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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | |||
57 | #include "main.h" |
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1320 | hbuss | 58 | #include "mymath.h" |
1330 | killagreg | 59 | #include "isqrt.h" |
1 | ingob | 60 | |
1352 | hbuss | 61 | unsigned char h,m,s; |
62 | unsigned int BaroExpandActive = 0; |
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1153 | hbuss | 63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 64 | int TrimNick, TrimRoll; |
927 | hbuss | 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
1703 | holgerb | 66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
805 | hbuss | 68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1639 | holgerb | 69 | int NeutralAccZ = 0; |
1683 | killagreg | 70 | unsigned char ControlHeading = 0;// in 2° |
693 | hbuss | 71 | long IntegralNick = 0,IntegralNick2 = 0; |
72 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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73 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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74 | long Integral_Gier = 0; |
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75 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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76 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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77 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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78 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1685 | holgerb | 79 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 80 | volatile long Mess_Integral_Hoch = 0; |
1840 | holgerb | 81 | int KompassValue = -1; |
1837 | holgerb | 82 | int KompassSollWert = 0; |
1941 | holgerb | 83 | //int KompassRichtung = 0; |
1839 | holgerb | 84 | char CalculateCompassTimer = 100; |
85 | unsigned char KompassFusion = 32; |
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86 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 87 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 88 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 89 | unsigned char TrichterFlug = 0; |
395 | hbuss | 90 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 91 | long ErsatzKompass; |
92 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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93 | int GierGyroFehler = 0; |
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1211 | hbuss | 94 | char GyroFaktor,GyroFaktorGier; |
95 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 96 | int DiffNick,DiffRoll; |
1916 | holgerb | 97 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1943 | holgerb | 98 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1377 | hbuss | 99 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 100 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 101 | volatile unsigned char SenderOkay = 0; |
1698 | holgerb | 102 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 103 | long HoehenWert = 0; |
104 | long SollHoehe = 0; |
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1942 | holgerb | 105 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 106 | long FromNC_AltitudeSetpoint = 0; |
107 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 108 | unsigned char carefree_old = 50; // to make the Beep when switching |
1942 | holgerb | 109 | signed char WaypointTrimming = 0; |
1840 | holgerb | 110 | int CompassGierSetpoint = 0; |
2009 | holgerb | 111 | unsigned char CalibrationDone = 0; |
2061 | holgerb | 112 | char NeueKompassRichtungMerken = 0; |
1692 | holgerb | 113 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 114 | //float Ki = FAKTOR_I; |
1676 | holgerb | 115 | int Ki = 10300 / 33; |
395 | hbuss | 116 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
117 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 118 | |
119 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 120 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 121 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
122 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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123 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 124 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 125 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 126 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 127 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 128 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
129 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 130 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
131 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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132 | unsigned char Parameter_UserParam1 = 0; |
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133 | unsigned char Parameter_UserParam2 = 0; |
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134 | unsigned char Parameter_UserParam3 = 0; |
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135 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 136 | unsigned char Parameter_UserParam5 = 0; |
137 | unsigned char Parameter_UserParam6 = 0; |
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138 | unsigned char Parameter_UserParam7 = 0; |
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139 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 140 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 141 | unsigned char Parameter_ServoRollControl = 100; |
173 | holgerb | 142 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 143 | unsigned char Parameter_AchsKopplung1 = 90; |
144 | unsigned char Parameter_AchsKopplung2 = 65; |
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145 | unsigned char Parameter_CouplingYawCorrection = 64; |
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146 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 147 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 148 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
149 | unsigned char Parameter_J16Timing; // for the J16 Output |
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150 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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151 | unsigned char Parameter_J17Timing; // for the J17 Output |
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152 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 153 | unsigned char Parameter_NaviGpsGain; |
154 | unsigned char Parameter_NaviGpsP; |
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155 | unsigned char Parameter_NaviGpsI; |
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156 | unsigned char Parameter_NaviGpsD; |
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157 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 158 | unsigned char Parameter_NaviOperatingRadius; |
159 | unsigned char Parameter_NaviWindCorrection; |
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160 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 161 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 162 | unsigned char Parameter_GlobalConfig; |
163 | unsigned char Parameter_ExtraConfig; |
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1966 | holgerb | 164 | unsigned char Parameter_MaximumAltitude; |
1403 | hbuss | 165 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 166 | unsigned char CareFree = 0; |
1876 | holgerb | 167 | 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 | 168 | |
492 | hbuss | 169 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 170 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 171 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 172 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 173 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 174 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 175 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 176 | char VarioCharacter = ' '; |
2028 | holgerb | 177 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
2230 | holgerb | 178 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
1591 | holgerb | 179 | |
1639 | holgerb | 180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
181 | // Debugwerte zuordnen |
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182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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183 | void CopyDebugValues(void) |
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184 | { |
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185 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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186 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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187 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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188 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 189 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
1639 | holgerb | 190 | DebugOut.Analog[5] = HoehenWert/5; |
1703 | holgerb | 191 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
1639 | holgerb | 192 | DebugOut.Analog[8] = KompassValue; |
193 | DebugOut.Analog[9] = UBat; |
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194 | DebugOut.Analog[10] = SenderOkay; |
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1941 | holgerb | 195 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 196 | DebugOut.Analog[12] = Motor[0].SetPoint; |
197 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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198 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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199 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 200 | DebugOut.Analog[20] = ServoNickValue; |
201 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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202 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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1879 | holgerb | 203 | DebugOut.Analog[24] = SollHoehe/5; |
1639 | holgerb | 204 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
1682 | holgerb | 205 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
1839 | holgerb | 206 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 207 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 208 | DebugOut.Analog[30] = GPS_Nick; |
209 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 210 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
1639 | holgerb | 211 | } |
212 | |||
1760 | holgerb | 213 | |
214 | |||
1232 | hbuss | 215 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 216 | { |
1232 | hbuss | 217 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1966 | holgerb | 218 | GRN_OFF; |
1 | ingob | 219 | while(Anzahl--) |
220 | { |
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1232 | hbuss | 221 | beeptime = dauer; |
222 | while(beeptime); |
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223 | Delay_ms(dauer * 2); |
