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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; |
1916 | holgerb | 96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1377 | hbuss | 97 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 98 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 99 | volatile unsigned char SenderOkay = 0; |
595 | hbuss | 100 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1698 | holgerb | 101 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 102 | long HoehenWert = 0; |
103 | long SollHoehe = 0; |
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1855 | holgerb | 104 | long FromNC_AltitudeSetpoint = 0; |
105 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 106 | unsigned char carefree_old = 50; // to make the Beep when switching |
1855 | holgerb | 107 | |
1840 | holgerb | 108 | int CompassGierSetpoint = 0; |
1692 | holgerb | 109 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 110 | //float Ki = FAKTOR_I; |
1676 | holgerb | 111 | int Ki = 10300 / 33; |
395 | hbuss | 112 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
113 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 114 | |
115 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 116 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 117 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
118 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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119 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 120 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 121 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 122 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 123 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 124 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
125 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 126 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
127 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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128 | unsigned char Parameter_UserParam1 = 0; |
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129 | unsigned char Parameter_UserParam2 = 0; |
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130 | unsigned char Parameter_UserParam3 = 0; |
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131 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 132 | unsigned char Parameter_UserParam5 = 0; |
133 | unsigned char Parameter_UserParam6 = 0; |
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134 | unsigned char Parameter_UserParam7 = 0; |
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135 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 136 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 137 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 138 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 139 | unsigned char Parameter_AchsKopplung1 = 90; |
140 | unsigned char Parameter_AchsKopplung2 = 65; |
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141 | unsigned char Parameter_CouplingYawCorrection = 64; |
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142 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 143 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 144 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
145 | unsigned char Parameter_J16Timing; // for the J16 Output |
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146 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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147 | unsigned char Parameter_J17Timing; // for the J17 Output |
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148 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 149 | unsigned char Parameter_NaviGpsGain; |
150 | unsigned char Parameter_NaviGpsP; |
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151 | unsigned char Parameter_NaviGpsI; |
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152 | unsigned char Parameter_NaviGpsD; |
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153 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 154 | unsigned char Parameter_NaviOperatingRadius; |
155 | unsigned char Parameter_NaviWindCorrection; |
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156 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 157 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 158 | unsigned char Parameter_GlobalConfig; |
159 | unsigned char Parameter_ExtraConfig; |
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1936 | holgerb | 160 | unsigned char Parameter_MaximumAltitude = 40; |
1403 | hbuss | 161 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 162 | unsigned char CareFree = 0; |
1876 | holgerb | 163 | 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}; // 15° steps |
1622 | killagreg | 164 | |
492 | hbuss | 165 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 166 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 167 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 168 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 169 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 170 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 171 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 172 | char VarioCharacter = ' '; |
173 | |||
1391 | killagreg | 174 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
175 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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176 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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1155 | hbuss | 177 | |
1622 | killagreg | 178 | |
1639 | holgerb | 179 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
180 | // Debugwerte zuordnen |
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181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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182 | void CopyDebugValues(void) |
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183 | { |
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184 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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185 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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186 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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187 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 188 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 189 | DebugOut.Analog[5] = HoehenWert/5; |
1703 | holgerb | 190 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
1639 | holgerb | 191 | DebugOut.Analog[8] = KompassValue; |
192 | DebugOut.Analog[9] = UBat; |
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193 | DebugOut.Analog[10] = SenderOkay; |
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194 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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1702 | holgerb | 195 | DebugOut.Analog[12] = Motor[0].SetPoint; |
196 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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197 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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198 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 199 | DebugOut.Analog[20] = ServoNickValue; |
200 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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201 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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1879 | holgerb | 202 | DebugOut.Analog[24] = SollHoehe/5; |
1639 | holgerb | 203 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1682 | holgerb | 204 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1839 | holgerb | 205 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 206 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 207 | DebugOut.Analog[30] = GPS_Nick; |
208 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 209 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1639 | holgerb | 210 | } |
211 | |||
1760 | holgerb | 212 | |
213 | |||
1232 | hbuss | 214 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 215 | { |
1232 | hbuss | 216 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1 | ingob | 217 | while(Anzahl--) |
218 | { |
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1232 | hbuss | 219 | beeptime = dauer; |
220 | while(beeptime); |
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221 | Delay_ms(dauer * 2); |
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1 | ingob | 222 | } |
223 | } |
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224 | |||
225 | //############################################################################ |
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1622 | killagreg | 226 | // Messwerte beim Ermitteln der Nullage |
227 | void CalibrierMittelwert(void) |
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228 | //############################################################################ |
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229 | { |
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230 | unsigned char i; |
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231 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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232 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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233 | ANALOG_OFF; |
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234 | MesswertNick = AdWertNick; |
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235 | MesswertRoll = AdWertRoll; |
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236 | MesswertGier = AdWertGier; |
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1703 | holgerb | 237 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
238 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 239 | // ADC einschalten |
240 | ANALOG_ON; |
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241 | for(i=0;i<8;i++) |
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242 | { |
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243 | int tmp; |
