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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; |
2316 | holgerb | 70 | signed char NeutralAccZfine = 0; |
1683 | killagreg | 71 | unsigned char ControlHeading = 0;// in 2° |
693 | hbuss | 72 | long IntegralNick = 0,IntegralNick2 = 0; |
73 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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74 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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75 | long Integral_Gier = 0; |
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76 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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77 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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79 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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1685 | holgerb | 80 | long SummeNick=0,SummeRoll=0; |
1 | ingob | 81 | volatile long Mess_Integral_Hoch = 0; |
1840 | holgerb | 82 | int KompassValue = -1; |
1837 | holgerb | 83 | int KompassSollWert = 0; |
1941 | holgerb | 84 | //int KompassRichtung = 0; |
1839 | holgerb | 85 | char CalculateCompassTimer = 100; |
86 | unsigned char KompassFusion = 32; |
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87 | unsigned int KompassSignalSchlecht = 50; |
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855 | hbuss | 88 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 89 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 90 | unsigned char TrichterFlug = 0; |
395 | hbuss | 91 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 92 | long ErsatzKompass; |
93 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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94 | int GierGyroFehler = 0; |
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1211 | hbuss | 95 | char GyroFaktor,GyroFaktorGier; |
96 | char IntegralFaktor,IntegralFaktorGier; |
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1153 | hbuss | 97 | int DiffNick,DiffRoll; |
1916 | holgerb | 98 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1943 | holgerb | 99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1377 | hbuss | 100 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 101 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 102 | volatile unsigned char SenderOkay = 0; |
1698 | holgerb | 103 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 104 | long HoehenWert = 0; |
105 | long SollHoehe = 0; |
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1942 | holgerb | 106 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 107 | long FromNC_AltitudeSetpoint = 0; |
108 | unsigned char FromNC_AltitudeSpeed = 0; |
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1862 | holgerb | 109 | unsigned char carefree_old = 50; // to make the Beep when switching |
1942 | holgerb | 110 | signed char WaypointTrimming = 0; |
1840 | holgerb | 111 | int CompassGierSetpoint = 0; |
2009 | holgerb | 112 | unsigned char CalibrationDone = 0; |
2061 | holgerb | 113 | char NeueKompassRichtungMerken = 0; |
1692 | holgerb | 114 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 115 | //float Ki = FAKTOR_I; |
1676 | holgerb | 116 | int Ki = 10300 / 33; |
395 | hbuss | 117 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
118 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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1 | ingob | 119 | |
120 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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1916 | holgerb | 121 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
1 | ingob | 122 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
123 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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124 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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1283 | hbuss | 125 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
1111 | hbuss | 126 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 127 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 128 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 129 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
130 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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1 | ingob | 131 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
132 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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133 | unsigned char Parameter_UserParam1 = 0; |
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134 | unsigned char Parameter_UserParam2 = 0; |
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135 | unsigned char Parameter_UserParam3 = 0; |
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136 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 137 | unsigned char Parameter_UserParam5 = 0; |
138 | unsigned char Parameter_UserParam6 = 0; |
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139 | unsigned char Parameter_UserParam7 = 0; |
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140 | unsigned char Parameter_UserParam8 = 0; |
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1 | ingob | 141 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 142 | unsigned char Parameter_ServoRollControl = 100; |
2296 | holgerb | 143 | unsigned char Parameter_ServoNickComp = 50; |
144 | unsigned char Parameter_ServoRollComp = 85; |
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173 | holgerb | 145 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 146 | unsigned char Parameter_AchsKopplung1 = 90; |
147 | unsigned char Parameter_AchsKopplung2 = 65; |
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148 | unsigned char Parameter_CouplingYawCorrection = 64; |
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149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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499 | hbuss | 150 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
152 | unsigned char Parameter_J16Timing; // for the J16 Output |
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153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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154 | unsigned char Parameter_J17Timing; // for the J17 Output |
