 680 | } |
1 | ingob | 681 | ROT_ON; |
693 | hbuss | 682 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 683 | { |
684 | GasMischanteil = EE_Parameter.NotGas; |
||
1765 | killagreg | 685 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 686 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 687 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 688 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
689 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
690 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 691 | } |
1 | ingob | 692 | else MotorenEin = 0; |
693 | } |
||
1051 | killagreg | 694 | else |
695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 696 | // Emfang gut |
1051 | killagreg | 697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 698 | if(SenderOkay > 140) |
699 | { |
||
1765 | killagreg | 700 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 701 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 702 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 703 | { |
704 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
705 | } |
||
871 | hbuss | 706 | if((modell_fliegt < 256)) |
1 | ingob | 707 | { |
708 | SummeNick = 0; |
||
709 | SummeRoll = 0; |
||
1682 | holgerb | 710 | sollGier = 0; |
711 | Mess_Integral_Gier = 0; |
||
1765 | killagreg | 712 | } else FC_StatusFlags |= FC_STATUS_FLY; |
1051 | killagreg | 713 | |
595 | hbuss | 714 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 715 | { |
1051 | killagreg | 716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 717 | // auf Nullwerte kalibrieren |
1051 | killagreg | 718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 719 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
720 | { |
||
721 | if(++delay_neutral > 200) // nicht sofort |
||
722 | { |
||
723 | GRN_OFF; |
||
724 | MotorenEin = 0; |
||
725 | delay_neutral = 0; |
||
726 | modell_fliegt = 0; |
||
727 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
728 | { |
||
304 | ingob | 729 | unsigned char setting=1; |
1 | ingob | 730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
733 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 735 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 736 | } |
1051 | killagreg | 737 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
738 | { |
||
819 | hbuss | 739 | WinkelOut.CalcState = 1; |
740 | beeptime = 1000; |
||
741 | } |
||
742 | else |
||
1 | ingob | 743 | { |
1622 | killagreg | 744 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 745 | LipoDetection(0); |
1626 | killagreg | 746 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
819 | hbuss | 747 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
748 | { |
||
1 | ingob | 749 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 750 | } |
1330 | killagreg | 751 | ServoActive = 0; |
1622 | killagreg | 752 | SetNeutral(0); |
1765 | killagreg | 753 | calibration_done = 1; |
1232 | hbuss | 754 | ServoActive = 1; |
755 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 756 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 757 | } |
1051 | killagreg | 758 | } |
1 | ingob | 759 | } |
1051 | killagreg | 760 | else |
513 | hbuss | 761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
762 | { |
||
763 | if(++delay_neutral > 200) // nicht sofort |
||
764 | { |
||
765 | GRN_OFF; |
||
766 | MotorenEin = 0; |
||
767 | delay_neutral = 0; |
||
768 | modell_fliegt = 0; |
||
1622 | killagreg | 769 | SetNeutral(1); |
770 | calibration_done = 1; |
||
771 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 772 | } |
513 | hbuss | 773 | } |
1 | ingob | 774 | else delay_neutral = 0; |
775 | } |
||
1051 | killagreg | 776 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 777 | // Gas ist unten |
1051 | killagreg | 778 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | holgerb | 779 | |
595 | hbuss | 780 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 781 | { |
1521 | killagreg | 782 | // Motoren Starten |
783 | if(!MotorenEin) |
||
784 | { |
||
1760 | holgerb | 785 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 786 | { |
1051 | killagreg | 787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 788 | // Einschalten |
1051 | killagreg | 789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 790 | if(++delay_einschalten > 200) |
791 | { |
||
792 | delay_einschalten = 0; |
||
1834 | holgerb | 793 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
1622 | killagreg | 794 | { |
795 | modell_fliegt = 1; |
||
796 | MotorenEin = 1; |
||
797 | sollGier = 0; |
||
798 | Mess_Integral_Gier = 0; |
||
799 | Mess_Integral_Gier2 = 0; |
||
800 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
801 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
802 | Mess_IntegralNick2 = IntegralNick; |
||
803 | Mess_IntegralRoll2 = IntegralRoll; |
||
804 | SummeNick = 0; |
||
805 | SummeRoll = 0; |
||
1765 | killagreg | 806 | FC_StatusFlags |= FC_STATUS_START; |
1669 | killagreg | 807 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 808 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1622 | killagreg | 809 | } |
810 | else |
||
811 | { |
||
812 | beeptime = 1500; // indicate missing calibration |
||
813 | } |
||
1521 | killagreg | 814 | } |
815 | } |
||
816 | else delay_einschalten = 0; |
||
817 | } |
||
1051 | killagreg | 818 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 819 | // Auschalten |
1051 | killagreg | 820 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 821 | else // only if motors are running |
822 | { |
||
1760 | holgerb | 823 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 824 | { |
825 | if(++delay_ausschalten > 200) // nicht sofort |
||
826 | { |
||
827 | MotorenEin = 0; |
||
828 | delay_ausschalten = 0; |
||
829 | modell_fliegt = 0; |
||
830 | } |
||
831 | } |
||
832 | else delay_ausschalten = 0; |
||
833 | } |
||
1 | ingob | 834 | } |
835 | } |
||
1051 | killagreg | 836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 837 | // neue Werte von der Funke |