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1876 | holgerb | 244 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 245 | LIMIT_MIN_MAX(tmp, 0, 255); |
246 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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247 | } |
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248 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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249 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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250 | } |
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251 | |||
252 | //############################################################################ |
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1 | ingob | 253 | // Nullwerte ermitteln |
1622 | killagreg | 254 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 255 | //############################################################################ |
256 | { |
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1622 | killagreg | 257 | unsigned char i; |
258 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 259 | VersionInfo.HardwareError[0] = 0; |
1320 | hbuss | 260 | HEF4017R_ON; |
1051 | killagreg | 261 | NeutralAccX = 0; |
1 | ingob | 262 | NeutralAccY = 0; |
263 | NeutralAccZ = 0; |
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1622 | killagreg | 264 | |
1051 | killagreg | 265 | AdNeutralNick = 0; |
266 | AdNeutralRoll = 0; |
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1 | ingob | 267 | AdNeutralGier = 0; |
1622 | killagreg | 268 | |
395 | hbuss | 269 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 270 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 271 | |
1036 | hbuss | 272 | ExpandBaro = 0; |
1622 | killagreg | 273 | |
1051 | killagreg | 274 | CalibrierMittelwert(); |
395 | hbuss | 275 | Delay_ms_Mess(100); |
1622 | killagreg | 276 | |
1 | ingob | 277 | CalibrierMittelwert(); |
1622 | killagreg | 278 | |
1 | ingob | 279 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 280 | { |
1 | ingob | 281 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
282 | } |
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1166 | hbuss | 283 | #define NEUTRAL_FILTER 32 |
284 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 285 | { |
286 | Delay_ms_Mess(10); |
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1216 | killagreg | 287 | gier_neutral += AdWertGier; |
1166 | hbuss | 288 | nick_neutral += AdWertNick; |
289 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 290 | } |
1173 | hbuss | 291 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
292 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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293 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 294 | |
401 | hbuss | 295 | StartNeutralRoll = AdNeutralRoll; |
296 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 297 | |
298 | if(AccAdjustment) |
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299 | { |
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300 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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301 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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302 | NeutralAccZ = Aktuell_az; |
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303 | |||
304 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 305 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
306 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 307 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 308 | } |
1051 | killagreg | 309 | else |
513 | hbuss | 310 | { |
1622 | killagreg | 311 | // restore from eeprom |
312 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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313 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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314 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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315 | // strange settings? |
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1638 | holgerb | 316 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 317 | { |
318 | printf("\n\rACC not calibrated!\r\n"); |
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319 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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320 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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321 | NeutralAccZ = Aktuell_az; |
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322 | } |
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513 | hbuss | 323 | } |
1051 | killagreg | 324 | |
1 | ingob | 325 | MesswertNick = 0; |
326 | MesswertRoll = 0; |
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327 | MesswertGier = 0; |
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1111 | hbuss | 328 | Delay_ms_Mess(100); |
1703 | holgerb | 329 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
330 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1173 | hbuss | 331 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
332 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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333 | Mess_IntegralNick2 = IntegralNick; |
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334 | Mess_IntegralRoll2 = IntegralRoll; |
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335 | Mess_Integral_Gier = 0; |
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1 | ingob | 336 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 337 | VarioMeter = 0; |
1 | ingob | 338 | Mess_Integral_Hoch = 0; |
1837 | holgerb | 339 | KompassSollWert = KompassValue; |
1839 | holgerb | 340 | KompassSignalSchlecht = 100; |
1051 | killagreg | 341 | beeptime = 50; |
882 | hbuss | 342 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
343 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 344 | ExternHoehenValue = 0; |
693 | hbuss | 345 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
346 | GierGyroFehler = 0; |
||
723 | hbuss | 347 | SendVersionToNavi = 1; |
921 | hbuss | 348 | LED_Init(); |
1765 | killagreg | 349 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 350 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 351 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 352 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 353 | for(i=0;i<8;i++) |
1377 | hbuss | 354 | { |
1876 | holgerb | 355 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 356 | } |
1171 | hbuss | 357 | SenderOkay = 100; |
1320 | hbuss | 358 | if(ServoActive) |
359 | { |
||
360 | HEF4017R_ON; |
||
361 | DDRD |=0x80; // enable J7 -> Servo signal |
||
362 | } |
||
1702 | holgerb | 363 | |
1765 | killagreg | 364 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
365 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
366 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
367 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
368 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
369 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
1862 | holgerb | 370 | carefree_old = 70; |
1925 | holgerb | 371 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 372 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 373 | #endif |
1 | ingob | 374 | } |
375 | |||
1702 | holgerb | 376 | |
1 | ingob | 377 | //############################################################################ |
395 | hbuss | 378 | // Bearbeitet die Messwerte |
1 | ingob | 379 | void Mittelwert(void) |
380 | //############################################################################ |
||
1051 | killagreg | 381 | { |
1111 | hbuss | 382 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
383 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 384 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 385 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 386 | MesswertNick = (signed int) AdWertNickFilter / 8; |
387 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 388 | RohMesswertNick = MesswertNick; |
389 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 390 | |
395 | hbuss | 391 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 392 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
393 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 394 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
395 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 396 | NaviAccNick += AdWertAccNick; |
397 | NaviAccRoll += AdWertAccRoll; |
||
398 | NaviCntAcc++; |
||
1153 | hbuss | 399 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
400 | |||
1155 | hbuss | 401 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
402 | // ADC einschalten |
||
1171 | hbuss | 403 | ANALOG_ON; |
1155 | hbuss | 404 | AdReady = 0; |
405 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
406 | |||
1216 | killagreg | 407 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
408 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 409 | else winkel_roll = Mess_IntegralRoll; |
410 | |||
1216 | killagreg | 411 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
412 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 413 | else winkel_nick = Mess_IntegralNick; |
414 | |||
1120 | hbuss | 415 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 416 | Mess_Integral_Gier += MesswertGier; |
417 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 418 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 419 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 420 | { |
1153 | hbuss | 421 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 422 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 423 | tmpl3 /= 4096L; |
1153 | hbuss | 424 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 425 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 426 | tmpl4 /= 4096L; |
1153 | hbuss | 427 | KopplungsteilNickRoll = tmpl3; |
428 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 429 | tmpl4 -= tmpl3; |
430 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 431 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 432 | |