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155 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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1051 | killagreg | 156 | unsigned char Parameter_NaviGpsGain; |
157 | unsigned char Parameter_NaviGpsP; |
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158 | unsigned char Parameter_NaviGpsI; |
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159 | unsigned char Parameter_NaviGpsD; |
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160 | unsigned char Parameter_NaviGpsACC; |
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993 | hbuss | 161 | unsigned char Parameter_NaviOperatingRadius; |
162 | unsigned char Parameter_NaviWindCorrection; |
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163 | unsigned char Parameter_NaviSpeedCompensation; |
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921 | hbuss | 164 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 165 | unsigned char Parameter_GlobalConfig; |
166 | unsigned char Parameter_ExtraConfig; |
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1966 | holgerb | 167 | unsigned char Parameter_MaximumAltitude; |
1403 | hbuss | 168 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 169 | unsigned char CareFree = 0; |
1876 | holgerb | 170 | 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 | 171 | |
492 | hbuss | 172 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
614 | hbuss | 173 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 174 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 175 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
1121 | hbuss | 176 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 177 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 178 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 179 | char VarioCharacter = ' '; |
2028 | holgerb | 180 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
2230 | holgerb | 181 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
2309 | holgerb | 182 | signed int Variance = 0; |
183 | signed int CosAttitude; // for projection of hoover gas |
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184 | unsigned char ACC_AltitudeControl = 0; |
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1591 | holgerb | 185 | |
1639 | holgerb | 186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
187 | // Debugwerte zuordnen |
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188 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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189 | void CopyDebugValues(void) |
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190 | { |
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191 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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192 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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193 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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194 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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1660 | holgerb | 195 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
2309 | holgerb | 196 | DebugOut.Analog[5] = HoehenWert/10; |
197 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
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1639 | holgerb | 198 | DebugOut.Analog[8] = KompassValue; |
199 | DebugOut.Analog[9] = UBat; |
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200 | DebugOut.Analog[10] = SenderOkay; |
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1941 | holgerb | 201 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 202 | DebugOut.Analog[12] = Motor[0].SetPoint; |
203 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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204 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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205 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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1639 | holgerb | 206 | DebugOut.Analog[20] = ServoNickValue; |
2322 | holgerb | 207 | DebugOut.Analog[21] = HoverGas; |
1639 | holgerb | 208 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
209 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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2309 | holgerb | 210 | DebugOut.Analog[24] = SollHoehe/10; |
1839 | holgerb | 211 | DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 212 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 213 | DebugOut.Analog[30] = GPS_Nick; |
214 | DebugOut.Analog[31] = GPS_Roll; |
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1702 | holgerb | 215 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
2316 | holgerb | 216 | //DebugOut.Analog[16] = Variance; |
217 | //DebugOut.Analog[17] = VarioMeter; |
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218 | //DebugOut.Analog[18] = HoehenWertF; |
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219 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
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220 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
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1639 | holgerb | 221 | } |
222 | |||
1760 | holgerb | 223 | |
1232 | hbuss | 224 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 225 | { |
2263 | holgerb | 226 | unsigned int wait = 0; |
1232 | hbuss | 227 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1966 | holgerb | 228 | GRN_OFF; |
1 | ingob | 229 | while(Anzahl--) |
230 | { |
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1232 | hbuss | 231 | beeptime = dauer; |
2263 | holgerb | 232 | wait = dauer; |
233 | while(beeptime || wait) |
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234 | { |
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235 | if(UpdateMotor) |
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236 | { |
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237 | UpdateMotor = 0; |
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238 | if(!beeptime) wait--; |
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239 | LIBFC_Polling(); |
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240 | }; |
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241 | } |
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1 | ingob | 242 | } |
1966 | holgerb | 243 | GRN_ON; |
1 | ingob | 244 | } |
245 | |||