1051 | killagreg | 838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 839 | |
1765 | killagreg | 840 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 841 | { |
604 | hbuss | 842 | static int stick_nick,stick_roll; |
1 | ingob | 843 | ParameterZuordnung(); |
1051 | killagreg | 844 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
723 | hbuss | 845 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
846 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
847 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
848 | |||
1707 | holgerb | 849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
850 | // CareFree und freie Wahl der vorderen Richtung |
||
851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1668 | holgerb | 852 | if(CareFree) |
1658 | holgerb | 853 | { |
1664 | holgerb | 854 | signed int nick, roll; |
855 | nick = stick_nick / 4; |
||
856 | roll = stick_roll / 4; |
||
857 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
858 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1658 | holgerb | 859 | } |
1662 | killagreg | 860 | else |
1658 | holgerb | 861 | { |
1668 | holgerb | 862 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
863 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
864 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
865 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1658 | holgerb | 866 | } |
1662 | killagreg | 867 | |
1 | ingob | 868 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 869 | if(StickGier > 4) StickGier -= 4; else |
870 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 871 | |
1658 | holgerb | 872 | StickNick -= (GPS_Nick + GPS_Nick2); |
873 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
1350 | hbuss | 874 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
1330 | killagreg | 875 | |
1153 | hbuss | 876 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
877 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 878 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
879 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 880 | |
595 | hbuss | 881 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | //+ Analoge Steuerung per Seriell |
||
883 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 884 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 885 | { |
886 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
887 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
888 | StickGier += ExternControl.Gier; |
||
889 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
890 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
891 | } |
||
855 | hbuss | 892 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 893 | |
1 | ingob | 894 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 895 | |
1051 | killagreg | 896 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 897 | { |
1051 | killagreg | 898 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 899 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 900 | } |
928 | hbuss | 901 | else MaxStickNick--; |
1051 | killagreg | 902 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 903 | { |
1051 | killagreg | 904 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 905 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 906 | } |
928 | hbuss | 907 | else MaxStickRoll--; |
1765 | killagreg | 908 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 909 | |
1051 | killagreg | 910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 911 | // Looping? |
1051 | killagreg | 912 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 913 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 914 | else |
915 | { |
||
395 | hbuss | 916 | { |
1051 | killagreg | 917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
918 | } |
||
919 | } |
||
993 | hbuss | 920 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 921 | else |
395 | hbuss | 922 | { |
923 | if(Looping_Rechts) // Hysterese |
||
924 | { |
||
925 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
926 | } |
||
1051 | killagreg | 927 | } |
173 | holgerb | 928 | |
993 | hbuss | 929 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 930 | else |
931 | { |
||
395 | hbuss | 932 | if(Looping_Oben) // Hysterese |
933 | { |
||
1051 | killagreg | 934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
935 | } |
||
936 | } |
||
993 | hbuss | 937 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 938 | else |
395 | hbuss | 939 | { |
940 | if(Looping_Unten) // Hysterese |
||
941 | { |
||
942 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
943 | } |
||
1051 | killagreg | 944 | } |
395 | hbuss | 945 | |
946 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 947 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 948 | } // Ende neue Funken-Werte |
949 | |||
950 | if(Looping_Roll || Looping_Nick) |
||
951 | { |
||
173 | holgerb | 952 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 953 | TrichterFlug = 1; |
173 | holgerb | 954 | } |
955 | |||
1051 | killagreg | 956 | |
957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
958 | // Bei Empfangsausfall im Flug |
||
959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1765 | killagreg | 960 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 961 | { |
962 | StickGier = 0; |
||
963 | StickNick = 0; |
||
964 | StickRoll = 0; |
||
1211 | hbuss | 965 | GyroFaktor = 90; |
966 | IntegralFaktor = 120; |
||
967 | GyroFaktorGier = 90; |
||
968 | IntegralFaktorGier = 120; |
||
173 | holgerb | 969 | Looping_Roll = 0; |
970 | Looping_Nick = 0; |
||
1051 | killagreg | 971 | } |
395 | hbuss | 972 | |
973 | |||
1051 | killagreg | 974 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 975 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 976 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 977 | #define ABGLEICH_ANZAHL 256L |
978 | |||
979 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
980 | MittelIntegralRoll += IntegralRoll; |
||
981 | MittelIntegralNick2 += IntegralNick2; |
||
982 | MittelIntegralRoll2 += IntegralRoll2; |
||
983 | |||
984 | if(Looping_Nick || Looping_Roll) |