1153 | hbuss | 433 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 434 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 435 | tmpl /= 4096L; |
1153 | hbuss | 436 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 437 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 438 | tmpl2 /= 4096L; |
1225 | hbuss | 439 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 440 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 441 | } |
1166 | hbuss | 442 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 443 | TrimRoll = tmpl - tmpl2 / 100L; |
444 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 445 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
446 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
447 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 448 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 449 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
450 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 451 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 452 | { |
882 | hbuss | 453 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 454 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 455 | } |
395 | hbuss | 456 | if(Mess_IntegralRoll <-Umschlag180Roll) |
457 | { |
||
882 | hbuss | 458 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 459 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 460 | } |
395 | hbuss | 461 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 462 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
463 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 464 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 465 | { |
466 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
467 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 468 | } |
469 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 470 | { |
882 | hbuss | 471 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 472 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 473 | } |
1111 | hbuss | 474 | |
1 | ingob | 475 | Integral_Gier = Mess_Integral_Gier; |
476 | IntegralNick = Mess_IntegralNick; |
||
477 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 478 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 479 | IntegralRoll2 = Mess_IntegralRoll2; |
480 | |||
1166 | hbuss | 481 | #define D_LIMIT 128 |
482 | |||
1171 | hbuss | 483 | MesswertNick = HiResNick / 8; |
484 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 485 | |
1167 | hbuss | 486 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
487 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
488 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
489 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
490 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
491 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
492 | |||
1216 | killagreg | 493 | if(Parameter_Gyro_D) |
1111 | hbuss | 494 | { |
1166 | hbuss | 495 | d2Nick = HiResNick - oldNick; |
496 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 497 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
498 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 499 | |
1166 | hbuss | 500 | d2Roll = HiResRoll - oldRoll; |
501 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 502 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
503 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 504 | |
505 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 506 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
507 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
508 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 509 | } |
1111 | hbuss | 510 | |
1166 | hbuss | 511 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
512 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
513 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
514 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 515 | |
1916 | holgerb | 516 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 517 | { |
518 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
519 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
520 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
521 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
522 | } |
||
1 | ingob | 523 | } |
524 | |||
525 | //############################################################################ |
||
526 | // Senden der Motorwerte per I2C-Bus |
||
527 | void SendMotorData(void) |
||
528 | //############################################################################ |
||
1051 | killagreg | 529 | { |
1209 | hbuss | 530 | unsigned char i; |
921 | hbuss | 531 | if(!MotorenEin) |
1 | ingob | 532 | { |
1765 | killagreg | 533 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
1216 | killagreg | 534 | for(i=0;i<MAX_MOTORS;i++) |
535 | { |
||
536 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 537 | Motor[i].SetPoint = MotorTest[i]; |
538 | Motor[i].SetPointLowerBits = 0; |
||
539 | /* |
||
1760 | holgerb | 540 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
541 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 542 | */ |
1216 | killagreg | 543 | } |
1212 | hbuss | 544 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 545 | } |
1765 | killagreg | 546 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 547 | |
1765 | killagreg | 548 | if(I2C_TransferActive) |
1744 | holgerb | 549 | { |
1760 | holgerb | 550 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 551 | } |
552 | else |
||
1744 | holgerb | 553 | { |
554 | motor_write = 0; |
||
1760 | holgerb | 555 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 556 | } |
1 | ingob | 557 | } |
558 | |||
559 | |||
560 | |||
561 | //############################################################################ |
||
562 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 563 | void ParameterZuordnung(void) |
1 | ingob | 564 | //############################################################################ |
565 | { |
||
1787 | holgerb | 566 | unsigned char tmp,i; |
567 | for(i=0;i<8;i++) |
||
568 | { |
||
569 | int tmp2; |
||
1933 | holgerb | 570 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
571 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 572 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 573 | |
574 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
575 | else |
||
1787 | holgerb | 576 | if(tmp2 != Poti[i]) |
577 | { |
||
578 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
579 | if(Poti[i] > tmp2) Poti[i]--; |
||
580 | else Poti[i]++; |
||
581 | } |
||
582 | } |
||
921 | hbuss | 583 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
584 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
585 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 586 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
587 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
1403 | hbuss | 588 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
589 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
590 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
1916 | holgerb | 591 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 592 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
593 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
594 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
595 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
596 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
597 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
598 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
599 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
600 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
601 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
602 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
603 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
604 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
605 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
606 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
607 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
608 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
609 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
610 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 611 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
612 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 613 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 614 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
1916 | holgerb | 615 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
616 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 617 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
618 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
619 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 620 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 621 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 622 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 623 | |
1921 | holgerb | 624 | tmp = EE_Parameter.CareFreeModeControl; |
1690 | holgerb | 625 | if(tmp > 50) |
1668 | holgerb | 626 | { |
1682 | holgerb | 627 | CareFree = 1; |
1839 | holgerb | 628 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 629 | if(carefree_old != CareFree) |
630 | { |
||
631 | if(carefree_old < 3) |
||
632 | { |
||
633 | if(CareFree) beeptime = 1500; |
||
634 | else beeptime = 200; |
||
635 | carefree_old = CareFree; |
||
636 | } else carefree_old--; |
||
637 | } |
||
1937 | holgerb | 638 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 639 | } |
1839 | holgerb | 640 | else |
641 | { |
||
642 | CareFree = 0; |
||
1862 | holgerb | 643 | carefree_old = 10; |
1839 | holgerb | 644 | } |
1668 | holgerb | 645 | |
1691 | holgerb | 646 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 647 | { |
648 | beeptime = 15000; |
||
649 | BeepMuster = 0xA400; |
||
650 | CareFree = 0; |
||
1765 | killagreg | 651 | } |
1861 | holgerb | 652 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1936 | holgerb | 653 | // Limit the maximum Altitude |
654 | if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
1 | ingob | 655 | } |
656 | |||
657 | //############################################################################ |
||
658 | // |
||
659 | void MotorRegler(void) |
||
660 | //############################################################################ |