246 | //############################################################################ |
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1622 | killagreg | 247 | // Messwerte beim Ermitteln der Nullage |
248 | void CalibrierMittelwert(void) |
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249 | //############################################################################ |
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250 | { |
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251 | unsigned char i; |
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252 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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253 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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254 | ANALOG_OFF; |
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255 | MesswertNick = AdWertNick; |
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256 | MesswertRoll = AdWertRoll; |
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257 | MesswertGier = AdWertGier; |
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1703 | holgerb | 258 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
259 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 260 | // ADC einschalten |
261 | ANALOG_ON; |
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262 | for(i=0;i<8;i++) |
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263 | { |
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264 | int tmp; |
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1876 | holgerb | 265 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1622 | killagreg | 266 | LIMIT_MIN_MAX(tmp, 0, 255); |
267 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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268 | } |
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269 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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270 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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271 | } |
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272 | |||
273 | //############################################################################ |
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1 | ingob | 274 | // Nullwerte ermitteln |
2319 | holgerb | 275 | // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
276 | // Parameter: 1 -> before Start |
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277 | // Parameter: 2 -> calibrate and store ACC |
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278 | unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
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1 | ingob | 279 | //############################################################################ |
280 | { |
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2316 | holgerb | 281 | unsigned char i, sucess = 1; |
282 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0; |
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1702 | holgerb | 283 | VersionInfo.HardwareError[0] = 0; |
2146 | holgerb | 284 | // HEF4017Reset_ON; |
1051 | killagreg | 285 | NeutralAccX = 0; |
1 | ingob | 286 | NeutralAccY = 0; |
287 | NeutralAccZ = 0; |
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2316 | holgerb | 288 | NeutralAccZfine = 0; |
1622 | killagreg | 289 | |
1051 | killagreg | 290 | AdNeutralNick = 0; |
291 | AdNeutralRoll = 0; |
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1 | ingob | 292 | AdNeutralGier = 0; |
1622 | killagreg | 293 | |
395 | hbuss | 294 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 295 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 296 | |
1036 | hbuss | 297 | ExpandBaro = 0; |
1622 | killagreg | 298 | |
1051 | killagreg | 299 | CalibrierMittelwert(); |
395 | hbuss | 300 | Delay_ms_Mess(100); |
1622 | killagreg | 301 | |
1 | ingob | 302 | CalibrierMittelwert(); |
1622 | killagreg | 303 | |
1 | ingob | 304 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 305 | { |
1 | ingob | 306 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
307 | } |
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1166 | hbuss | 308 | #define NEUTRAL_FILTER 32 |
309 | for(i=0; i<NEUTRAL_FILTER; i++) |
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1111 | hbuss | 310 | { |
311 | Delay_ms_Mess(10); |
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1216 | killagreg | 312 | gier_neutral += AdWertGier; |
1166 | hbuss | 313 | nick_neutral += AdWertNick; |
314 | roll_neutral += AdWertRoll; |
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2316 | holgerb | 315 | acc_z_neutral += Aktuell_az; |
1111 | hbuss | 316 | } |
2316 | holgerb | 317 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
318 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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319 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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320 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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1622 | killagreg | 321 | |
401 | hbuss | 322 | StartNeutralRoll = AdNeutralRoll; |
323 | StartNeutralNick = AdNeutralNick; |
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1622 | killagreg | 324 | |
2319 | holgerb | 325 | if(AdjustmentMode == 2) |
1622 | killagreg | 326 | { |
327 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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328 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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329 | // Save ACC neutral settings to eeprom |
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1639 | holgerb | 330 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
331 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
1622 | killagreg | 332 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
513 | hbuss | 333 | } |
1051 | killagreg | 334 | else |
513 | hbuss | 335 | { |
1622 | killagreg | 336 | // restore from eeprom |
337 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
||
338 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
||
339 | // strange settings? |
||
2316 | holgerb | 340 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
1622 | killagreg | 341 | { |
342 | printf("\n\rACC not calibrated!\r\n"); |
||
343 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