||
985 | { |
||
986 | IntegralAccNick = 0; |
||
987 | IntegralAccRoll = 0; |
||
988 | MittelIntegralNick = 0; |
||
989 | MittelIntegralRoll = 0; |
||
990 | MittelIntegralNick2 = 0; |
||
991 | MittelIntegralRoll2 = 0; |
||
992 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
993 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
994 | ZaehlMessungen = 0; |
||
498 | hbuss | 995 | LageKorrekturNick = 0; |
996 | LageKorrekturRoll = 0; |
||
395 | hbuss | 997 | } |
998 | |||
1051 | killagreg | 999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1000 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1001 | { |
1002 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1003 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
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); |
1007 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1008 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1839 | holgerb | 1009 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
992 | hbuss | 1010 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1011 | { |
||
1012 | tmp_long /= 2; |
||
1013 | tmp_long2 /= 2; |
||
1014 | } |
||
1015 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1016 | { |
||
1017 | tmp_long /= 3; |
||
1018 | tmp_long2 /= 3; |
||
1019 | } |
||
1020 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1021 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1022 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1023 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1024 | } |
||
1051 | killagreg | 1025 | else |
992 | hbuss | 1026 | { |
1027 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1028 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 1029 | tmp_long /= 16; |
1030 | tmp_long2 /= 16; |
||
1031 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1032 | { |
||
1033 | tmp_long /= 3; |
||
1034 | tmp_long2 /= 3; |
||
1216 | killagreg | 1035 | } |
1036 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1037 | { |
1038 | tmp_long /= 3; |
||
1039 | tmp_long2 /= 3; |
||
1040 | } |
||
1839 | holgerb | 1041 | KompassFusion = 25; |
1155 | hbuss | 1042 | #define AUSGLEICH 32 |
992 | hbuss | 1043 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1044 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1045 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1046 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1047 | } |
||
1166 | hbuss | 1048 | |
1111 | hbuss | 1049 | Mess_IntegralNick -= tmp_long; |
1050 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1051 | } |
1051 | killagreg | 1052 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1053 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1054 | { |
||
1055 | static int cnt = 0; |
||
1056 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1057 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1058 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1059 | { |
395 | hbuss | 1060 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1061 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1062 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1063 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1064 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1065 | #define MAX_I 0 |
395 | hbuss | 1066 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1067 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1068 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1069 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1070 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1071 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1072 | |
1073 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1074 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1075 | |
992 | hbuss | 1076 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1077 | { |
1078 | LageKorrekturNick /= 2; |
||
720 | ingob | 1079 | LageKorrekturRoll /= 2; |
614 | hbuss | 1080 | } |
498 | hbuss | 1081 | |
1051 | killagreg | 1082 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1083 | // Gyro-Drift ermitteln |
1051 | killagreg | 1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1085 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1086 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1087 | tmp_long = IntegralNick2 - IntegralNick; |
1088 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1089 | |
1090 | IntegralFehlerNick = tmp_long; |
||
1091 | IntegralFehlerRoll = tmp_long2; |
||
1092 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1093 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1094 | |||
1111 | hbuss | 1095 | if(EE_Parameter.Driftkomp) |
1096 | { |
||
1622 | killagreg | 1097 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1098 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1099 | } |
693 | hbuss | 1100 | GierGyroFehler = 0; |
720 | ingob | 1101 | |
1243 | killagreg | 1102 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1103 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1104 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1105 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1106 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1107 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1108 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1109 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1110 | { |
1051 | killagreg | 1111 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1112 | { |
1051 | killagreg | 1113 | if(last_n_p) |
395 | hbuss | 1114 | { |
1173 | hbuss | 1115 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1116 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1117 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1118 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1119 | } |
395 | hbuss | 1120 | else last_n_p = 1; |
1121 | } else last_n_p = 0; |
||
1051 | killagreg | 1122 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1123 | { |
1124 | if(last_n_n) |
||
1051 | killagreg | 1125 | { |