||
661 | { |
||
1330 | killagreg | 662 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 663 | int GierMischanteil,GasMischanteil; |
664 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 665 | static long IntegralFehlerNick = 0; |
666 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 667 | static unsigned int RcLostTimer; |
668 | static unsigned char delay_neutral = 0; |
||
669 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
1622 | killagreg | 670 | static unsigned char calibration_done = 0; |
1 | ingob | 671 | static char NeueKompassRichtungMerken = 0; |
395 | hbuss | 672 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 673 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 674 | unsigned char i; |
1051 | killagreg | 675 | Mittelwert(); |
676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 677 | // Gaswert ermitteln |
1051 | killagreg | 678 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
679 | GasMischanteil = StickGas; |
||
831 | hbuss | 680 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1330 | killagreg | 681 | |
1051 | killagreg | 682 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 683 | // Empfang schlecht |
1051 | killagreg | 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 685 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 686 | { |
1051 | killagreg | 687 | if(RcLostTimer) RcLostTimer--; |
688 | else |
||
1 | ingob | 689 | { |
690 | MotorenEin = 0; |
||
1765 | killagreg | 691 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1051 | killagreg | 692 | } |
1 | ingob | 693 | ROT_ON; |
693 | hbuss | 694 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 695 | { |
696 | GasMischanteil = EE_Parameter.NotGas; |
||
1765 | killagreg | 697 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 698 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 699 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 700 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
701 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
702 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 703 | } |
1 | ingob | 704 | else MotorenEin = 0; |
705 | } |
||
1051 | killagreg | 706 | else |
707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 708 | // Emfang gut |
1051 | killagreg | 709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 710 | if(SenderOkay > 140) |
711 | { |
||
1765 | killagreg | 712 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 713 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 714 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 715 | { |
716 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
717 | } |
||
871 | hbuss | 718 | if((modell_fliegt < 256)) |
1 | ingob | 719 | { |
720 | SummeNick = 0; |
||
721 | SummeRoll = 0; |
||
1682 | holgerb | 722 | sollGier = 0; |
723 | Mess_Integral_Gier = 0; |
||
1765 | killagreg | 724 | } else FC_StatusFlags |= FC_STATUS_FLY; |
1051 | killagreg | 725 | |
595 | hbuss | 726 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 727 | { |
1051 | killagreg | 728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 729 | // auf Nullwerte kalibrieren |
1051 | killagreg | 730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
732 | { |
||
733 | if(++delay_neutral > 200) // nicht sofort |
||
734 | { |
||
735 | GRN_OFF; |
||
736 | MotorenEin = 0; |
||
737 | delay_neutral = 0; |
||
738 | modell_fliegt = 0; |
||
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
740 | { |
||
304 | ingob | 741 | unsigned char setting=1; |
1 | ingob | 742 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
743 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
744 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
745 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
746 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 747 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 748 | } |
1051 | killagreg | 749 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
750 | { |
||
819 | hbuss | 751 | WinkelOut.CalcState = 1; |
752 | beeptime = 1000; |
||
753 | } |
||
754 | else |
||
1 | ingob | 755 | { |
1622 | killagreg | 756 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 757 | LipoDetection(0); |
1626 | killagreg | 758 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 759 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 760 | { |
1 | ingob | 761 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 762 | } |
1330 | killagreg | 763 | ServoActive = 0; |
1622 | killagreg | 764 | SetNeutral(0); |
1765 | killagreg | 765 | calibration_done = 1; |
1232 | hbuss | 766 | ServoActive = 1; |
767 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 768 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 769 | } |
1051 | killagreg | 770 | } |
1 | ingob | 771 | } |
1051 | killagreg | 772 | else |
513 | hbuss | 773 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
774 | { |
||
775 | if(++delay_neutral > 200) // nicht sofort |
||
776 | { |
||
777 | GRN_OFF; |
||
778 | MotorenEin = 0; |
||
779 | delay_neutral = 0; |
||
780 | modell_fliegt = 0; |
||
1622 | killagreg | 781 | SetNeutral(1); |
782 | calibration_done = 1; |
||
783 | Piep(GetActiveParamSet(),120); |
||
1051 | killagreg | 784 | } |
513 | hbuss | 785 | } |
1 | ingob | 786 | else delay_neutral = 0; |
787 | } |
||
1051 | killagreg | 788 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 789 | // Gas ist unten |
1051 | killagreg | 790 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | holgerb | 791 | |
595 | hbuss | 792 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 793 | { |
1521 | killagreg | 794 | // Motoren Starten |
795 | if(!MotorenEin) |
||
796 | { |
||
1760 | holgerb | 797 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 798 | { |
1051 | killagreg | 799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 800 | // Einschalten |
1051 | killagreg | 801 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 802 | if(++delay_einschalten > 200) |
803 | { |
||
804 | delay_einschalten = 0; |
||
1834 | holgerb | 805 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
1622 | killagreg | 806 | { |
807 | modell_fliegt = 1; |
||
808 | MotorenEin = 1; |
||
809 | sollGier = 0; |
||
810 | Mess_Integral_Gier = 0; |
||
811 | Mess_Integral_Gier2 = 0; |
||
812 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
813 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
814 | Mess_IntegralNick2 = IntegralNick; |
||
815 | Mess_IntegralRoll2 = IntegralRoll; |
||
816 | SummeNick = 0; |
||
817 | SummeRoll = 0; |
||
1765 | killagreg | 818 | FC_StatusFlags |= FC_STATUS_START; |
1913 | holgerb | 819 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 820 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1622 | killagreg | 821 | } |
822 | else |
||
823 | { |
||
824 | beeptime = 1500; // indicate missing calibration |
||
825 | } |
||
1521 | killagreg | 826 | } |
827 | } |
||
828 | else delay_einschalten = 0; |
||
829 | } |
||
1051 | killagreg | 830 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 831 | // Auschalten |
1051 | killagreg | 832 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 833 | else // only if motors are running |
834 | { |
||
1760 | holgerb | 835 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1521 | killagreg | 836 | { |
837 | if(++delay_ausschalten > 200) // nicht sofort |
||
838 | { |
||
839 | MotorenEin = 0; |
||
840 | delay_ausschalten = 0; |
||
841 | modell_fliegt = 0; |
||
842 | } |
||
843 | } |
||
844 | else delay_ausschalten = 0; |
||
845 | } |
||
1 | ingob | 846 | } |
847 | } |
||
1051 | killagreg | 848 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 849 | // neue Werte von der Funke |
1051 | killagreg | 850 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 851 | |
1765 | killagreg | 852 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 853 | { |
604 | hbuss | 854 | static int stick_nick,stick_roll; |
1912 | holgerb | 855 | unsigned char stick_p; |
1 | ingob | 856 | ParameterZuordnung(); |
1912 | holgerb | 857 | stick_p = EE_Parameter.Stick_P; |
858 | |||
859 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 860 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 861 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 862 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
863 | |||
1707 | holgerb | 864 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
865 | // CareFree und freie Wahl der vorderen Richtung |
||
866 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 867 | if(CareFree) |
868 | { |
||
869 | signed int nick, roll; |
||
870 | nick = stick_nick / 4; |
||
871 | roll = stick_roll / 4; |
||
872 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
873 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
874 | } |
||
875 | else |
||
876 | { |
||
877 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
878 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
879 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
880 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
881 | } |
||
1662 | killagreg | 882 | |
1 | ingob | 883 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 884 | if(StickGier > 4) StickGier -= 4; else |
885 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 886 | |
1912 | holgerb | 887 | if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
888 | |||
889 | StickNick -= GPS_Nick; |
||
890 | StickRoll -= GPS_Roll; |
||
1933 | holgerb | 891 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1330 | killagreg | 892 | |
1153 | hbuss | 893 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
894 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 895 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
896 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 897 | |
595 | hbuss | 898 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
899 | //+ Analoge Steuerung per Seriell |
||
900 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 901 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 902 | { |
903 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
904 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
905 | StickGier += ExternControl.Gier; |
||
906 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