344 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
2316 | holgerb | 345 | sucess = 0; |
1622 | killagreg | 346 | } |
513 | hbuss | 347 | } |
1 | ingob | 348 | MesswertNick = 0; |
349 | MesswertRoll = 0; |
||
350 | MesswertGier = 0; |
||
1111 | hbuss | 351 | Delay_ms_Mess(100); |
1703 | holgerb | 352 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
353 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1173 | hbuss | 354 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
355 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
2072 | holgerb | 356 | Mess_IntegralNick = IntegralNick; |
357 | Mess_IntegralRoll = IntegralRoll; |
||
1173 | hbuss | 358 | Mess_Integral_Gier = 0; |
1 | ingob | 359 | StartLuftdruck = Luftdruck; |
1253 | killagreg | 360 | VarioMeter = 0; |
2309 | holgerb | 361 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
1837 | holgerb | 362 | KompassSollWert = KompassValue; |
1839 | holgerb | 363 | KompassSignalSchlecht = 100; |
1051 | killagreg | 364 | beeptime = 50; |
882 | hbuss | 365 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
366 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
492 | hbuss | 367 | ExternHoehenValue = 0; |
693 | hbuss | 368 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
369 | GierGyroFehler = 0; |
||
921 | hbuss | 370 | LED_Init(); |
1765 | killagreg | 371 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 372 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 373 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 374 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1391 | killagreg | 375 | for(i=0;i<8;i++) |
1377 | hbuss | 376 | { |
1876 | holgerb | 377 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
1377 | hbuss | 378 | } |
1171 | hbuss | 379 | SenderOkay = 100; |
1320 | hbuss | 380 | if(ServoActive) |
381 | { |
||
382 | DDRD |=0x80; // enable J7 -> Servo signal |
||
383 | } |
||
2240 | holgerb | 384 | else |
385 | { |
||
2263 | holgerb | 386 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
387 | // else |
||
388 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
||
2240 | holgerb | 389 | } |
1702 | holgerb | 390 | |
2316 | holgerb | 391 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
392 | signed int tilt1, tilt2; |
||
393 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
394 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
395 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
||
396 | CosAttitude = c_cos_8192(tilt1); |
||
397 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
||
398 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
||
2319 | holgerb | 399 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
2316 | holgerb | 400 | #else |
401 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
||
402 | #endif |
||
403 | |||
1765 | killagreg | 404 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
405 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
406 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
407 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
408 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
409 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
2316 | holgerb | 410 | if(VersionInfo.HardwareError[0]) sucess = 0; |
1862 | holgerb | 411 | carefree_old = 70; |
1925 | holgerb | 412 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 413 | LIBFC_HoTT_Clear(); |
2316 | holgerb | 414 | ACC_AltitudeFusion(2); // initalisation |
1925 | holgerb | 415 | #endif |
2316 | holgerb | 416 | return(sucess); |
1 | ingob | 417 | } |
418 | |||
1702 | holgerb | 419 | |
1 | ingob | 420 | //############################################################################ |
395 | hbuss | 421 | // Bearbeitet die Messwerte |
1 | ingob | 422 | void Mittelwert(void) |
423 | //############################################################################ |
||
1051 | killagreg | 424 | { |
1111 | hbuss | 425 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
426 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 427 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 428 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 429 | MesswertNick = (signed int) AdWertNickFilter / 8; |
430 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 431 | RohMesswertNick = MesswertNick; |
432 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 433 | |
395 | hbuss | 434 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 435 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
436 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
395 | hbuss | 437 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
438 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
805 | hbuss | 439 | NaviAccNick += AdWertAccNick; |
440 | NaviAccRoll += AdWertAccRoll; |
||
441 | NaviCntAcc++; |
||
1153 | hbuss | 442 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
443 | |||
1155 | hbuss | 444 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
445 | // ADC einschalten |
||
1171 | hbuss | 446 | ANALOG_ON; |
1155 | hbuss | 447 | AdReady = 0; |
448 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
449 | |||
1216 | killagreg | 450 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
451 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 452 | else winkel_roll = Mess_IntegralRoll; |
453 | |||
1216 | killagreg | 454 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
455 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 456 | else winkel_nick = Mess_IntegralNick; |
457 | |||
1120 | hbuss | 458 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 459 | Mess_Integral_Gier += MesswertGier; |
460 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 461 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 462 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 463 | { |
1153 | hbuss | 464 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 465 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 466 | tmpl3 /= 4096L; |
1153 | hbuss | 467 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 468 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 469 | tmpl4 /= 4096L; |
1153 | hbuss | 470 | KopplungsteilNickRoll = tmpl3; |
471 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 472 | tmpl4 -= tmpl3; |
473 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 474 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 475 | |
1153 | hbuss | 476 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 477 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 478 | tmpl /= 4096L; |