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1 | ingob | 224 | } |
1966 | holgerb | 225 | GRN_ON; |
1 | ingob | 226 | } |
227 | |||
228 | //############################################################################ |
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1622 | killagreg | 229 | // Messwerte beim Ermitteln der Nullage |
230 | void CalibrierMittelwert(void) |
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231 | //############################################################################ |
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232 | { |
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233 | unsigned char i; |
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234 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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235 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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236 | ANALOG_OFF; |
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237 | MesswertNick = AdWertNick; |
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238 | MesswertRoll = AdWertRoll; |
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239 | MesswertGier = AdWertGier; |
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1703 | holgerb | 240 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
241 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 242 | // ADC einschalten |
243 | ANALOG_ON; |
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244 | for(i=0;i<8;i++) |
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245 | { |
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246 | int tmp; |
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1876 | holgerb | 247 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 248 | LIMIT_MIN_MAX(tmp, 0, 255); |
249 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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250 | } |
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251 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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252 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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253 | } |
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254 | |||
255 | //############################################################################ |
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1 | ingob | 256 | // Nullwerte ermitteln |
1622 | killagreg | 257 | void SetNeutral(unsigned char AccAdjustment) |
1 | ingob | 258 | //############################################################################ |
259 | { |
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1622 | killagreg | 260 | unsigned char i; |
261 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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1702 | holgerb | 262 | VersionInfo.HardwareError[0] = 0; |
2146 | holgerb | 263 | // HEF4017Reset_ON; |
1051 | killagreg | 264 | NeutralAccX = 0; |
1 | ingob | 265 | NeutralAccY = 0; |
266 | NeutralAccZ = 0; |
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1622 | killagreg | 267 | |
1051 | killagreg | 268 | AdNeutralNick = 0; |
269 | AdNeutralRoll = 0; |
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1 | ingob | 270 | AdNeutralGier = 0; |
1622 | killagreg | 271 | |
395 | hbuss | 272 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 273 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 274 | |
1036 | hbuss | 275 | ExpandBaro = 0; |
1622 | killagreg | 276 | |
1051 | killagreg | 277 | CalibrierMittelwert(); |
395 | hbuss | 278 | Delay_ms_Mess(100); |
1622 | killagreg | 279 | |
1 | ingob | 280 | CalibrierMittelwert(); |
1622 | killagreg | 281 | |
1 | ingob | 282 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 283 | { |
1 | ingob | 284 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
285 | } |
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1166 | hbuss | 286 | #define NEUTRAL_FILTER 32 |
287 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 288 | { |
289 | Delay_ms_Mess(10); |
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1216 | killagreg | 290 | gier_neutral += AdWertGier; |
1166 | hbuss | 291 | nick_neutral += AdWertNick; |
292 | roll_neutral += AdWertRoll; |
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1111 | hbuss | 293 | } |
1173 | hbuss | 294 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
295 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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296 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 297 | |
401 | hbuss | 298 | StartNeutralRoll = AdNeutralRoll; |
299 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 300 | |
301 | if(AccAdjustment) |
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302 | { |
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303 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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304 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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305 | NeutralAccZ = Aktuell_az; |
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306 | |||
307 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 308 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
309 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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1622 | killagreg | 310 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 311 | } |
1051 | killagreg | 312 | else |
513 | hbuss | 313 | { |
1622 | killagreg | 314 | // restore from eeprom |
315 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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316 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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317 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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318 | // strange settings? |
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1638 | holgerb | 319 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
1622 | killagreg | 320 | { |
321 | printf("\n\rACC not calibrated!\r\n"); |
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322 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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323 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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324 | NeutralAccZ = Aktuell_az; |
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325 | } |
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513 | hbuss | 326 | } |
1051 | killagreg | 327 | |
1 | ingob | 328 | MesswertNick = 0; |
329 | MesswertRoll = 0; |
||
330 | MesswertGier = 0; |
||
1111 | hbuss | 331 | Delay_ms_Mess(100); |
1703 | holgerb | 332 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
333 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1173 | hbuss | 334 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
335 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
2072 | holgerb | 336 | Mess_IntegralNick = IntegralNick; |
337 | Mess_IntegralRoll = IntegralRoll; |
||
1173 | hbuss | 338 | Mess_Integral_Gier = 0; |
1 | ingob | 339 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 340 | VarioMeter = 0; |
1 | ingob | 341 | Mess_Integral_Hoch = 0; |
1837 | holgerb | 342 | KompassSollWert = KompassValue; |
1839 | holgerb | 343 | KompassSignalSchlecht = 100; |
1051 | killagreg | 344 | beeptime = 50; |
882 | hbuss | 345 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
346 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 347 | ExternHoehenValue = 0; |
693 | hbuss | 348 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
349 | GierGyroFehler = 0; |
||
921 | hbuss | 350 | LED_Init(); |
1765 | killagreg | 351 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 352 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 353 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 354 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
2191 | holgerb | 355 | |
1391 | killagreg | 356 | for(i=0;i<8;i++) |
1377 | hbuss | 357 | { |
1876 | holgerb | 358 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 359 | } |
1171 | hbuss | 360 | SenderOkay = 100; |
1320 | hbuss | 361 | if(ServoActive) |
362 | { |
||
363 | DDRD |=0x80; // enable J7 -> Servo signal |
||
364 | } |
||
2240 | holgerb | 365 | else |
366 | { |
||
367 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
||
368 | else NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
||
369 | } |
||
1702 | holgerb | 370 | |
1765 | killagreg | 371 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
372 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
373 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
374 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
375 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
376 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
1862 | holgerb | 377 | carefree_old = 70; |
1925 | holgerb | 378 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 379 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 380 | #endif |
1 | ingob | 381 | } |
382 | |||
1702 | holgerb | 383 | |
1 | ingob | 384 | //############################################################################ |
395 | hbuss | 385 | // Bearbeitet die Messwerte |
1 | ingob | 386 | void Mittelwert(void) |
387 | //############################################################################ |
||
1051 | killagreg | 388 | { |
1111 | hbuss | 389 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
390 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 391 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 392 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 393 | MesswertNick = (signed int) AdWertNickFilter / 8; |
394 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 395 | RohMesswertNick = MesswertNick; |
396 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 397 | |
395 | hbuss | 398 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 399 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
400 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 401 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
402 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 403 | NaviAccNick += AdWertAccNick; |
404 | NaviAccRoll += AdWertAccRoll; |
||
405 | NaviCntAcc++; |
||
1153 | hbuss | 406 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
407 | |||
1155 | hbuss | 408 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
409 | // ADC einschalten |
||
1171 | hbuss | 410 | ANALOG_ON; |
1155 | hbuss | 411 | AdReady = 0; |
412 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
413 | |||
1216 | killagreg | 414 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
415 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 416 | else winkel_roll = Mess_IntegralRoll; |
417 | |||
1216 | killagreg | 418 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
419 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 420 | else winkel_nick = Mess_IntegralNick; |
421 | |||