1173 | hbuss | 1126 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1127 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1128 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1129 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1130 | } |
395 | hbuss | 1131 | else last_n_n = 1; |
1132 | } else last_n_n = 0; |
||
1051 | killagreg | 1133 | } |
1134 | else |
||
847 | hbuss | 1135 | { |
1136 | cnt = 0; |
||
1839 | holgerb | 1137 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1138 | } |
499 | hbuss | 1139 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1140 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1141 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1142 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1143 | |
395 | hbuss | 1144 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1145 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1146 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1147 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1148 | { |
1051 | killagreg | 1149 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1150 | { |
1051 | killagreg | 1151 | if(last_r_p) |
395 | hbuss | 1152 | { |
1173 | hbuss | 1153 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1154 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1155 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1156 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1157 | } |
395 | hbuss | 1158 | else last_r_p = 1; |
1159 | } else last_r_p = 0; |
||
1051 | killagreg | 1160 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1161 | { |
1051 | killagreg | 1162 | if(last_r_n) |
395 | hbuss | 1163 | { |
1173 | hbuss | 1164 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1165 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1166 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1167 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1168 | } |
1169 | else last_r_n = 1; |
||
1170 | } else last_r_n = 0; |
||
1051 | killagreg | 1171 | } else |
492 | hbuss | 1172 | { |
1173 | cnt = 0; |
||
1839 | holgerb | 1174 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1175 | } |
499 | hbuss | 1176 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1177 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1178 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1179 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1180 | } |
1051 | killagreg | 1181 | else |
498 | hbuss | 1182 | { |
1183 | LageKorrekturRoll = 0; |
||
1184 | LageKorrekturNick = 0; |
||
880 | hbuss | 1185 | TrichterFlug = 0; |
498 | hbuss | 1186 | } |
1051 | killagreg | 1187 | |
498 | hbuss | 1188 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1190 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1191 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1193 | IntegralAccNick = 0; |
1194 | IntegralAccRoll = 0; |
||
1195 | IntegralAccZ = 0; |
||
1196 | MittelIntegralNick = 0; |
||
1197 | MittelIntegralRoll = 0; |
||
1198 | MittelIntegralNick2 = 0; |
||
1199 | MittelIntegralRoll2 = 0; |
||
1200 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1201 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1202 | |
1051 | killagreg | 1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1204 | // Gieren |
1051 | killagreg | 1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1206 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1207 | { |
1839 | holgerb | 1208 | // KompassSignalSchlecht = 1000; |
1051 | killagreg | 1209 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1210 | { |
||
1840 | holgerb | 1211 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1212 | }; |
1 | ingob | 1213 | } |
395 | hbuss | 1214 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1215 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1840 | holgerb | 1216 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1217 | sollGier = tmp_int; |
1051 | killagreg | 1218 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1219 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1220 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1221 | |
1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1223 | // Kompass |
1051 | killagreg | 1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1225 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1226 | { |
1839 | holgerb | 1227 | if(CalculateCompassTimer-- == 1) |
1228 | { |
||
1229 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1230 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1231 | // max. Korrekturwert schätzen |
1 | ingob | 1232 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1233 | v = abs(IntegralRoll /512); |
||
1234 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1839 | holgerb | 1235 | korrektur = w / 4 + 1; |
1840 | holgerb | 1236 | // Kompassfehlerwert bestimmen |
1237 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
1238 | // GIER_GRAD_FAKTOR ist ca. 1200 |
||
1662 | killagreg | 1239 | |
1840 | holgerb | 1240 | // Kompasswert einloggen |
1241 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1242 | else |
||
1243 | if(w < 25) |
||
921 | hbuss | 1244 | { |
1245 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1246 | if(NeueKompassRichtungMerken) |
1247 | { |
||
1839 | holgerb | 1248 | if(--NeueKompassRichtungMerken == 0) |
1249 | { |
||
1250 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
1251 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
||
1252 | } |
||
921 | hbuss | 1253 | } |
1 | ingob | 1254 | } |
1840 | holgerb | 1255 | // Kompass fusionieren |
1839 | holgerb | 1256 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1257 | |||
1840 | holgerb | 1258 | // MK Gieren |
1839 | holgerb | 1259 | if(!NeueKompassRichtungMerken) |
1260 | { |
||
1840 | holgerb | 1261 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1262 | DebugOut.Analog[19] = r; |
||
1839 | holgerb | 1263 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1264 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
1265 | CompassGierSetpoint = v / 16; |
||
1266 | } |
||