1153 | hbuss | 479 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 480 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 481 | tmpl2 /= 4096L; |
1225 | hbuss | 482 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 483 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 484 | } |
1166 | hbuss | 485 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 486 | TrimRoll = tmpl - tmpl2 / 100L; |
487 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 488 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
489 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
490 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 491 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 492 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
493 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
1051 | killagreg | 494 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 495 | { |
882 | hbuss | 496 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
395 | hbuss | 497 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 498 | } |
395 | hbuss | 499 | if(Mess_IntegralRoll <-Umschlag180Roll) |
500 | { |
||
882 | hbuss | 501 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
395 | hbuss | 502 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1051 | killagreg | 503 | } |
395 | hbuss | 504 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 505 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
506 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
1051 | killagreg | 507 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 508 | { |
509 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
510 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1051 | killagreg | 511 | } |
512 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 513 | { |
882 | hbuss | 514 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
395 | hbuss | 515 | Mess_IntegralNick2 = Mess_IntegralNick; |
1051 | killagreg | 516 | } |
1111 | hbuss | 517 | |
1 | ingob | 518 | Integral_Gier = Mess_Integral_Gier; |
519 | IntegralNick = Mess_IntegralNick; |
||
520 | IntegralRoll = Mess_IntegralRoll; |
||
1051 | killagreg | 521 | IntegralNick2 = Mess_IntegralNick2; |
1 | ingob | 522 | IntegralRoll2 = Mess_IntegralRoll2; |
523 | |||
1166 | hbuss | 524 | #define D_LIMIT 128 |
525 | |||
1171 | hbuss | 526 | MesswertNick = HiResNick / 8; |
527 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 528 | |
1167 | hbuss | 529 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
530 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
531 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
532 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
533 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
534 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
535 | |||
1216 | killagreg | 536 | if(Parameter_Gyro_D) |
1111 | hbuss | 537 | { |
1166 | hbuss | 538 | d2Nick = HiResNick - oldNick; |
539 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 540 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
541 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 542 | |
1166 | hbuss | 543 | d2Roll = HiResRoll - oldRoll; |
544 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 545 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
546 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 547 | |
548 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 549 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
550 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
551 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 552 | } |
1111 | hbuss | 553 | |
1166 | hbuss | 554 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
555 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
556 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
557 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 558 | |
1916 | holgerb | 559 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 560 | { |
561 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
562 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
563 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
564 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
565 | } |
||
1 | ingob | 566 | } |
567 | |||
568 | //############################################################################ |
||
569 | // Senden der Motorwerte per I2C-Bus |
||
570 | void SendMotorData(void) |
||
571 | //############################################################################ |
||
1051 | killagreg | 572 | { |
1209 | hbuss | 573 | unsigned char i; |
921 | hbuss | 574 | if(!MotorenEin) |
1 | ingob | 575 | { |
1765 | killagreg | 576 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
2309 | holgerb | 577 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
1216 | killagreg | 578 | for(i=0;i<MAX_MOTORS;i++) |
579 | { |
||
580 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 581 | Motor[i].SetPoint = MotorTest[i]; |
582 | Motor[i].SetPointLowerBits = 0; |
||
583 | /* |
||
1760 | holgerb | 584 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
585 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 586 | */ |
1216 | killagreg | 587 | } |
1212 | hbuss | 588 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 589 | } |
1765 | killagreg | 590 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 591 | |
1765 | killagreg | 592 | if(I2C_TransferActive) |
1744 | holgerb | 593 | { |
1760 | holgerb | 594 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 595 | } |
596 | else |
||
1744 | holgerb | 597 | { |
598 | motor_write = 0; |
||
1760 | holgerb | 599 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 600 | } |
1 | ingob | 601 | } |
602 | |||
603 | |||
604 | |||
605 | //############################################################################ |
||
606 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 607 | void ParameterZuordnung(void) |
1 | ingob | 608 | //############################################################################ |
609 | { |
||
1787 | holgerb | 610 | unsigned char tmp,i; |
611 | for(i=0;i<8;i++) |
||
612 | { |
||
613 | int tmp2; |
||
1933 | holgerb | 614 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
615 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 616 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 617 | |
618 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
619 | else |
||
1787 | holgerb | 620 | if(tmp2 != Poti[i]) |