907 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
908 | } |
||
855 | hbuss | 909 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 910 | |
1916 | holgerb | 911 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 912 | |
1051 | killagreg | 913 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 914 | { |
1051 | killagreg | 915 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 916 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 917 | } |
928 | hbuss | 918 | else MaxStickNick--; |
1051 | killagreg | 919 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 920 | { |
1051 | killagreg | 921 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 922 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 923 | } |
928 | hbuss | 924 | else MaxStickRoll--; |
1765 | killagreg | 925 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 926 | |
1051 | killagreg | 927 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 928 | // Looping? |
1051 | killagreg | 929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 930 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 931 | else |
932 | { |
||
395 | hbuss | 933 | { |
1051 | killagreg | 934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
935 | } |
||
936 | } |
||
993 | hbuss | 937 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 938 | else |
395 | hbuss | 939 | { |
940 | if(Looping_Rechts) // Hysterese |
||
941 | { |
||
942 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
943 | } |
||
1051 | killagreg | 944 | } |
173 | holgerb | 945 | |
993 | hbuss | 946 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 947 | else |
948 | { |
||
395 | hbuss | 949 | if(Looping_Oben) // Hysterese |
950 | { |
||
1051 | killagreg | 951 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
952 | } |
||
953 | } |
||
993 | hbuss | 954 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 955 | else |
395 | hbuss | 956 | { |
957 | if(Looping_Unten) // Hysterese |
||
958 | { |
||
959 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
960 | } |
||
1051 | killagreg | 961 | } |
395 | hbuss | 962 | |
963 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 964 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 965 | } // Ende neue Funken-Werte |
966 | |||
967 | if(Looping_Roll || Looping_Nick) |
||
968 | { |
||
173 | holgerb | 969 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 970 | TrichterFlug = 1; |
173 | holgerb | 971 | } |
972 | |||
1051 | killagreg | 973 | |
974 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
975 | // Bei Empfangsausfall im Flug |
||
976 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 977 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
978 | { |
||
979 | StickNick = -GPS_Nick; |
||
980 | StickRoll = -GPS_Roll; |
||
981 | StickGas = StickGasHover; |
||
982 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
||
983 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
984 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
985 | Parameter_HoehenSchalter = 200; // switch on |
||
986 | } |
||
987 | else |
||
1765 | killagreg | 988 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 989 | { |
990 | StickGier = 0; |
||
991 | StickNick = 0; |
||
992 | StickRoll = 0; |
||
1211 | hbuss | 993 | GyroFaktor = 90; |
994 | IntegralFaktor = 120; |
||
995 | GyroFaktorGier = 90; |
||
996 | IntegralFaktorGier = 120; |
||
173 | holgerb | 997 | Looping_Roll = 0; |
998 | Looping_Nick = 0; |
||
1051 | killagreg | 999 | } |
395 | hbuss | 1000 | |
1001 | |||
1051 | killagreg | 1002 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1003 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1004 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1005 | #define ABGLEICH_ANZAHL 256L |
1006 | |||
1007 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1008 | MittelIntegralRoll += IntegralRoll; |
||
1009 | MittelIntegralNick2 += IntegralNick2; |
||
1010 | MittelIntegralRoll2 += IntegralRoll2; |
||
1011 | |||
1012 | if(Looping_Nick || Looping_Roll) |
||
1013 | { |
||
1014 | IntegralAccNick = 0; |
||
1015 | IntegralAccRoll = 0; |
||
1016 | MittelIntegralNick = 0; |
||
1017 | MittelIntegralRoll = 0; |
||
1018 | MittelIntegralNick2 = 0; |
||
1019 | MittelIntegralRoll2 = 0; |
||
1020 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1021 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1022 | ZaehlMessungen = 0; |
||
498 | hbuss | 1023 | LageKorrekturNick = 0; |
1024 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1025 | } |
1026 | |||
1051 | killagreg | 1027 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1028 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1029 | { |
1030 | long tmp_long, tmp_long2; |
||
1936 | holgerb | 1031 | |
1032 | //if(Poti3 < 120) FromNaviCtrl_Value.Kalman_K = Poti3/2; |
||
1033 | //DebugOut.Analog[25] = FromNaviCtrl_Value.Kalman_K; |
||
1034 | //DebugOut.Analog[26] = FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1035 | //DebugOut.Analog[16] = (Mittelwert_AccNick-FromNaviCtrl.AccErrorN) / 4; |
||
1036 | //DebugOut.Analog[18] = (Mittelwert_AccRoll-FromNaviCtrl.AccErrorR) / 4; |
||
1037 | //DebugOut.Analog[19] = -FromNaviCtrl.AccErrorR / 4; |
||
1038 | |||
1839 | holgerb | 1039 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1040 | { |
1936 | holgerb | 1041 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1042 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1051 | killagreg | 1043 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1044 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1839 | holgerb | 1045 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
992 | hbuss | 1046 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1047 | { |
||
1048 | tmp_long /= 2; |
||
1049 | tmp_long2 /= 2; |
||
1050 | } |
||
1051 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1052 | { |
||
1053 | tmp_long /= 3; |
||
1054 | tmp_long2 /= 3; |
||
1055 | } |
||
1056 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1057 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1058 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1059 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1060 | } |
||
1051 | killagreg | 1061 | else |
992 | hbuss | 1062 | { |
1063 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1051 | killagreg | 1064 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
992 | hbuss | 1065 | tmp_long /= 16; |
1066 | tmp_long2 /= 16; |
||
1067 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1068 | { |
||
1069 | tmp_long /= 3; |
||
1070 | tmp_long2 /= 3; |
||
1216 | killagreg | 1071 | } |
1072 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
992 | hbuss | 1073 | { |
1074 | tmp_long /= 3; |
||
1075 | tmp_long2 /= 3; |
||
1076 | } |
||
1839 | holgerb | 1077 | KompassFusion = 25; |
1155 | hbuss | 1078 | #define AUSGLEICH 32 |
992 | hbuss | 1079 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1080 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1081 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1082 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1083 | } |
||
1166 | hbuss | 1084 | |
1111 | hbuss | 1085 | Mess_IntegralNick -= tmp_long; |
1086 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1087 | } |
1051 | killagreg | 1088 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1089 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1090 | { |
||
1091 | static int cnt = 0; |
||
1092 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1093 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1094 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1095 | { |
395 | hbuss | 1096 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1097 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1098 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1099 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1100 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1101 | #define MAX_I 0 |
395 | hbuss | 1102 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1103 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1104 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1105 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1106 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1107 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1108 | |
1109 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1110 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1111 | |
992 | hbuss | 1112 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1113 | { |
1114 | LageKorrekturNick /= 2; |
||
720 | ingob | 1115 | LageKorrekturRoll /= 2; |
614 | hbuss | 1116 | } |
498 | hbuss | 1117 | |
1051 | killagreg | 1118 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1119 | // Gyro-Drift ermitteln |
1051 | killagreg | 1120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1121 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1122 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1123 | tmp_long = IntegralNick2 - IntegralNick; |
1124 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1125 | |
1126 | IntegralFehlerNick = tmp_long; |
||
1127 | IntegralFehlerRoll = tmp_long2; |
||
1128 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1129 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1130 | |||
1111 | hbuss | 1131 | if(EE_Parameter.Driftkomp) |
1132 | { |
||
1622 | killagreg | 1133 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1134 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1135 | } |
693 | hbuss | 1136 | GierGyroFehler = 0; |
720 | ingob | 1137 | |
1243 | killagreg | 1138 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1139 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1140 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1141 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1142 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1143 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1144 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1145 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1146 | { |
1051 | killagreg | 1147 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1148 | { |
1051 | killagreg | 1149 | if(last_n_p) |
395 | hbuss | 1150 | { |