1120 | hbuss | 422 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 423 | Mess_Integral_Gier += MesswertGier; |
424 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 425 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 426 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 427 | { |
1153 | hbuss | 428 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 429 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 430 | tmpl3 /= 4096L; |
1153 | hbuss | 431 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 432 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 433 | tmpl4 /= 4096L; |
1153 | hbuss | 434 | KopplungsteilNickRoll = tmpl3; |
435 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 436 | tmpl4 -= tmpl3; |
437 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 438 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 439 | |
1153 | hbuss | 440 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 441 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 442 | tmpl /= 4096L; |
1153 | hbuss | 443 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 444 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 445 | tmpl2 /= 4096L; |
1225 | hbuss | 446 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 447 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 448 | } |
1166 | hbuss | 449 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 450 | TrimRoll = tmpl - tmpl2 / 100L; |
451 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 452 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
453 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
454 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 455 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 456 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
457 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 458 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 459 | { |
882 | hbuss | 460 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 461 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 462 | } |
395 | hbuss | 463 | if(Mess_IntegralRoll <-Umschlag180Roll) |
464 | { |
||
882 | hbuss | 465 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 466 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 467 | } |
395 | hbuss | 468 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 469 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
470 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 471 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 472 | { |
473 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
474 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 475 | } |
476 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 477 | { |
882 | hbuss | 478 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 479 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 480 | } |
1111 | hbuss | 481 | |
1 | ingob | 482 | Integral_Gier = Mess_Integral_Gier; |
483 | IntegralNick = Mess_IntegralNick; |
||
484 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 485 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 486 | IntegralRoll2 = Mess_IntegralRoll2; |
487 | |||
1166 | hbuss | 488 | #define D_LIMIT 128 |
489 | |||
1171 | hbuss | 490 | MesswertNick = HiResNick / 8; |
491 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 492 | |
1167 | hbuss | 493 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
494 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
495 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
496 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
497 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
498 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
499 | |||
1216 | killagreg | 500 | if(Parameter_Gyro_D) |
1111 | hbuss | 501 | { |
1166 | hbuss | 502 | d2Nick = HiResNick - oldNick; |
503 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 504 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
505 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 506 | |
1166 | hbuss | 507 | d2Roll = HiResRoll - oldRoll; |
508 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 509 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
510 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 511 | |
512 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 513 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
514 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
515 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 516 | } |
1111 | hbuss | 517 | |
1166 | hbuss | 518 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
519 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
520 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
521 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 522 | |
1916 | holgerb | 523 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 524 | { |
525 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
526 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
527 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
528 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
529 | } |
||
1 | ingob | 530 | } |
531 | |||
532 | //############################################################################ |
||
533 | // Senden der Motorwerte per I2C-Bus |
||
534 | void SendMotorData(void) |
||
535 | //############################################################################ |
||
1051 | killagreg | 536 | { |
1209 | hbuss | 537 | unsigned char i; |
921 | hbuss | 538 | if(!MotorenEin) |
1 | ingob | 539 | { |
1765 | killagreg | 540 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
1216 | killagreg | 541 | for(i=0;i<MAX_MOTORS;i++) |
542 | { |
||
543 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 544 | Motor[i].SetPoint = MotorTest[i]; |
545 | Motor[i].SetPointLowerBits = 0; |
||
546 | /* |
||
1760 | holgerb | 547 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
548 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 549 | */ |
1216 | killagreg | 550 | } |
1212 | hbuss | 551 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 552 | } |
1765 | killagreg | 553 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 554 | |
1765 | killagreg | 555 | if(I2C_TransferActive) |
1744 | holgerb | 556 | { |
1760 | holgerb | 557 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 558 | } |
559 | else |
||
1744 | holgerb | 560 | { |
561 | motor_write = 0; |
||
1760 | holgerb | 562 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 563 | } |
1 | ingob | 564 | } |
565 | |||
566 | |||
567 | |||
568 | //############################################################################ |
||
569 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 570 | void ParameterZuordnung(void) |
1 | ingob | 571 | //############################################################################ |
572 | { |
||
1787 | holgerb | 573 | unsigned char tmp,i; |
574 | for(i=0;i<8;i++) |
||
575 | { |
||
576 | int tmp2; |
||
1933 | holgerb | 577 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
578 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 579 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 580 | |
581 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
582 | else |
||
1787 | holgerb | 583 | if(tmp2 != Poti[i]) |
584 | { |
||
585 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
586 | if(Poti[i] > tmp2) Poti[i]--; |
||
587 | else Poti[i]++; |
||
588 | } |
||
589 | } |
||
921 | hbuss | 590 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
591 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
592 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 593 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
594 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
2012 | holgerb | 595 | |
2040 | holgerb | 596 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
597 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
||
2012 | holgerb | 598 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
599 | |||
2040 | holgerb | 600 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
601 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
||
2012 | holgerb | 602 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
603 | |||
2043 | holgerb | 604 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
1916 | holgerb | 605 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 606 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
607 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
608 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
609 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
610 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
611 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
612 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
613 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
614 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
615 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
616 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
617 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
618 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
619 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
620 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
621 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
622 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
623 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
624 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
1668 | holgerb | 625 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
626 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 627 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 628 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
2034 | holgerb | 629 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
1916 | holgerb | 630 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
631 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 632 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
633 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
634 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 635 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 636 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 637 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 638 | |
1921 | holgerb | 639 | tmp = EE_Parameter.CareFreeModeControl; |
1690 | holgerb | 640 | if(tmp > 50) |
1668 | holgerb | 641 | { |
1682 | holgerb | 642 | CareFree = 1; |
1839 | holgerb | 643 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 644 | if(carefree_old != CareFree) |
645 | { |
||
646 | if(carefree_old < 3) |
||
647 | { |
||
2090 | holgerb | 648 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
649 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
||
650 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
||
651 | #else |
||
2063 | holgerb | 652 | if(CareFree) beeptime = 1500; |
1862 | holgerb | 653 | else beeptime = 200; |
2090 | holgerb | 654 | #endif |
2063 | holgerb | 655 | NeueKompassRichtungMerken = 5; |
1862 | holgerb | 656 | carefree_old = CareFree; |
657 | } else carefree_old--; |
||
658 | } |
||
1937 | holgerb | 659 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 660 | } |