621 | { |
||
622 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
623 | if(Poti[i] > tmp2) Poti[i]--; |
||
624 | else Poti[i]++; |
||
625 | } |
||
626 | } |
||
921 | hbuss | 627 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
628 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
629 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 630 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
631 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
2012 | holgerb | 632 | |
2040 | holgerb | 633 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
634 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
||
2012 | holgerb | 635 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
636 | |||
2040 | holgerb | 637 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
638 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
||
2012 | holgerb | 639 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
640 | |||
2043 | holgerb | 641 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
1916 | holgerb | 642 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
1377 | hbuss | 643 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
644 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
645 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
646 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
647 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
648 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
649 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
650 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
651 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
652 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
653 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
654 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
655 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
656 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
657 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
658 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
659 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
660 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
2296 | holgerb | 661 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
662 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
||
1377 | hbuss | 663 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
1668 | holgerb | 664 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
665 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 666 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 667 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
2034 | holgerb | 668 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
1916 | holgerb | 669 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
670 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 671 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
672 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
673 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 674 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 675 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 676 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 677 | |
1921 | holgerb | 678 | tmp = EE_Parameter.CareFreeModeControl; |
1690 | holgerb | 679 | if(tmp > 50) |
1668 | holgerb | 680 | { |
1682 | holgerb | 681 | CareFree = 1; |
1839 | holgerb | 682 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
1862 | holgerb | 683 | if(carefree_old != CareFree) |
684 | { |
||
685 | if(carefree_old < 3) |
||
686 | { |
||
2090 | holgerb | 687 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
688 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
||
689 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
||
690 | #else |
||
2063 | holgerb | 691 | if(CareFree) beeptime = 1500; |
1862 | holgerb | 692 | else beeptime = 200; |
2090 | holgerb | 693 | #endif |
2063 | holgerb | 694 | NeueKompassRichtungMerken = 5; |
1862 | holgerb | 695 | carefree_old = CareFree; |
696 | } else carefree_old--; |
||
697 | } |
||
1937 | holgerb | 698 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 699 | } |
1839 | holgerb | 700 | else |
701 | { |
||
702 | CareFree = 0; |
||
1862 | holgerb | 703 | carefree_old = 10; |
1839 | holgerb | 704 | } |
1668 | holgerb | 705 | |
1691 | holgerb | 706 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 707 | { |
708 | beeptime = 15000; |
||
709 | BeepMuster = 0xA400; |
||
710 | CareFree = 0; |
||
1765 | killagreg | 711 | } |
1861 | holgerb | 712 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 713 | } |
714 | |||
715 | //############################################################################ |
||
716 | // |
||
717 | void MotorRegler(void) |
||
718 | //############################################################################ |
||
719 | { |
||
1330 | killagreg | 720 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 721 | int GierMischanteil,GasMischanteil; |
722 | static long sollGier = 0,tmp_long,tmp_long2; |
||
395 | hbuss | 723 | static long IntegralFehlerNick = 0; |
724 | static long IntegralFehlerRoll = 0; |
||
1 | ingob | 725 | static unsigned int RcLostTimer; |
726 | static unsigned char delay_neutral = 0; |
||
727 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
2146 | holgerb | 728 | static signed char move_safety_switch = 0; |
395 | hbuss | 729 | static long ausgleichNick, ausgleichRoll; |
1153 | hbuss | 730 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 731 | unsigned char i; |
1051 | killagreg | 732 | Mittelwert(); |
733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 734 | // Gaswert ermitteln |
1051 | killagreg | 735 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2230 | holgerb | 736 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
737 | { |
||
738 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
||
2028 | holgerb | 739 | { |
740 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
741 | { |
||
742 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
743 | } |
||
744 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
745 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
2230 | holgerb | 746 | } |
747 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
||
748 | { |
||
749 | StickGas = 0; // Hold Gas down in that case |
||
750 | HooverGasEmergencyPercent = MIN_GAS; |
||
751 | } |
||
1051 | killagreg | 752 | GasMischanteil = StickGas; |