1267 | else CompassGierSetpoint = 0; |
||
1839 | holgerb | 1268 | |
1269 | /* |
||
1840 | holgerb | 1270 | DebugOut.Analog[16] = fehler; |
1271 | DebugOut.Analog[17] = korrektur; |
||
1272 | */ |
||
1273 | DebugOut.Analog[25] = CompassGierSetpoint; |
||
1274 | DebugOut.Analog[18] = KompassFusion; |
||
1275 | |||
1276 | /* |
||
921 | hbuss | 1277 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1 | ingob | 1278 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
921 | hbuss | 1279 | if(w >= 0) |
1 | ingob | 1280 | { |
1051 | killagreg | 1281 | if(!KompassSignalSchlecht) |
693 | hbuss | 1282 | { |
1051 | killagreg | 1283 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1839 | holgerb | 1284 | DebugOut.Analog[16] = korrektur; |
1837 | holgerb | 1285 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
819 | hbuss | 1286 | v = (r * w) / v; // nach Kompass ausrichten |
1287 | w = 3 * Parameter_KompassWirkung; |
||
693 | hbuss | 1288 | if(v > w) v = w; // Begrenzen |
1051 | killagreg | 1289 | else |
693 | hbuss | 1290 | if(v < -w) v = -w; |
1839 | holgerb | 1291 | // Mess_Integral_Gier += v; |
1051 | killagreg | 1292 | } |
693 | hbuss | 1293 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1051 | killagreg | 1294 | } |
921 | hbuss | 1295 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1839 | holgerb | 1296 | */ |
1297 | } // CalculateCompassTimer |
||
1051 | killagreg | 1298 | } |
1840 | holgerb | 1299 | else CompassGierSetpoint = 0; |
1051 | killagreg | 1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1301 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1302 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1303 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1304 | |
1171 | hbuss | 1305 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1306 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1307 | |
1167 | hbuss | 1308 | #define TRIM_MAX 200 |
1166 | hbuss | 1309 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1310 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1311 | |
1166 | hbuss | 1312 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1313 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1314 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1315 | |
1 | ingob | 1316 | // Maximalwerte abfangen |
1153 | hbuss | 1317 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1685 | holgerb | 1318 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1319 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1320 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1321 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1322 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1323 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1324 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1325 | |||
1051 | killagreg | 1326 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1327 | // Höhenregelung |
1328 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1329 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1330 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1331 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1332 | // if height control is activated |
1322 | hbuss | 1333 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1334 | { |
1698 | holgerb | 1335 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1336 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1337 | |
1338 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1339 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1340 | #else |
1638 | holgerb | 1341 | #define OPA_OFFSET_STEP 10 |
1342 | #endif |
||
1697 | holgerb | 1343 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1344 | static int HeightTrimming = 0; // rate for change of height setpoint |
1345 | static int FilterHCGas = 0; |
||
1692 | holgerb | 1346 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1587 | killagreg | 1347 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1348 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1349 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1350 | |
1309 | hbuss | 1351 | // get the current hooverpoint |
1587 | killagreg | 1352 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1353 | |
1322 | hbuss | 1354 | // Expand the measurement |
1355 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1356 | if(!BaroExpandActive) |
||
1357 | { |
||
1358 | if(MessLuftdruck > 920) |
||
1359 | { // increase offset |
||
1330 | killagreg | 1360 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1361 | { |
1362 | ExpandBaro -= 1; |
||
1363 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1364 | beeptime = 300; |
||
1352 | hbuss | 1365 | BaroExpandActive = 350; |
1330 | killagreg | 1366 | } |
1367 | else |
||
1322 | hbuss | 1368 | { |
1369 | BaroAtLowerLimit = 1; |
||
1370 | } |
||
1371 | } |
||
1372 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1373 | else |
1322 | hbuss | 1374 | if(MessLuftdruck < 100) |
1375 | { // decrease offset |
||
1330 | killagreg | 1376 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1377 | { |
1378 | ExpandBaro += 1; |
||
1379 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1380 | beeptime = 300; |
||
1352 | hbuss | 1381 | BaroExpandActive = 350; |
1330 | killagreg | 1382 | } |
1383 | else |
||
1322 | hbuss | 1384 | { |
1385 | BaroAtUpperLimit = 1; |
||
1386 | } |
||
1387 | } |
||
1330 | killagreg | 1388 | else |
1322 | hbuss | 1389 | { |
1390 | BaroAtUpperLimit = 0; |
||
1391 | BaroAtLowerLimit = 0; |
||
1392 | } |
||
1393 | } |
||
1394 | else // delay, because of expanding the Baro-Range |
||
1395 | { |
||
1396 | // now clear the D-values |
||
1397 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1398 | VarioMeter = 0; |
||
1399 | BaroExpandActive--; |
||
1400 | } |
||
1328 | hbuss | 1401 | |
1402 | // if height control is activated by an rc channel |
||
1403 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1404 | { // check if parameter is less than activation threshold |
||
1405 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1406 | { //height control not active |