1839 | holgerb | 661 | else |
662 | { |
||
663 | CareFree = 0; |
||
1862 | holgerb | 664 | carefree_old = 10; |
1839 | holgerb | 665 | } |
1668 | holgerb | 666 | |
1691 | holgerb | 667 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 668 | { |
669 | beeptime = 15000; |
||
670 | BeepMuster = 0xA400; |
||
671 | CareFree = 0; |
||
1765 | killagreg | 672 | } |
1861 | holgerb | 673 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 674 | } |
675 | |||
676 | //############################################################################ |
||
677 | // |
||
678 | void MotorRegler(void) |
||
679 | //############################################################################ |
||
680 | { |
||
1330 | killagreg | 681 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 682 | int GierMischanteil,GasMischanteil; |
683 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 684 | static long IntegralFehlerNick = 0; |
685 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 686 | static unsigned int RcLostTimer; |
687 | static unsigned char delay_neutral = 0; |
||
688 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
2146 | holgerb | 689 | static signed char move_safety_switch = 0; |
395 | hbuss | 690 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 691 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 692 | unsigned char i; |
1051 | killagreg | 693 | Mittelwert(); |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 695 | // Gaswert ermitteln |
1051 | killagreg | 696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2230 | holgerb | 697 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
698 | { |
||
699 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
||
2028 | holgerb | 700 | { |
701 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
702 | { |
||
703 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
704 | } |
||
705 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
706 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
2230 | holgerb | 707 | } |
708 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
||
709 | { |
||
710 | StickGas = 0; // Hold Gas down in that case |
||
711 | HooverGasEmergencyPercent = MIN_GAS; |
||
712 | } |
||
1051 | killagreg | 713 | GasMischanteil = StickGas; |
831 | hbuss | 714 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1051 | killagreg | 715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 716 | // Empfang schlecht |
1051 | killagreg | 717 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 718 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 719 | { |
1051 | killagreg | 720 | if(RcLostTimer) RcLostTimer--; |
721 | else |
||
1 | ingob | 722 | { |
723 | MotorenEin = 0; |
||
1954 | holgerb | 724 | modell_fliegt = 0; |
725 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
1051 | killagreg | 726 | } |
1 | ingob | 727 | ROT_ON; |
2008 | holgerb | 728 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 729 | { |
2028 | holgerb | 730 | GasMischanteil = HooverGasEmergencyPercent; |
1765 | killagreg | 731 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 732 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 733 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 734 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
735 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
736 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 737 | } |
1954 | holgerb | 738 | else |
739 | { |
||
740 | MotorenEin = 0; |
||
741 | } |
||
1 | ingob | 742 | } |
1051 | killagreg | 743 | else |
744 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 745 | // Emfang gut |
1051 | killagreg | 746 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 747 | if(SenderOkay > 140) |
748 | { |
||
1765 | killagreg | 749 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 750 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 751 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 752 | { |
753 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
754 | } |
||
871 | hbuss | 755 | if((modell_fliegt < 256)) |
1 | ingob | 756 | { |
757 | SummeNick = 0; |
||
758 | SummeRoll = 0; |
||
1682 | holgerb | 759 | sollGier = 0; |
760 | Mess_Integral_Gier = 0; |
||
1765 | killagreg | 761 | } else FC_StatusFlags |= FC_STATUS_FLY; |
1051 | killagreg | 762 | |
595 | hbuss | 763 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 764 | { |
1051 | killagreg | 765 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 766 | // auf Nullwerte kalibrieren |
1051 | killagreg | 767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 768 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
769 | { |
||
770 | if(++delay_neutral > 200) // nicht sofort |
||
771 | { |
||
2090 | holgerb | 772 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
773 | SpeakHoTT = SPEAK_CALIBRATE; |
||
774 | #endif |
||
1 | ingob | 775 | delay_neutral = 0; |
776 | modell_fliegt = 0; |
||
777 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
778 | { |
||
304 | ingob | 779 | unsigned char setting=1; |
1 | ingob | 780 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
781 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
782 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
783 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
784 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 785 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 786 | } |
1051 | killagreg | 787 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
788 | { |
||
819 | hbuss | 789 | WinkelOut.CalcState = 1; |
2009 | holgerb | 790 | CalibrationDone = 0; |
819 | hbuss | 791 | beeptime = 1000; |
792 | } |
||
793 | else |
||
1 | ingob | 794 | { |
1622 | killagreg | 795 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 796 | LipoDetection(0); |
1626 | killagreg | 797 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 798 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 799 | { |
1 | ingob | 800 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 801 | } |
2146 | holgerb | 802 | // ServoActive = 0; |
1622 | killagreg | 803 | SetNeutral(0); |
2009 | holgerb | 804 | CalibrationDone = 1; |
1232 | hbuss | 805 | ServoActive = 1; |
806 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1622 | killagreg | 807 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 808 | } |
1051 | killagreg | 809 | } |
1 | ingob | 810 | } |
1051 | killagreg | 811 | else |
513 | hbuss | 812 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
813 | { |
||
814 | if(++delay_neutral > 200) // nicht sofort |
||
815 | { |
||
816 | MotorenEin = 0; |
||
817 | delay_neutral = 0; |
||
818 | modell_fliegt = 0; |
||
1622 | killagreg | 819 | SetNeutral(1); |
2009 | holgerb | 820 | CalibrationDone = 1; |
1622 | killagreg | 821 | Piep(GetActiveParamSet(),120); |
1051 | killagreg | 822 | } |
513 | hbuss | 823 | } |
1 | ingob | 824 | else delay_neutral = 0; |
825 | } |
||
1051 | killagreg | 826 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 827 | // Gas ist unten |
1051 | killagreg | 828 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 829 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 830 | { |
2146 | holgerb | 831 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
832 | else |
||
833 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
||
1521 | killagreg | 834 | // Motoren Starten |
835 | if(!MotorenEin) |
||
836 | { |
||
2146 | holgerb | 837 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
838 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
||
1521 | killagreg | 839 | { |
1051 | killagreg | 840 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 841 | // Einschalten |
1051 | killagreg | 842 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2146 | holgerb | 843 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
844 | if(++delay_einschalten > 253) |
||
1521 | killagreg | 845 | { |
846 | delay_einschalten = 0; |
||
2009 | holgerb | 847 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1622 | killagreg | 848 | { |
849 | modell_fliegt = 1; |
||
850 | MotorenEin = 1; |
||
851 | sollGier = 0; |
||
852 | Mess_Integral_Gier = 0; |
||
853 | Mess_Integral_Gier2 = 0; |
||
854 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
855 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
856 | Mess_IntegralNick2 = IntegralNick; |
||
857 | Mess_IntegralRoll2 = IntegralRoll; |
||
858 | SummeNick = 0; |
||
859 | SummeRoll = 0; |
||
1913 | holgerb | 860 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 861 | NeueKompassRichtungMerken = 100; // 2 sekunden |
2090 | holgerb | 862 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
863 | SpeakHoTT = SPEAK_STARTING; |
||
864 | #endif |
||
1622 | killagreg | 865 | } |
866 | else |
||
867 | { |
||
868 | beeptime = 1500; // indicate missing calibration |
||
2090 | holgerb | 869 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2146 | holgerb | 870 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
2090 | holgerb | 871 | #endif |
1622 | killagreg | 872 | } |
1521 | killagreg | 873 | } |
874 | } |
||
875 | else delay_einschalten = 0; |
||
876 | } |
||
1051 | killagreg | 877 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 878 | // Auschalten |
1051 | killagreg | 879 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 880 | else // only if motors are running |
881 | { |
||
2146 | holgerb | 882 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
883 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
||
884 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
||
1521 | killagreg | 885 | { |
2146 | holgerb | 886 | if(++delay_ausschalten > 250) // nicht sofort |
1521 | killagreg | 887 | { |
888 | MotorenEin = 0; |
||
889 | delay_ausschalten = 0; |
||
890 | modell_fliegt = 0; |
||
2090 | holgerb | 891 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
892 | SpeakHoTT = SPEAK_MK_OFF; |
||
893 | #endif |
||
1521 | killagreg | 894 | } |
895 | } |
||
896 | else delay_ausschalten = 0; |
||
897 | } |
||
2230 | holgerb | 898 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
899 | } |
||
2146 | holgerb | 900 | else // gas not at minimum |
2230 | holgerb | 901 | { |
902 | move_safety_switch = 0; |
||
903 | GasIsZeroCnt = 0; |
||
904 | } |
||
1 | ingob | 905 | } |
2230 | holgerb | 906 | else // Empfang zwischen 100 und 140 -> schlecht |
907 | { |
||
908 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
||
909 | { |
||
910 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
||
911 | { |
||
912 | GasIsZeroCnt = 30000; |
||
913 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
||
914 | } |
||
915 | } |
||
916 | } |
||
1051 | killagreg | 917 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 918 | // neue Werte von der Funke |
1051 | killagreg | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 920 | |
1765 | killagreg | 921 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 922 | { |
604 | hbuss | 923 | static int stick_nick,stick_roll; |
1912 | holgerb | 924 | unsigned char stick_p; |
1 | ingob | 925 | ParameterZuordnung(); |
1912 | holgerb | 926 | stick_p = EE_Parameter.Stick_P; |