831 | hbuss | 753 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1051 | killagreg | 754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 755 | // Empfang schlecht |
1051 | killagreg | 756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 757 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 758 | { |
1051 | killagreg | 759 | if(RcLostTimer) RcLostTimer--; |
760 | else |
||
1 | ingob | 761 | { |
762 | MotorenEin = 0; |
||
1954 | holgerb | 763 | modell_fliegt = 0; |
764 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
1051 | killagreg | 765 | } |
1 | ingob | 766 | ROT_ON; |
2008 | holgerb | 767 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 768 | { |
2028 | holgerb | 769 | GasMischanteil = HooverGasEmergencyPercent; |
1765 | killagreg | 770 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
744 | hbuss | 771 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
1051 | killagreg | 772 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
1 | ingob | 773 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
774 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
775 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
173 | holgerb | 776 | } |
1954 | holgerb | 777 | else |
778 | { |
||
779 | MotorenEin = 0; |
||
780 | } |
||
1 | ingob | 781 | } |
1051 | killagreg | 782 | else |
783 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 784 | // Emfang gut |
1051 | killagreg | 785 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 786 | if(SenderOkay > 140) |
787 | { |
||
2322 | holgerb | 788 | static unsigned int trigger = 0; |
1765 | killagreg | 789 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 790 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 791 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 792 | { |
793 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
794 | } |
||
871 | hbuss | 795 | if((modell_fliegt < 256)) |
2309 | holgerb | 796 | { |
1 | ingob | 797 | SummeNick = 0; |
798 | SummeRoll = 0; |
||
1682 | holgerb | 799 | sollGier = 0; |
800 | Mess_Integral_Gier = 0; |
||
2309 | holgerb | 801 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
802 | } |
||
803 | else |
||
804 | { |
||
805 | FC_StatusFlags |= FC_STATUS_FLY; |
||
806 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
||
807 | { |
||
2322 | holgerb | 808 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
809 | if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART) && (VarioCharacter == '=') && ACC_AltitudeControl) |
||
810 | { |
||
811 | FromNC_AltitudeSpeed = 100; |
||
812 | FromNC_AltitudeSetpoint = 800; |
||
813 | SollHoehe = 800; |
||
814 | trigger = 1000; |
||
815 | SpeakHoTT = SPEAK_NEXT_WP; |
||
816 | /* if(StartTrigger != 2) |
||
817 | { |
||
818 | StartTrigger = 1; |
||
819 | if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
||
820 | } |
||
821 | */ |
||
822 | } |
||
823 | #endif |
||
2309 | holgerb | 824 | if(HoehenWert > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
825 | { |
||
826 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
||
827 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
2322 | holgerb | 828 | SpeakHoTT = SPEAK_RISING; |
829 | trigger = 1000; |
||
2309 | holgerb | 830 | #endif |
831 | } |
||
832 | SummeNick = 0; |
||
833 | SummeRoll = 0; |
||
834 | Mess_Integral_Gier = 0; |
||
835 | // sollGier = 0; |
||
836 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
||
837 | } |
||
2322 | holgerb | 838 | else // Flying mode |
839 | { |
||
840 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
841 | if(trigger < 1000) |
||
842 | { |
||
843 | trigger++; |
||
844 | SummeNick = 0; |
||
845 | SummeRoll = 0; |
||
846 | Mess_Integral_Gier = 0; |
||
847 | SollHoehe = HoehenWertF - 300; |
||
848 | } |
||
849 | else |
||
850 | if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
||
851 | { |
||
852 | if(Aktuell_az > 940) { trigger = 0; SpeakHoTT = SPEAK_LANDING; }; |
||
853 | } |
||
854 | #endif |
||
855 | } |
||
856 | } // end of: modell_fliegt > 256 |
||
595 | hbuss | 857 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
1 | ingob | 858 | { |
1051 | killagreg | 859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 860 | // auf Nullwerte kalibrieren |
1051 | killagreg | 861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 862 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
863 | { |
||
864 | if(++delay_neutral > 200) // nicht sofort |
||
865 | { |
||
866 | delay_neutral = 0; |
||
867 | modell_fliegt = 0; |
||
868 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
869 | { |
||
304 | ingob | 870 | unsigned char setting=1; |
1 | ingob | 871 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
872 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
873 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
874 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
875 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
1622 | killagreg | 876 | SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 877 | } |
1051 | killagreg | 878 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
879 | { |
||
819 | hbuss | 880 | WinkelOut.CalcState = 1; |
2009 | holgerb | 881 | CalibrationDone = 0; |
819 | hbuss | 882 | beeptime = 1000; |
883 | } |
||
884 | else |
||
1 | ingob | 885 | { |
1622 | killagreg | 886 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
1413 | killagreg | 887 | LipoDetection(0); |
1626 | killagreg | 888 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 889 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 890 | { |
1 | ingob | 891 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 892 | } |
2146 | holgerb | 893 | // ServoActive = 0; |
2319 | holgerb | 894 | CalibrationDone = SetNeutral(1); |
1232 | hbuss | 895 | ServoActive = 1; |
896 | DDRD |=0x80; // enable J7 -> Servo signal |
||
2263 | holgerb | 897 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2309 | holgerb | 898 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
2316 | holgerb | 899 | else |
900 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
2309 | holgerb | 901 | else SpeakHoTT = SPEAK_CALIBRATE; |
2263 | holgerb | 902 | #endif |
1622 | killagreg | 903 | Piep(GetActiveParamSet(),120); |
819 | hbuss | 904 | } |
1051 | killagreg | 905 | } |
1 | ingob | 906 | } |
1051 | killagreg | 907 | else |
513 | hbuss | 908 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
909 | { |
||
910 | if(++delay_neutral > 200) // nicht sofort |
||
911 | { |
||
912 | MotorenEin = 0; |
||
913 | delay_neutral = 0; |
||