||
1407 | if(!delay--) |
||
1408 | { |
||
1409 | HoehenReglerAktiv = 0; // disable height control |
||
1410 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1411 | delay = 1; |
||
1412 | } |
||
1413 | } |
||
1414 | else |
||
1415 | { //height control is activated |
||
1416 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1417 | delay = 200; |
1328 | hbuss | 1418 | } |
1051 | killagreg | 1419 | } |
1309 | hbuss | 1420 | else // no switchable height control |
1421 | { |
||
1422 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1423 | HoehenReglerAktiv = 1; |
||
1051 | killagreg | 1424 | } |
1322 | hbuss | 1425 | |
1320 | hbuss | 1426 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1427 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1428 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1429 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1430 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1431 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1432 | VarioCharacter = ' '; |
1765 | killagreg | 1433 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1434 | { |
1330 | killagreg | 1435 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1436 | // Holger original version |
1437 | // start of height control algorithm |
||
1438 | // the height control is only an attenuation of the actual gas stick. |
||
1439 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1440 | // and the hover height will be allways larger than height setpoint. |
||
1314 | killagreg | 1441 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1442 | { // old version |
||
1309 | hbuss | 1443 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1444 | HeightTrimming = 0; |
||
1773 | killagreg | 1445 | // set both flags to indicate no vario mode |
1446 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1447 | } |
1314 | killagreg | 1448 | else |
1309 | hbuss | 1449 | { |
1450 | // alternative height control |
||
1451 | // PD-Control with respect to hoover point |
||
1452 | // the thrust loss out of horizontal attitude is compensated |
||
1453 | // the setpoint will be fine adjusted with the gas stick position |
||
1765 | killagreg | 1454 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1455 | { // gas stick is above hoover point |
1587 | killagreg | 1456 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1457 | { |
1767 | killagreg | 1458 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1459 | { |
1767 | killagreg | 1460 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1309 | hbuss | 1461 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1462 | } |
||
1767 | killagreg | 1463 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1587 | killagreg | 1464 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1465 | VarioCharacter = '+'; |
1309 | hbuss | 1466 | } // gas stick is below hoover point |
1587 | killagreg | 1467 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1468 | { |
1767 | killagreg | 1469 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1470 | { |
1767 | killagreg | 1471 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1309 | hbuss | 1472 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1473 | } |
||
1767 | killagreg | 1474 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1587 | killagreg | 1475 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1476 | VarioCharacter = '-'; |
1309 | hbuss | 1477 | } |
1587 | killagreg | 1478 | else // Gas Stick in Hover Range |
1309 | hbuss | 1479 | { |
1855 | holgerb | 1480 | VarioCharacter = '='; |
1481 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint - SollHoehe > FromNC_AltitudeSpeed) // von NC gesteuert -> Steigen |
||
1482 | { |
||
1483 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1484 | HeightTrimming += FromNC_AltitudeSpeed; |
||
1485 | VarioCharacter = 'u'; |
||
1486 | } |
||
1487 | else |
||
1488 | if(FromNC_AltitudeSpeed && SollHoehe - FromNC_AltitudeSetpoint > FromNC_AltitudeSpeed) // von NC gesteuert -> sinken |
||
1489 | { |
||
1490 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1491 | HeightTrimming -= FromNC_AltitudeSpeed; |
||
1492 | VarioCharacter = 'd'; |
||
1493 | } |
||
1494 | else |
||
1767 | killagreg | 1495 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1496 | { |
1767 | killagreg | 1497 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1498 | HeightTrimming = 0; |
1499 | SollHoehe = HoehenWert; // update setpoint to current height |
||
1500 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1698 | holgerb | 1501 | if(!StartTrigger && HoehenWert > 50) |
1502 | { |
||
1503 | StartTrigger = 1; |
||
1765 | killagreg | 1504 | } |
1309 | hbuss | 1505 | } |
1506 | } |
||
1507 | // Trim height set point |
||
1334 | killagreg | 1508 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1509 | { |
1332 | hbuss | 1510 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1511 | HeightTrimming = 0; |
1587 | killagreg | 1512 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1720 | holgerb | 1513 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1514 | //update hoover gas stick value when setpoint is shifted |
1332 | hbuss | 1515 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1516 | { |
||
1587 | killagreg | 1517 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1518 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1519 | if(StickGasHover < 70) StickGasHover = 70; |
||
1520 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1521 | } |
1309 | hbuss | 1522 | } |
1352 | hbuss | 1523 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1524 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1525 | else |
1526 | { |
||
1322 | hbuss | 1527 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1528 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1529 | else StickGasHover = 120; |
||
1698 | holgerb | 1530 | HoverGas = GasMischanteil; |
1320 | hbuss | 1531 | } |
1590 | killagreg | 1532 | HCGas = HoverGas; // take hover gas (neutral point) |
1533 | } |