927 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 928 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 929 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 930 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
931 | |||
1707 | holgerb | 932 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
933 | // CareFree und freie Wahl der vorderen Richtung |
||
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 935 | if(CareFree) |
936 | { |
||
937 | signed int nick, roll; |
||
938 | nick = stick_nick / 4; |
||
939 | roll = stick_roll / 4; |
||
940 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
941 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
942 | } |
||
943 | else |
||
944 | { |
||
945 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
946 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
947 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
948 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
949 | } |
||
1662 | killagreg | 950 | |
1 | ingob | 951 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 952 | if(StickGier > 4) StickGier -= 4; else |
953 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 954 | |
1945 | holgerb | 955 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
956 | { |
||
957 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
958 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
959 | } |
||
1912 | holgerb | 960 | |
961 | StickNick -= GPS_Nick; |
||
962 | StickRoll -= GPS_Roll; |
||
1933 | holgerb | 963 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1330 | killagreg | 964 | |
1153 | hbuss | 965 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
966 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 967 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
968 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 969 | |
595 | hbuss | 970 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
971 | //+ Analoge Steuerung per Seriell |
||
972 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 973 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 974 | { |
975 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
976 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
977 | StickGier += ExternControl.Gier; |
||
978 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
979 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
980 | } |
||
855 | hbuss | 981 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 982 | |
1916 | holgerb | 983 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 984 | |
1051 | killagreg | 985 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 986 | { |
1051 | killagreg | 987 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 988 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 989 | } |
928 | hbuss | 990 | else MaxStickNick--; |
1051 | killagreg | 991 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 992 | { |
1051 | killagreg | 993 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 994 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 995 | } |
928 | hbuss | 996 | else MaxStickRoll--; |
1765 | killagreg | 997 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 998 | |
1051 | killagreg | 999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1000 | // Looping? |
1051 | killagreg | 1001 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 1002 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 1003 | else |
1004 | { |
||
395 | hbuss | 1005 | { |
1051 | killagreg | 1006 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1007 | } |
||
1008 | } |
||
993 | hbuss | 1009 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 1010 | else |
395 | hbuss | 1011 | { |
1012 | if(Looping_Rechts) // Hysterese |
||
1013 | { |
||
1014 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
1015 | } |
||
1051 | killagreg | 1016 | } |
173 | holgerb | 1017 | |
993 | hbuss | 1018 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 1019 | else |
1020 | { |
||
395 | hbuss | 1021 | if(Looping_Oben) // Hysterese |
1022 | { |
||
1051 | killagreg | 1023 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1024 | } |
||
1025 | } |
||
993 | hbuss | 1026 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 1027 | else |
395 | hbuss | 1028 | { |
1029 | if(Looping_Unten) // Hysterese |
||
1030 | { |
||
1031 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
1032 | } |
||
1051 | killagreg | 1033 | } |
395 | hbuss | 1034 | |
1035 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 1036 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 1037 | } // Ende neue Funken-Werte |
1038 | |||
1039 | if(Looping_Roll || Looping_Nick) |
||
1040 | { |
||
173 | holgerb | 1041 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 1042 | TrichterFlug = 1; |
173 | holgerb | 1043 | } |
1044 | |||
1051 | killagreg | 1045 | |
1046 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1047 | // Bei Empfangsausfall im Flug |
||
1048 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2230 | holgerb | 1049 | DebugOut.Analog[16] = GasIsZeroCnt; |
1050 | DebugOut.Analog[17] = VarioMeter; |
||
1051 | |||
1916 | holgerb | 1052 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1053 | { |
||
1054 | StickNick = -GPS_Nick; |
||
1055 | StickRoll = -GPS_Roll; |
||
2230 | holgerb | 1056 | StickGas = StickGasHover; |
1916 | holgerb | 1057 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1058 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1059 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1060 | Parameter_HoehenSchalter = 200; // switch on |
||
1061 | } |
||
1062 | else |
||
1765 | killagreg | 1063 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 1064 | { |
1065 | StickGier = 0; |
||
1066 | StickNick = 0; |
||
1067 | StickRoll = 0; |
||
1211 | hbuss | 1068 | GyroFaktor = 90; |
1069 | IntegralFaktor = 120; |
||
1070 | GyroFaktorGier = 90; |
||
1071 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1072 | Looping_Roll = 0; |
1073 | Looping_Nick = 0; |
||
1051 | killagreg | 1074 | } |
395 | hbuss | 1075 | |
1051 | killagreg | 1076 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1077 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1078 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1079 | #define ABGLEICH_ANZAHL 256L |
1080 | |||
1081 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1082 | MittelIntegralRoll += IntegralRoll; |
||
1083 | MittelIntegralNick2 += IntegralNick2; |
||
1084 | MittelIntegralRoll2 += IntegralRoll2; |
||
1085 | |||
1086 | if(Looping_Nick || Looping_Roll) |
||
1087 | { |
||
1088 | IntegralAccNick = 0; |
||
1089 | IntegralAccRoll = 0; |
||
1090 | MittelIntegralNick = 0; |
||
1091 | MittelIntegralRoll = 0; |
||
1092 | MittelIntegralNick2 = 0; |
||
1093 | MittelIntegralRoll2 = 0; |
||
1094 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1095 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1096 | ZaehlMessungen = 0; |
||
498 | hbuss | 1097 | LageKorrekturNick = 0; |
1098 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1099 | } |
1100 | |||
1051 | killagreg | 1101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1102 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1103 | { |
1104 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1105 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1106 | { |
1944 | holgerb | 1107 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1108 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1109 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1110 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1111 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1112 | { |
||
1113 | tmp_long /= 2; |
||
1114 | tmp_long2 /= 2; |
||
1115 | } |
||
2240 | holgerb | 1116 | /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1944 | holgerb | 1117 | { |
1118 | tmp_long /= 3; |
||
1119 | tmp_long2 /= 3; |
||
1120 | } |
||
2240 | holgerb | 1121 | */ if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1944 | holgerb | 1122 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1123 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1124 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | hbuss | 1125 | } |
1051 | killagreg | 1126 | else |
992 | hbuss | 1127 | { |
1944 | holgerb | 1128 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1129 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1130 | tmp_long /= 16; |
||
1131 | tmp_long2 /= 16; |
||
1132 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1133 | { |
||
1134 | tmp_long /= 3; |
||
1135 | tmp_long2 /= 3; |
||
1136 | } |
||
1137 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1138 | { |
||
1139 | tmp_long /= 3; |
||
1140 | tmp_long2 /= 3; |
||
1141 | } |
||
1142 | KompassFusion = 25; |
||
1155 | hbuss | 1143 | #define AUSGLEICH 32 |
1944 | holgerb | 1144 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1145 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1146 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1147 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
992 | hbuss | 1148 | } |
1166 | hbuss | 1149 | |
1111 | hbuss | 1150 | Mess_IntegralNick -= tmp_long; |
1151 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1152 | } |
1051 | killagreg | 1153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1154 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1155 | { |
||
1156 | static int cnt = 0; |
||
1157 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1158 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1159 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1160 | { |
395 | hbuss | 1161 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1162 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1163 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1164 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1165 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1166 | #define MAX_I 0 |
395 | hbuss | 1167 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1168 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1169 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1170 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1171 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1172 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1173 | |
1174 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1175 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1176 | |
992 | hbuss | 1177 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1178 | { |
1179 | LageKorrekturNick /= 2; |
||
720 | ingob | 1180 | LageKorrekturRoll /= 2; |
614 | hbuss | 1181 | } |
498 | hbuss | 1182 | |
1051 | killagreg | 1183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1184 | // Gyro-Drift ermitteln |
1051 | killagreg | 1185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1186 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1187 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1188 | tmp_long = IntegralNick2 - IntegralNick; |
1189 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1190 | |
1191 | IntegralFehlerNick = tmp_long; |
||
1192 | IntegralFehlerRoll = tmp_long2; |
||
1193 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1194 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1195 | |||