1173 | hbuss | 1151 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1152 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1153 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1154 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1155 | } |
395 | hbuss | 1156 | else last_n_p = 1; |
1157 | } else last_n_p = 0; |
||
1051 | killagreg | 1158 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1159 | { |
1160 | if(last_n_n) |
||
1051 | killagreg | 1161 | { |
1173 | hbuss | 1162 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1163 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1164 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1165 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1166 | } |
395 | hbuss | 1167 | else last_n_n = 1; |
1168 | } else last_n_n = 0; |
||
1051 | killagreg | 1169 | } |
1170 | else |
||
847 | hbuss | 1171 | { |
1172 | cnt = 0; |
||
1839 | holgerb | 1173 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1174 | } |
499 | hbuss | 1175 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1176 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1177 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1178 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1179 | |
395 | hbuss | 1180 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1181 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1182 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1183 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1184 | { |
1051 | killagreg | 1185 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1186 | { |
1051 | killagreg | 1187 | if(last_r_p) |
395 | hbuss | 1188 | { |
1173 | hbuss | 1189 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1190 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1191 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1192 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1193 | } |
395 | hbuss | 1194 | else last_r_p = 1; |
1195 | } else last_r_p = 0; |
||
1051 | killagreg | 1196 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1197 | { |
1051 | killagreg | 1198 | if(last_r_n) |
395 | hbuss | 1199 | { |
1173 | hbuss | 1200 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1201 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1202 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1203 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1204 | } |
1205 | else last_r_n = 1; |
||
1206 | } else last_r_n = 0; |
||
1051 | killagreg | 1207 | } else |
492 | hbuss | 1208 | { |
1209 | cnt = 0; |
||
1839 | holgerb | 1210 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1211 | } |
499 | hbuss | 1212 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1213 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1214 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1215 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1216 | } |
1051 | killagreg | 1217 | else |
498 | hbuss | 1218 | { |
1219 | LageKorrekturRoll = 0; |
||
1220 | LageKorrekturNick = 0; |
||
880 | hbuss | 1221 | TrichterFlug = 0; |
498 | hbuss | 1222 | } |
1051 | killagreg | 1223 | |
498 | hbuss | 1224 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1226 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1227 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1228 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1229 | IntegralAccNick = 0; |
1230 | IntegralAccRoll = 0; |
||
1231 | IntegralAccZ = 0; |
||
1232 | MittelIntegralNick = 0; |
||
1233 | MittelIntegralRoll = 0; |
||
1234 | MittelIntegralNick2 = 0; |
||
1235 | MittelIntegralRoll2 = 0; |
||
1236 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1237 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1238 | |
1051 | killagreg | 1239 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1240 | // Gieren |
1051 | killagreg | 1241 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1242 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1243 | { |
1839 | holgerb | 1244 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1245 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1246 | { |
1840 | holgerb | 1247 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1248 | }; |
1 | ingob | 1249 | } |
395 | hbuss | 1250 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1051 | killagreg | 1251 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1840 | holgerb | 1252 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1253 | sollGier = tmp_int; |
1051 | killagreg | 1254 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1255 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1256 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1257 | |
1258 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1259 | // Kompass |
1051 | killagreg | 1260 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1261 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1262 | { |
1839 | holgerb | 1263 | if(CalculateCompassTimer-- == 1) |
1264 | { |
||
1265 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1266 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1267 | // max. Korrekturwert schätzen |
1 | ingob | 1268 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1269 | v = abs(IntegralRoll /512); |
||
1270 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1839 | holgerb | 1271 | korrektur = w / 4 + 1; |
1840 | holgerb | 1272 | // Kompassfehlerwert bestimmen |
1273 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
||
1274 | // GIER_GRAD_FAKTOR ist ca. 1200 |
||
1865 | holgerb | 1275 | |
1840 | holgerb | 1276 | // Kompasswert einloggen |
1277 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1278 | else |
||
1279 | if(w < 25) |
||
921 | hbuss | 1280 | { |
1281 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1282 | if(NeueKompassRichtungMerken) |
1283 | { |
||
1839 | holgerb | 1284 | if(--NeueKompassRichtungMerken == 0) |
1285 | { |
||
1936 | holgerb | 1286 | //--> ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1839 | holgerb | 1287 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1288 | } |
||
921 | hbuss | 1289 | } |
1 | ingob | 1290 | } |
1840 | holgerb | 1291 | // Kompass fusionieren |
1839 | holgerb | 1292 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1293 | |||
1840 | holgerb | 1294 | // MK Gieren |
1839 | holgerb | 1295 | if(!NeueKompassRichtungMerken) |
1296 | { |
||
1840 | holgerb | 1297 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1839 | holgerb | 1298 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1299 | CompassGierSetpoint = v / 16; |
1300 | } |
||
1865 | holgerb | 1301 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1302 | } // CalculateCompassTimer |
1051 | killagreg | 1303 | } |
1840 | holgerb | 1304 | else CompassGierSetpoint = 0; |
1051 | killagreg | 1305 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1306 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1307 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1308 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1309 | |
1171 | hbuss | 1310 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1311 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1312 | |
1167 | hbuss | 1313 | #define TRIM_MAX 200 |
1166 | hbuss | 1314 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1315 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1316 | |
1166 | hbuss | 1317 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1318 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1319 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1320 | |
1 | ingob | 1321 | // Maximalwerte abfangen |
1153 | hbuss | 1322 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1685 | holgerb | 1323 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1324 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1325 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1326 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1327 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1328 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1329 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1330 | |||
1051 | killagreg | 1331 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1332 | // Höhenregelung |
1333 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1334 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1335 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1336 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1337 | // if height control is activated |
1916 | holgerb | 1338 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1339 | { |
1698 | holgerb | 1340 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1341 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1342 | |
1343 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1344 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1345 | #else |
1638 | holgerb | 1346 | #define OPA_OFFSET_STEP 10 |
1347 | #endif |
||
1697 | holgerb | 1348 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1349 | static int HeightTrimming = 0; // rate for change of height setpoint |
1350 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1351 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1352 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1857 | holgerb | 1353 | static signed char WaypointTrimming = 0; |
1320 | hbuss | 1354 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1355 | |
1309 | hbuss | 1356 | // get the current hooverpoint |
1587 | killagreg | 1357 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1358 | |
1322 | hbuss | 1359 | // Expand the measurement |
1360 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1361 | if(!BaroExpandActive) |
||
1362 | { |
||
1363 | if(MessLuftdruck > 920) |
||
1364 | { // increase offset |
||
1330 | killagreg | 1365 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1366 | { |
1367 | ExpandBaro -= 1; |
||
1368 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1369 | beeptime = 300; |
||
1352 | hbuss | 1370 | BaroExpandActive = 350; |
1330 | killagreg | 1371 | } |
1372 | else |
||
1322 | hbuss | 1373 | { |
1374 | BaroAtLowerLimit = 1; |
||
1375 | } |
||
1376 | } |
||
1377 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1378 | else |
1322 | hbuss | 1379 | if(MessLuftdruck < 100) |
1380 | { // decrease offset |
||