||
1314 | killagreg | 1534 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1535 | { |
1590 | killagreg | 1536 | // from this point the Heigth Control Algorithm is identical for both versions |
1537 | if(BaroExpandActive) // baro range expanding active |
||
1538 | { |
||
1539 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1540 | HeightDeviation = 0; |
||
1541 | } // EOF // baro range expanding active |
||
1542 | else // valid data from air pressure sensor |
||
1543 | { |
||
1544 | // ------------------------- P-Part ---------------------------- |
||
1545 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1546 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1547 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1548 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1549 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1550 | GasReduction = tmp_long; |
||
1590 | killagreg | 1551 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1552 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1553 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1554 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1555 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1556 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1557 | else |
1722 | holgerb | 1558 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1559 | GasReduction += tmp_int; |
1590 | killagreg | 1560 | } // EOF no baro range expanding |
1309 | hbuss | 1561 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1562 | if(Parameter_Hoehe_ACC_Wirkung) |
1563 | { |
||
1564 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1565 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1566 | GasReduction += tmp_long; |
||
1765 | killagreg | 1567 | } |
1587 | killagreg | 1568 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1569 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1570 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1571 | GasReduction += tmp_int; |
1701 | holgerb | 1572 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1573 | // ------------------------ ---------------------------------- |
||
1574 | HCGas -= GasReduction; |
||
1309 | hbuss | 1575 | // limit deviation from hoover point within the target region |
1692 | holgerb | 1576 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1577 | { |
1765 | killagreg | 1578 | unsigned int tmp; |
1705 | holgerb | 1579 | tmp = abs(HeightDeviation); |
1580 | if(tmp <= 60) |
||
1581 | { |
||
1582 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1583 | } |
||
1584 | else |
||
1765 | killagreg | 1585 | { |
1705 | holgerb | 1586 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1587 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1588 | if(HeightDeviation > 0) |
1693 | holgerb | 1589 | { |
1705 | holgerb | 1590 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1591 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1592 | } |
1705 | holgerb | 1593 | else |
1594 | { |
||
1595 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1596 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1597 | } |
||
1598 | } |
||
1309 | hbuss | 1599 | } |
1322 | hbuss | 1600 | // strech control output by inverse attitude projection 1/cos |
1601 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1602 | tmp_long2 = (int32_t)HCGas; |
1603 | tmp_long2 *= 8192L; |
||
1604 | tmp_long2 /= CosAttitude; |
||
1605 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1606 | // update height control gas averaging |
1607 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1608 | // limit height control gas pd-control output |
||
1609 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1610 | // set GasMischanteil to HeightControlGasFilter |
||
1314 | killagreg | 1611 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1612 | { // old version |
1613 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1614 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1615 | } |
1719 | holgerb | 1616 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1314 | killagreg | 1617 | } |
1309 | hbuss | 1618 | }// EOF height control active |
1320 | hbuss | 1619 | else // HC not active |
1620 | { |
||
1621 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1622 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1623 | { |
||
1624 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1625 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1626 | } |
1587 | killagreg | 1627 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1628 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1629 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1630 | // set both flags to indicate no vario mode |
1631 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1330 | killagreg | 1632 | } |
1283 | hbuss | 1633 | |
1587 | killagreg | 1634 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1635 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1636 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1637 | { |
1698 | holgerb | 1638 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1639 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1640 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1641 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1642 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1643 | // average vertical projected thrust |
1698 | holgerb | 1644 | if(modell_fliegt < 4000) // the first 8 seconds |
1645 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1646 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1647 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1648 | } |
1698 | holgerb | 1649 | if(modell_fliegt < 8000) // the first 16 seconds |
1650 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1651 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1652 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1653 | } |
1698 | holgerb | 1654 | else //later |
1655 | if(abs(VarioMeter) < 100) // only on small vertical speed |
||
1309 | hbuss | 1656 | { |