1111 | hbuss | 1196 | if(EE_Parameter.Driftkomp) |
1197 | { |
||
1622 | killagreg | 1198 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1199 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1200 | } |
693 | hbuss | 1201 | GierGyroFehler = 0; |
720 | ingob | 1202 | |
1243 | killagreg | 1203 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1204 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1205 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1206 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1207 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1209 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1210 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1211 | { |
1051 | killagreg | 1212 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1213 | { |
1051 | killagreg | 1214 | if(last_n_p) |
395 | hbuss | 1215 | { |
1173 | hbuss | 1216 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1217 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1218 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1219 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1220 | } |
395 | hbuss | 1221 | else last_n_p = 1; |
1222 | } else last_n_p = 0; |
||
1051 | killagreg | 1223 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1224 | { |
1225 | if(last_n_n) |
||
1051 | killagreg | 1226 | { |
1173 | hbuss | 1227 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1228 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1229 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1230 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1231 | } |
395 | hbuss | 1232 | else last_n_n = 1; |
1233 | } else last_n_n = 0; |
||
1051 | killagreg | 1234 | } |
1235 | else |
||
847 | hbuss | 1236 | { |
1237 | cnt = 0; |
||
1839 | holgerb | 1238 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1239 | } |
499 | hbuss | 1240 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1241 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1242 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1243 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1244 | |
395 | hbuss | 1245 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1246 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1247 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1248 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1249 | { |
1051 | killagreg | 1250 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1251 | { |
1051 | killagreg | 1252 | if(last_r_p) |
395 | hbuss | 1253 | { |
1173 | hbuss | 1254 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1255 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1256 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1257 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1258 | } |
395 | hbuss | 1259 | else last_r_p = 1; |
1260 | } else last_r_p = 0; |
||
1051 | killagreg | 1261 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1262 | { |
1051 | killagreg | 1263 | if(last_r_n) |
395 | hbuss | 1264 | { |
1173 | hbuss | 1265 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1266 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1267 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1268 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1269 | } |
1270 | else last_r_n = 1; |
||
1271 | } else last_r_n = 0; |
||
1051 | killagreg | 1272 | } else |
492 | hbuss | 1273 | { |
1274 | cnt = 0; |
||
1839 | holgerb | 1275 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1276 | } |
499 | hbuss | 1277 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1278 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1279 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1280 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1281 | } |
1051 | killagreg | 1282 | else |
498 | hbuss | 1283 | { |
1284 | LageKorrekturRoll = 0; |
||
1285 | LageKorrekturNick = 0; |
||
880 | hbuss | 1286 | TrichterFlug = 0; |
498 | hbuss | 1287 | } |
1051 | killagreg | 1288 | |
498 | hbuss | 1289 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1290 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1291 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1292 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1293 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1294 | IntegralAccNick = 0; |
1295 | IntegralAccRoll = 0; |
||
1296 | IntegralAccZ = 0; |
||
1297 | MittelIntegralNick = 0; |
||
1298 | MittelIntegralRoll = 0; |
||
1299 | MittelIntegralNick2 = 0; |
||
1300 | MittelIntegralRoll2 = 0; |
||
1301 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1302 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1303 | |
1051 | killagreg | 1304 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1305 | // Gieren |
1051 | killagreg | 1306 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1307 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1308 | { |
1839 | holgerb | 1309 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1310 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1311 | { |
1840 | holgerb | 1312 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1313 | }; |
1 | ingob | 1314 | } |
1944 | holgerb | 1315 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1316 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
1840 | holgerb | 1317 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1318 | sollGier = tmp_int; |
1051 | killagreg | 1319 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1320 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1321 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1322 | |
1323 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1324 | // Kompass |
1051 | killagreg | 1325 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1326 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1327 | { |
1839 | holgerb | 1328 | if(CalculateCompassTimer-- == 1) |
1329 | { |
||
1330 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1331 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1332 | // max. Korrekturwert schätzen |
1 | ingob | 1333 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1334 | v = abs(IntegralRoll /512); |
||
1335 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1972 | holgerb | 1336 | // korrektur = w / 4 + 1; |
1337 | korrektur = w / 8 + 2; |
||
1941 | holgerb | 1338 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1339 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1340 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1341 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1342 | // Kompasswert einloggen |
||
1343 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1344 | else |
||
1345 | if(w < 25) |
||
921 | hbuss | 1346 | { |
1347 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1348 | if(NeueKompassRichtungMerken) |
1349 | { |
||
1839 | holgerb | 1350 | if(--NeueKompassRichtungMerken == 0) |
1351 | { |
||
1941 | holgerb | 1352 | KompassSollWert = ErsatzKompassInGrad; |
1839 | holgerb | 1353 | } |
921 | hbuss | 1354 | } |
1 | ingob | 1355 | } |
1840 | holgerb | 1356 | // Kompass fusionieren |
1839 | holgerb | 1357 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1941 | holgerb | 1358 | // MK Gieren |
1359 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1360 | { |
1941 | holgerb | 1361 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1362 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1363 | CompassGierSetpoint = v / 16; |
1364 | } |
||
1865 | holgerb | 1365 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1366 | } // CalculateCompassTimer |
1051 | killagreg | 1367 | } |
1840 | holgerb | 1368 | else CompassGierSetpoint = 0; |
1972 | holgerb | 1369 | |
1370 | //DebugOut.Analog[16] = KompassFusion; |
||
1051 | killagreg | 1371 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1372 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1373 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1374 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1375 | |
1171 | hbuss | 1376 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1377 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1378 | |
1167 | hbuss | 1379 | #define TRIM_MAX 200 |
1166 | hbuss | 1380 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1381 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1382 | |
1166 | hbuss | 1383 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1384 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1385 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1386 | |
1 | ingob | 1387 | // Maximalwerte abfangen |
1685 | holgerb | 1388 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1389 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1390 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1391 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1392 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1393 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1394 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1395 | |||
1051 | killagreg | 1396 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1397 | // Höhenregelung |
1398 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1399 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1400 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1401 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1402 | // if height control is activated |
1916 | holgerb | 1403 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1404 | { |
1698 | holgerb | 1405 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1406 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1407 | |
1408 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1409 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1410 | #else |
1638 | holgerb | 1411 | #define OPA_OFFSET_STEP 10 |
1412 | #endif |
||
1697 | holgerb | 1413 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1309 | hbuss | 1414 | static int HeightTrimming = 0; // rate for change of height setpoint |
1415 | static int FilterHCGas = 0; |
||
1587 | killagreg | 1416 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1417 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1320 | hbuss | 1418 | int CosAttitude; // for projection of hoover gas |
1330 | killagreg | 1419 | |
1309 | hbuss | 1420 | // get the current hooverpoint |
1587 | killagreg | 1421 | DebugOut.Analog[21] = HoverGas; |
1642 | killagreg | 1422 | |
1322 | hbuss | 1423 | // Expand the measurement |
1424 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1425 | if(!BaroExpandActive) |
||
1426 | { |
||
1427 | if(MessLuftdruck > 920) |
||
1428 | { // increase offset |
||
1330 | killagreg | 1429 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1430 | { |
1431 | ExpandBaro -= 1; |
||
1432 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1433 | beeptime = 300; |
||
1352 | hbuss | 1434 | BaroExpandActive = 350; |
1330 | killagreg | 1435 | } |
1436 | else |
||
1322 | hbuss | 1437 | { |
1438 | BaroAtLowerLimit = 1; |
||
1439 | } |
||
1440 | } |
||
1441 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1442 | else |