1330 | killagreg | 1381 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1382 | { |
1383 | ExpandBaro += 1; |
||
1384 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1385 | beeptime = 300; |
||
1352 | hbuss | 1386 | BaroExpandActive = 350; |
1330 | killagreg | 1387 | } |
1388 | else |
||
1322 | hbuss | 1389 | { |
1390 | BaroAtUpperLimit = 1; |
||
1391 | } |
||
1392 | } |
||
1330 | killagreg | 1393 | else |
1322 | hbuss | 1394 | { |
1395 | BaroAtUpperLimit = 0; |
||
1396 | BaroAtLowerLimit = 0; |
||
1397 | } |
||
1398 | } |
||
1399 | else // delay, because of expanding the Baro-Range |
||
1400 | { |
||
1401 | // now clear the D-values |
||
1402 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1403 | VarioMeter = 0; |
||
1404 | BaroExpandActive--; |
||
1405 | } |
||
1328 | hbuss | 1406 | |
1407 | // if height control is activated by an rc channel |
||
1916 | holgerb | 1408 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1409 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1410 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1411 | { //height control not active |
1412 | if(!delay--) |
||
1413 | { |
||
1414 | HoehenReglerAktiv = 0; // disable height control |
||
1415 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1416 | delay = 1; |
||
1417 | } |
||
1418 | } |
||
1419 | else |
||
1420 | { //height control is activated |
||
1421 | HoehenReglerAktiv = 1; // enable height control |
||
1334 | killagreg | 1422 | delay = 200; |
1328 | hbuss | 1423 | } |
1051 | killagreg | 1424 | } |
1309 | hbuss | 1425 | else // no switchable height control |
1426 | { |
||
1916 | holgerb | 1427 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1428 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1429 | } |
1322 | hbuss | 1430 | |
1320 | hbuss | 1431 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1432 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1433 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1434 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1435 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1436 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1437 | VarioCharacter = ' '; |
1765 | killagreg | 1438 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1439 | { |
1330 | killagreg | 1440 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1441 | // Holger original version |
1442 | // start of height control algorithm |
||
1443 | // the height control is only an attenuation of the actual gas stick. |
||
1444 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1445 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1446 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1447 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1448 | { // old version |
1309 | hbuss | 1449 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1450 | HeightTrimming = 0; |
||
1773 | killagreg | 1451 | // set both flags to indicate no vario mode |
1452 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1453 | } |
1314 | killagreg | 1454 | else |
1309 | hbuss | 1455 | { |
1456 | // alternative height control |
||
1457 | // PD-Control with respect to hoover point |
||
1458 | // the thrust loss out of horizontal attitude is compensated |
||
1459 | // the setpoint will be fine adjusted with the gas stick position |
||
1765 | killagreg | 1460 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1461 | { // gas stick is above hoover point |
1587 | killagreg | 1462 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1463 | { |
1767 | killagreg | 1464 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1465 | { |
1767 | killagreg | 1466 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1309 | hbuss | 1467 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1468 | } |
||
1767 | killagreg | 1469 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1587 | killagreg | 1470 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1471 | VarioCharacter = '+'; |
1865 | holgerb | 1472 | WaypointTrimming = 0; |
1309 | hbuss | 1473 | } // gas stick is below hoover point |
1587 | killagreg | 1474 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1475 | { |
1767 | killagreg | 1476 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1477 | { |
1767 | killagreg | 1478 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1309 | hbuss | 1479 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1480 | } |
||
1767 | killagreg | 1481 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1587 | killagreg | 1482 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1483 | VarioCharacter = '-'; |
1865 | holgerb | 1484 | WaypointTrimming = 0; |
1309 | hbuss | 1485 | } |
1587 | killagreg | 1486 | else // Gas Stick in Hover Range |
1309 | hbuss | 1487 | { |
1855 | holgerb | 1488 | VarioCharacter = '='; |
1857 | holgerb | 1489 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1490 | { |
1491 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1492 | HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1493 | WaypointTrimming = 10; |
1494 | VarioCharacter = '^'; |
||
1865 | holgerb | 1495 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1496 | { |
||
1497 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1498 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1499 | } |
||
1855 | holgerb | 1500 | } |
1501 | else |
||
1857 | holgerb | 1502 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1503 | { |
1504 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1505 | HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1506 | WaypointTrimming = -10; |
1507 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1508 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1509 | { |
||
1510 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1511 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1512 | } |
||
1855 | holgerb | 1513 | } |
1514 | else |
||
1767 | killagreg | 1515 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1516 | { |
1933 | holgerb | 1517 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1518 | else WaypointTrimming = 0; |
||
1767 | killagreg | 1519 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1520 | HeightTrimming = 0; |
1916 | holgerb | 1521 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1522 | if(!StartTrigger && HoehenWert > 50) |
1523 | { |
||
1524 | StartTrigger = 1; |
||
1765 | killagreg | 1525 | } |
1309 | hbuss | 1526 | } |
1527 | } |
||
1528 | // Trim height set point |
||
1334 | killagreg | 1529 | if(abs(HeightTrimming) > 512) |
1309 | hbuss | 1530 | { |
1857 | holgerb | 1531 | if(WaypointTrimming) |
1532 | { |
||
1533 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1534 | else SollHoehe += WaypointTrimming; |
||
1535 | } |
||
1536 | else |
||
1332 | hbuss | 1537 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1309 | hbuss | 1538 | HeightTrimming = 0; |
1932 | holgerb | 1539 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1916 | holgerb | 1540 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1541 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1542 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1543 | { |
1587 | killagreg | 1544 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1545 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1546 | if(StickGasHover < 70) StickGasHover = 70; |
||
1547 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1548 | } |
1309 | hbuss | 1549 | } |
1352 | hbuss | 1550 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1551 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1552 | else |
1553 | { |
||
1322 | hbuss | 1554 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1555 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1556 | else StickGasHover = 120; |
||
1698 | holgerb | 1557 | HoverGas = GasMischanteil; |
1320 | hbuss | 1558 | } |
1590 | killagreg | 1559 | HCGas = HoverGas; // take hover gas (neutral point) |
1560 | } |
||
1916 | holgerb | 1561 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1562 | { |
1590 | killagreg | 1563 | // from this point the Heigth Control Algorithm is identical for both versions |
1564 | if(BaroExpandActive) // baro range expanding active |
||
1565 | { |
||
1566 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1567 | HeightDeviation = 0; |
||
1568 | } // EOF // baro range expanding active |
||
1569 | else // valid data from air pressure sensor |
||
1570 | { |
||
1571 | // ------------------------- P-Part ---------------------------- |
||
1572 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1573 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1574 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1575 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1576 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1577 | GasReduction = tmp_long; |
||
1590 | killagreg | 1578 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1579 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1580 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1581 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1582 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1583 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1584 | else |
1916 | holgerb | 1585 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1586 | GasReduction += tmp_int; |
1590 | killagreg | 1587 | } // EOF no baro range expanding |
1309 | hbuss | 1588 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1589 | if(Parameter_Hoehe_ACC_Wirkung) |
1590 | { |
||
1591 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1592 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1593 | GasReduction += tmp_long; |
||
1765 | killagreg | 1594 | } |
1587 | killagreg | 1595 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1596 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1597 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1598 | GasReduction += tmp_int; |
1701 | holgerb | 1599 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1600 | // ------------------------ ---------------------------------- |
||
1601 | HCGas -= GasReduction; |
||
1309 | hbuss | 1602 | // limit deviation from hoover point within the target region |
1692 | holgerb | 1603 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1604 | { |