1590 | killagreg | 1657 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1658 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1659 | } |
1590 | killagreg | 1660 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1661 | if(EE_Parameter.Hoehe_HoverBand) |
1662 | { |
||
1663 | int16_t band; |
||
1587 | killagreg | 1664 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1665 | HoverGasMin = HoverGas - band; |
||
1666 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1667 | } |
1668 | else |
||
1669 | { // no limit |
||
1587 | killagreg | 1670 | HoverGasMin = 0; |
1671 | HoverGasMax = 1023; |
||
1309 | hbuss | 1672 | } |
1765 | killagreg | 1673 | } |
1674 | else |
||
1698 | holgerb | 1675 | { |
1676 | StartTrigger = 0; |
||
1677 | HoverGasFilter = 0; |
||
1678 | HoverGas = 0; |
||
1765 | killagreg | 1679 | } |
1309 | hbuss | 1680 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1681 | else |
1682 | { |
||
1683 | // set undefined state to indicate vario off |
||
1684 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1685 | } // EOF no height control |
||
1686 | |||
1309 | hbuss | 1687 | // limit gas to parameter setting |
1320 | hbuss | 1688 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1689 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1690 | |
1051 | killagreg | 1691 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1692 | // all BL-Ctrl connected? |
1693 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1675 | holgerb | 1694 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1320 | hbuss | 1695 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1696 | { |
||
1697 | modell_fliegt = 1; |
||
1675 | holgerb | 1698 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1699 | } |
1700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1701 | // + Mischer und PI-Regler |
1051 | killagreg | 1702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1703 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1705 | // Gier-Anteil |
1051 | killagreg | 1706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1707 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1708 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1709 | if(GasMischanteil > MIN_GIERGAS) |
1710 | { |
||
1051 | killagreg | 1711 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1712 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1713 | } |
1051 | killagreg | 1714 | else |
693 | hbuss | 1715 | { |
1051 | killagreg | 1716 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1717 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1718 | } |
855 | hbuss | 1719 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1720 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1721 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1722 | |
1051 | killagreg | 1723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1724 | // Nick-Achse |
1051 | killagreg | 1725 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1726 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1727 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1728 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1729 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1730 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1731 | |
1732 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1733 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1734 | pd_ergebnis_nick += SummeNick / Ki; |
||
1735 | |||
1676 | holgerb | 1736 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1737 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1738 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1739 | |
1153 | hbuss | 1740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1741 | // Roll-Achse |
||
1742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1743 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1744 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1745 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1746 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1747 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1748 | |
1749 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
1750 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
1751 | pd_ergebnis_roll += SummeRoll / Ki; |
||
1752 | |||
1676 | holgerb | 1753 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1754 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1755 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1756 | |||
1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1758 | // Universal Mixer |
1155 | hbuss | 1759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1760 | for(i=0; i<MAX_MOTORS; i++) |
1761 | { |
||
1762 | signed int tmp_int; |
||
1763 | if(Mixer.Motor[i][0] > 0) |
||
1764 | { |
||
1652 | holgerb | 1765 | // Gas |
1676 | holgerb | 1766 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1767 | // Nick |
1768 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1769 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1770 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1771 | // Roll |
||
1772 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1773 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1774 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1775 | // Gier |
||
1676 | holgerb | 1776 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1777 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1778 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1779 | |
1680 | holgerb | 1780 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1781 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
1693 | holgerb | 1782 | |
1760 | holgerb | 1783 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 1784 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1785 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1786 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1787 | } |
1788 | else |
||
1789 | { |
||
1790 | Motor[i].SetPoint = 0; |
||
1791 | Motor[i].SetPointLowerBits = 0; |
||
1792 | } |
||
1793 | } |
||
1111 | hbuss | 1794 | } |