1322 | hbuss | 1443 | if(MessLuftdruck < 100) |
1444 | { // decrease offset |
||
1330 | killagreg | 1445 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1446 | { |
1447 | ExpandBaro += 1; |
||
1448 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1449 | beeptime = 300; |
||
1352 | hbuss | 1450 | BaroExpandActive = 350; |
1330 | killagreg | 1451 | } |
1452 | else |
||
1322 | hbuss | 1453 | { |
1454 | BaroAtUpperLimit = 1; |
||
1455 | } |
||
1456 | } |
||
1330 | killagreg | 1457 | else |
1322 | hbuss | 1458 | { |
1459 | BaroAtUpperLimit = 0; |
||
1460 | BaroAtLowerLimit = 0; |
||
1461 | } |
||
1462 | } |
||
1463 | else // delay, because of expanding the Baro-Range |
||
1464 | { |
||
1465 | // now clear the D-values |
||
1466 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1467 | VarioMeter = 0; |
||
1468 | BaroExpandActive--; |
||
1469 | } |
||
1328 | hbuss | 1470 | |
1471 | // if height control is activated by an rc channel |
||
1916 | holgerb | 1472 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1473 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1474 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1475 | { //height control not active |
1476 | if(!delay--) |
||
1477 | { |
||
2090 | holgerb | 1478 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1479 | if(HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
||
1480 | #endif |
||
1328 | hbuss | 1481 | HoehenReglerAktiv = 0; // disable height control |
1482 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1483 | delay = 1; |
||
1484 | } |
||
1485 | } |
||
1486 | else |
||
2090 | holgerb | 1487 | if(Parameter_HoehenSchalter > 70) |
1328 | hbuss | 1488 | { //height control is activated |
2090 | holgerb | 1489 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1490 | if(!HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_ON; |
||
1491 | #endif |
||
1328 | hbuss | 1492 | HoehenReglerAktiv = 1; // enable height control |
1334 | killagreg | 1493 | delay = 200; |
1328 | hbuss | 1494 | } |
1051 | killagreg | 1495 | } |
1309 | hbuss | 1496 | else // no switchable height control |
1497 | { |
||
1916 | holgerb | 1498 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1499 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1500 | } |
1322 | hbuss | 1501 | |
1320 | hbuss | 1502 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1503 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1504 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1505 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1506 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1507 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1508 | VarioCharacter = ' '; |
1942 | holgerb | 1509 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1510 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1511 | { |
1330 | killagreg | 1512 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1513 | // Holger original version |
1514 | // start of height control algorithm |
||
1515 | // the height control is only an attenuation of the actual gas stick. |
||
1516 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1517 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1518 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1519 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1520 | { // old version |
1309 | hbuss | 1521 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1522 | HeightTrimming = 0; |
||
1942 | holgerb | 1523 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1524 | // set both flags to indicate no vario mode |
1525 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1526 | } |
1314 | killagreg | 1527 | else |
1309 | hbuss | 1528 | { |
1529 | // alternative height control |
||
1530 | // PD-Control with respect to hoover point |
||
1531 | // the thrust loss out of horizontal attitude is compensated |
||
1532 | // the setpoint will be fine adjusted with the gas stick position |
||
1943 | holgerb | 1533 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1534 | { // gas stick is above hoover point |
1587 | killagreg | 1535 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1536 | { |
1767 | killagreg | 1537 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1538 | { |
1767 | killagreg | 1539 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1309 | hbuss | 1540 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1541 | } |
||
1767 | killagreg | 1542 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1966 | holgerb | 1543 | // Limit the maximum Altitude |
1544 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
||
1545 | else |
||
1546 | { |
||
1547 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
1548 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1942 | holgerb | 1549 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1550 | VarioCharacter = '+'; |
1966 | holgerb | 1551 | } |
1865 | holgerb | 1552 | WaypointTrimming = 0; |
1309 | hbuss | 1553 | } // gas stick is below hoover point |
1587 | killagreg | 1554 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1555 | { |
1767 | killagreg | 1556 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1557 | { |
1767 | killagreg | 1558 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1309 | hbuss | 1559 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1560 | } |
||
1767 | killagreg | 1561 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1562 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1563 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1591 | holgerb | 1564 | VarioCharacter = '-'; |
1865 | holgerb | 1565 | WaypointTrimming = 0; |
1309 | hbuss | 1566 | } |
1587 | killagreg | 1567 | else // Gas Stick in Hover Range |
1309 | hbuss | 1568 | { |
1855 | holgerb | 1569 | VarioCharacter = '='; |
1857 | holgerb | 1570 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1571 | { |
1572 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1573 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1574 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1575 | WaypointTrimming = 10; |
1576 | VarioCharacter = '^'; |
||
1865 | holgerb | 1577 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1578 | { |
||
1579 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1580 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1581 | } |
||
1855 | holgerb | 1582 | } |
1583 | else |
||
1857 | holgerb | 1584 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1585 | { |
1586 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1587 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1588 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1589 | WaypointTrimming = -10; |
1590 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1591 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1592 | { |
||
1593 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1594 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
1595 | } |
||
1855 | holgerb | 1596 | } |
1597 | else |
||
1767 | killagreg | 1598 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1599 | { |
1933 | holgerb | 1600 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1601 | else WaypointTrimming = 0; |
||
1767 | killagreg | 1602 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1603 | HeightTrimming = 0; |
1916 | holgerb | 1604 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1605 | if(!StartTrigger && HoehenWert > 50) |
1606 | { |
||
1607 | StartTrigger = 1; |
||
1765 | killagreg | 1608 | } |
1309 | hbuss | 1609 | } |
1610 | } |
||
1611 | // Trim height set point |
||
1942 | holgerb | 1612 | HeightTrimming += AltitudeSetpointTrimming; |
1613 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1614 | { |
1857 | holgerb | 1615 | if(WaypointTrimming) |
1616 | { |
||
1617 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1618 | else SollHoehe += WaypointTrimming; |
||
1619 | } |
||
1620 | else |
||
1966 | holgerb | 1621 | { |
1622 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1623 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1624 | } |
||
1309 | hbuss | 1625 | HeightTrimming = 0; |
1932 | holgerb | 1626 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1916 | holgerb | 1627 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1628 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1629 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1630 | { |
1587 | killagreg | 1631 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1632 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1633 | if(StickGasHover < 70) StickGasHover = 70; |
||
1634 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1635 | } |
1309 | hbuss | 1636 | } |
1352 | hbuss | 1637 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1638 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1639 | else |
1640 | { |
||
1322 | hbuss | 1641 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1642 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1643 | else StickGasHover = 120; |
||
1698 | holgerb | 1644 | HoverGas = GasMischanteil; |
1972 | holgerb | 1645 | VarioCharacter = '.'; |
1320 | hbuss | 1646 | } |
1590 | killagreg | 1647 | HCGas = HoverGas; // take hover gas (neutral point) |
1648 | } |
||
1916 | holgerb | 1649 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1650 | { |
1590 | killagreg | 1651 | // from this point the Heigth Control Algorithm is identical for both versions |
1652 | if(BaroExpandActive) // baro range expanding active |
||
1653 | { |
||
1654 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1655 | HeightDeviation = 0; |
||
1656 | } // EOF // baro range expanding active |
||
1657 | else // valid data from air pressure sensor |
||
1658 | { |
||
1659 | // ------------------------- P-Part ---------------------------- |
||
1660 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
1661 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1662 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1663 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1664 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1665 | GasReduction = tmp_long; |
||
1590 | killagreg | 1666 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1667 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1668 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1669 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1670 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1671 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1672 | else |
1916 | holgerb | 1673 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1674 | GasReduction += tmp_int; |
1590 | killagreg | 1675 | } // EOF no baro range expanding |
1309 | hbuss | 1676 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1677 | if(Parameter_Hoehe_ACC_Wirkung) |
1678 | { |
||
1679 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1680 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1681 | GasReduction += tmp_long; |
||
1765 | killagreg | 1682 | } |
1587 | killagreg | 1683 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1684 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1685 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1686 | GasReduction += tmp_int; |