1765 | killagreg | 1605 | unsigned int tmp; |
1705 | holgerb | 1606 | tmp = abs(HeightDeviation); |
1607 | if(tmp <= 60) |
||
1608 | { |
||
1609 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1610 | } |
||
1611 | else |
||
1765 | killagreg | 1612 | { |
1705 | holgerb | 1613 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1614 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1615 | if(HeightDeviation > 0) |
1693 | holgerb | 1616 | { |
1705 | holgerb | 1617 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1618 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1619 | } |
1705 | holgerb | 1620 | else |
1621 | { |
||
1622 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1623 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1624 | } |
||
1625 | } |
||
1309 | hbuss | 1626 | } |
1322 | hbuss | 1627 | // strech control output by inverse attitude projection 1/cos |
1628 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1629 | tmp_long2 = (int32_t)HCGas; |
1630 | tmp_long2 *= 8192L; |
||
1631 | tmp_long2 /= CosAttitude; |
||
1632 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1633 | // update height control gas averaging |
1634 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1635 | // limit height control gas pd-control output |
||
1636 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1637 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1638 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1639 | { // old version |
1640 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1641 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1642 | } |
1719 | holgerb | 1643 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1314 | killagreg | 1644 | } |
1309 | hbuss | 1645 | }// EOF height control active |
1320 | hbuss | 1646 | else // HC not active |
1647 | { |
||
1648 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1649 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1650 | { |
||
1651 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1652 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1653 | } |
1587 | killagreg | 1654 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1655 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1656 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1657 | // set both flags to indicate no vario mode |
1658 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1659 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1660 | } |
1587 | killagreg | 1661 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1662 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1663 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1664 | { |
1698 | holgerb | 1665 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1666 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1667 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1668 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1669 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1670 | // average vertical projected thrust |
1698 | holgerb | 1671 | if(modell_fliegt < 4000) // the first 8 seconds |
1672 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1673 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1674 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1675 | } |
1698 | holgerb | 1676 | if(modell_fliegt < 8000) // the first 16 seconds |
1677 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1678 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1679 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1680 | } |
1698 | holgerb | 1681 | else //later |
1865 | holgerb | 1682 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1683 | { |
1590 | killagreg | 1684 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1685 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1686 | } |
1590 | killagreg | 1687 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1688 | if(EE_Parameter.Hoehe_HoverBand) |
1689 | { |
||
1690 | int16_t band; |
||
1587 | killagreg | 1691 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1692 | HoverGasMin = HoverGas - band; |
||
1693 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1694 | } |
1695 | else |
||
1696 | { // no limit |
||
1587 | killagreg | 1697 | HoverGasMin = 0; |
1698 | HoverGasMax = 1023; |
||
1309 | hbuss | 1699 | } |
1765 | killagreg | 1700 | } |
1701 | else |
||
1698 | holgerb | 1702 | { |
1703 | StartTrigger = 0; |
||
1704 | HoverGasFilter = 0; |
||
1705 | HoverGas = 0; |
||
1765 | killagreg | 1706 | } |
1916 | holgerb | 1707 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1708 | else |
1709 | { |
||
1710 | // set undefined state to indicate vario off |
||
1711 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1712 | } // EOF no height control |
||
1713 | |||
1309 | hbuss | 1714 | // limit gas to parameter setting |
1320 | hbuss | 1715 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1716 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1717 | |
1051 | killagreg | 1718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1719 | // all BL-Ctrl connected? |
1720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1931 | holgerb | 1721 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) // wait until all BL-Ctrls started |
1722 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
||
1320 | hbuss | 1723 | { |
1724 | modell_fliegt = 1; |
||
1675 | holgerb | 1725 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1726 | } |
1727 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1728 | // + Mischer und PI-Regler |
1051 | killagreg | 1729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1730 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1732 | // Gier-Anteil |
1051 | killagreg | 1733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1734 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1735 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1736 | if(GasMischanteil > MIN_GIERGAS) |
1737 | { |
||
1051 | killagreg | 1738 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1739 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1740 | } |
1051 | killagreg | 1741 | else |
693 | hbuss | 1742 | { |
1051 | killagreg | 1743 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1744 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1745 | } |
855 | hbuss | 1746 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1747 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1748 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1749 | |
1051 | killagreg | 1750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1751 | // Nick-Achse |
1051 | killagreg | 1752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1753 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1754 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1755 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1756 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1757 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1758 | |
1759 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1760 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1761 | pd_ergebnis_nick += SummeNick / Ki; |
||
1762 | |||
1676 | holgerb | 1763 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1764 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1765 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1766 | |
1153 | hbuss | 1767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1768 | // Roll-Achse |
||
1769 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1770 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1771 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1772 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1773 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1774 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1775 | |
1776 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
1777 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
1778 | pd_ergebnis_roll += SummeRoll / Ki; |
||
1779 | |||
1676 | holgerb | 1780 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1781 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1782 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1783 | |||
1784 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1785 | // Universal Mixer |
1155 | hbuss | 1786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1787 | for(i=0; i<MAX_MOTORS; i++) |
1788 | { |
||
1789 | signed int tmp_int; |
||
1790 | if(Mixer.Motor[i][0] > 0) |
||
1791 | { |
||
1652 | holgerb | 1792 | // Gas |
1676 | holgerb | 1793 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1794 | // Nick |
1795 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1796 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1797 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1798 | // Roll |
||
1799 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1800 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1801 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1802 | // Gier |
||
1676 | holgerb | 1803 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1804 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1805 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1806 | |
1913 | holgerb | 1807 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1808 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
1809 | else |
||
1810 | { |
||
1811 | if(EE_Parameter.MotorSmooth == 0) |
||
1812 | { |
||
1931 | holgerb | 1813 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 1814 | } |
1815 | else // 1 means tmp_int = tmp_int; |
||
1816 | if(EE_Parameter.MotorSmooth > 1) |
||
1817 | { |
||
1818 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
1925 | holgerb | 1819 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1913 | holgerb | 1820 | } |
1821 | } |
||
1931 | holgerb | 1822 | |
1760 | holgerb | 1823 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 1824 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1825 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1826 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1827 | } |
1828 | else |
||
1829 | { |
||
1830 | Motor[i].SetPoint = 0; |
||
1831 | Motor[i].SetPointLowerBits = 0; |
||
1832 | } |
||
1833 | } |
||
1111 | hbuss | 1834 | } |