1701 | holgerb | 1687 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1688 | // ------------------------ ---------------------------------- |
||
1689 | HCGas -= GasReduction; |
||
1309 | hbuss | 1690 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1691 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1692 | { |
1765 | killagreg | 1693 | unsigned int tmp; |
1705 | holgerb | 1694 | tmp = abs(HeightDeviation); |
1695 | if(tmp <= 60) |
||
1696 | { |
||
1697 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1698 | } |
||
1699 | else |
||
1765 | killagreg | 1700 | { |
1705 | holgerb | 1701 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1702 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1703 | if(HeightDeviation > 0) |
1693 | holgerb | 1704 | { |
1705 | holgerb | 1705 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1706 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1707 | } |
1705 | holgerb | 1708 | else |
1709 | { |
||
1710 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1711 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1712 | } |
||
1713 | } |
||
1309 | hbuss | 1714 | } |
1322 | hbuss | 1715 | // strech control output by inverse attitude projection 1/cos |
1716 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1717 | tmp_long2 = (int32_t)HCGas; |
1718 | tmp_long2 *= 8192L; |
||
1719 | tmp_long2 /= CosAttitude; |
||
1720 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1721 | // update height control gas averaging |
1722 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1723 | // limit height control gas pd-control output |
||
1724 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1725 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1726 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1727 | { // old version |
1728 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1729 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1730 | } |
1719 | holgerb | 1731 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1314 | killagreg | 1732 | } |
1309 | hbuss | 1733 | }// EOF height control active |
1320 | hbuss | 1734 | else // HC not active |
1735 | { |
||
1736 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1737 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1738 | { |
||
1739 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1740 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1741 | } |
1587 | killagreg | 1742 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1743 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1744 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1745 | // set both flags to indicate no vario mode |
1746 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1747 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1748 | } |
1587 | killagreg | 1749 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1750 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1751 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1752 | { |
1698 | holgerb | 1753 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1754 | if(StartTrigger == 1) StartTrigger = 2; |
||
1330 | killagreg | 1755 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1756 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1757 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1758 | // average vertical projected thrust |
1698 | holgerb | 1759 | if(modell_fliegt < 4000) // the first 8 seconds |
1760 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1761 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1762 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1763 | } |
1698 | holgerb | 1764 | if(modell_fliegt < 8000) // the first 16 seconds |
1765 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1766 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1767 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1768 | } |
1698 | holgerb | 1769 | else //later |
1865 | holgerb | 1770 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1771 | { |
1590 | killagreg | 1772 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1773 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1774 | } |
1590 | killagreg | 1775 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1776 | if(EE_Parameter.Hoehe_HoverBand) |
1777 | { |
||
1778 | int16_t band; |
||
1587 | killagreg | 1779 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1780 | HoverGasMin = HoverGas - band; |
||
1781 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1782 | } |
1783 | else |
||
1784 | { // no limit |
||
1587 | killagreg | 1785 | HoverGasMin = 0; |
1786 | HoverGasMax = 1023; |
||
1309 | hbuss | 1787 | } |
1765 | killagreg | 1788 | } |
1789 | else |
||
1698 | holgerb | 1790 | { |
1791 | StartTrigger = 0; |
||
1792 | HoverGasFilter = 0; |
||
1793 | HoverGas = 0; |
||
1765 | killagreg | 1794 | } |
1916 | holgerb | 1795 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1796 | else |
1797 | { |
||
1798 | // set undefined state to indicate vario off |
||
1799 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1800 | } // EOF no height control |
||
1801 | |||
2028 | holgerb | 1802 | // Linits the maximum gas in case of "Out of Range emergency landing" |
2009 | holgerb | 1803 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1804 | { |
||
2028 | holgerb | 1805 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2034 | holgerb | 1806 | SollHoehe = HoehenWert; // update setpoint to current heigth |
2009 | holgerb | 1807 | beeptime = 15000; |
1808 | BeepMuster = 0x0E00; |
||
1809 | } |
||
2028 | holgerb | 1810 | // limit gas to parameter setting |
1320 | hbuss | 1811 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1812 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1813 | |
1051 | killagreg | 1814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1815 | // all BL-Ctrl connected? |
1816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1944 | holgerb | 1817 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1931 | holgerb | 1818 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1320 | hbuss | 1819 | { |
1820 | modell_fliegt = 1; |
||
1675 | holgerb | 1821 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1822 | } |
1823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1824 | // + Mischer und PI-Regler |
1051 | killagreg | 1825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1826 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1827 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1828 | // Gier-Anteil |
1051 | killagreg | 1829 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1830 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1831 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1832 | if(GasMischanteil > MIN_GIERGAS) |
1833 | { |
||
1051 | killagreg | 1834 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1835 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1836 | } |
1051 | killagreg | 1837 | else |
693 | hbuss | 1838 | { |
1051 | killagreg | 1839 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1840 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1841 | } |
855 | hbuss | 1842 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1843 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 1844 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 1845 | |
1051 | killagreg | 1846 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1847 | // Nick-Achse |
1051 | killagreg | 1848 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 1849 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 1850 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 1851 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 1852 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1853 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1854 | |
1855 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
1856 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
1857 | pd_ergebnis_nick += SummeNick / Ki; |
||
1858 | |||
1676 | holgerb | 1859 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1860 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1861 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 1862 | |
1153 | hbuss | 1863 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1864 | // Roll-Achse |
||
1865 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1866 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
1867 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
1868 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
1869 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
1870 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 1871 | |
1872 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
1873 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
1874 | pd_ergebnis_roll += SummeRoll / Ki; |
||
1875 | |||
1676 | holgerb | 1876 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 1877 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1878 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
1879 | |||
1880 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 1881 | // Universal Mixer |
1155 | hbuss | 1882 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 1883 | for(i=0; i<MAX_MOTORS; i++) |
1884 | { |
||
1885 | signed int tmp_int; |
||
1886 | if(Mixer.Motor[i][0] > 0) |
||
1887 | { |
||
1652 | holgerb | 1888 | // Gas |
1676 | holgerb | 1889 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 1890 | // Nick |
1891 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
1892 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
1893 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
1894 | // Roll |
||
1895 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
1896 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
1897 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
1898 | // Gier |
||
1676 | holgerb | 1899 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1900 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
1901 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 1902 | |
1913 | holgerb | 1903 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1904 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
1905 | else |
||
1906 | { |
||
1907 | if(EE_Parameter.MotorSmooth == 0) |
||
1908 | { |
||
1931 | holgerb | 1909 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 1910 | } |
1911 | else // 1 means tmp_int = tmp_int; |
||
1912 | if(EE_Parameter.MotorSmooth > 1) |
||
1913 | { |
||
1914 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
1925 | holgerb | 1915 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1913 | holgerb | 1916 | } |
1917 | } |
||
1931 | holgerb | 1918 | |
1760 | holgerb | 1919 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 1920 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 1921 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 1922 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 1923 | } |
1924 | else |
||
1925 | { |
||
1926 | Motor[i].SetPoint = 0; |
||
1927 | Motor[i].SetPointLowerBits = 0; |
||
1928 | } |
||
1929 | } |
||
1111 | hbuss | 1930 | } |
2090 | holgerb | 1931 | //DebugOut.Analog[16] |