914 | modell_fliegt = 0; |
||
2319 | holgerb | 915 | CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
2263 | holgerb | 916 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 917 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
918 | else |
||
919 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
920 | else SpeakHoTT = SPEAK_CALIBRATE; |
||
2263 | holgerb | 921 | #endif |
1622 | killagreg | 922 | Piep(GetActiveParamSet(),120); |
1051 | killagreg | 923 | } |
513 | hbuss | 924 | } |
1 | ingob | 925 | else delay_neutral = 0; |
926 | } |
||
1051 | killagreg | 927 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 928 | // Gas ist unten |
1051 | killagreg | 929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
595 | hbuss | 930 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
1 | ingob | 931 | { |
2146 | holgerb | 932 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
933 | else |
||
934 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
||
1521 | killagreg | 935 | // Motoren Starten |
936 | if(!MotorenEin) |
||
937 | { |
||
2146 | holgerb | 938 | 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))) |
939 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
||
1521 | killagreg | 940 | { |
1051 | killagreg | 941 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 942 | // Einschalten |
1051 | killagreg | 943 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2146 | holgerb | 944 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
2309 | holgerb | 945 | StartLuftdruck = Luftdruck; |
946 | HoehenWertF = 0; |
||
947 | HoehenWert = 0; |
||
948 | SummenHoehe = 0; |
||
2146 | holgerb | 949 | if(++delay_einschalten > 253) |
1521 | killagreg | 950 | { |
951 | delay_einschalten = 0; |
||
2009 | holgerb | 952 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1622 | killagreg | 953 | { |
954 | modell_fliegt = 1; |
||
955 | MotorenEin = 1; |
||
956 | sollGier = 0; |
||
957 | Mess_Integral_Gier = 0; |
||
958 | Mess_Integral_Gier2 = 0; |
||
959 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
960 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
961 | Mess_IntegralNick2 = IntegralNick; |
||
962 | Mess_IntegralRoll2 = IntegralRoll; |
||
963 | SummeNick = 0; |
||
964 | SummeRoll = 0; |
||
1913 | holgerb | 965 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 966 | NeueKompassRichtungMerken = 100; // 2 sekunden |
2090 | holgerb | 967 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
968 | SpeakHoTT = SPEAK_STARTING; |
||
969 | #endif |
||
1622 | killagreg | 970 | } |
971 | else |
||
972 | { |
||
973 | beeptime = 1500; // indicate missing calibration |
||
2090 | holgerb | 974 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2146 | holgerb | 975 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
2090 | holgerb | 976 | #endif |
1622 | killagreg | 977 | } |
1521 | killagreg | 978 | } |
979 | } |
||
980 | else delay_einschalten = 0; |
||
981 | } |
||
1051 | killagreg | 982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 983 | // Auschalten |
1051 | killagreg | 984 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 985 | else // only if motors are running |
986 | { |
||
2146 | holgerb | 987 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
988 | 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))) |
||
989 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
||
1521 | killagreg | 990 | { |
2146 | holgerb | 991 | if(++delay_ausschalten > 250) // nicht sofort |
1521 | killagreg | 992 | { |
993 | MotorenEin = 0; |
||
994 | delay_ausschalten = 0; |
||
995 | modell_fliegt = 0; |
||
2090 | holgerb | 996 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
997 | SpeakHoTT = SPEAK_MK_OFF; |
||
998 | #endif |
||
1521 | killagreg | 999 | } |
1000 | } |
||
1001 | else delay_ausschalten = 0; |
||
1002 | } |
||
2230 | holgerb | 1003 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
1004 | } |
||
2146 | holgerb | 1005 | else // gas not at minimum |
2230 | holgerb | 1006 | { |
1007 | move_safety_switch = 0; |
||
1008 | GasIsZeroCnt = 0; |
||
1009 | } |
||
1 | ingob | 1010 | } |
2230 | holgerb | 1011 | else // Empfang zwischen 100 und 140 -> schlecht |
1012 | { |
||
1013 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
||
1014 | { |
||
1015 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
||
1016 | { |
||
1017 | GasIsZeroCnt = 30000; |
||
1018 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
||
1019 | } |
||
1020 | } |
||
1021 | } |
||
1051 | killagreg | 1022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1023 | // neue Werte von der Funke |
1051 | killagreg | 1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1025 | |
1765 | killagreg | 1026 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 1027 | { |
604 | hbuss | 1028 | static int stick_nick,stick_roll; |
1912 | holgerb | 1029 | unsigned char stick_p; |
1 | ingob | 1030 | ParameterZuordnung(); |
1912 | holgerb | 1031 | stick_p = EE_Parameter.Stick_P; |
1032 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
723 | hbuss | 1033 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1912 | holgerb | 1034 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
723 | hbuss | 1035 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
1036 | |||
1707 | holgerb | 1037 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1038 | // CareFree und freie Wahl der vorderen Richtung |
||
1039 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 1040 | if(CareFree) |
1041 | { |
||
1042 | signed int nick, roll; |
||
1043 | nick = stick_nick / 4; |
||
1044 | roll = stick_roll / 4; |
||
1045 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
1046 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1047 | } |
||
1048 | else |
||
1049 | { |
||
1050 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
1051 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
1052 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
1053 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1054 | } |
||
1662 | killagreg | 1055 | |
1 | ingob | 1056 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1840 | holgerb | 1057 | if(StickGier > 4) StickGier -= 4; else |
1058 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 1059 | |
1945 | holgerb | 1060 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1061 | { |
||
1062 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
1063 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
1064 | } |
||
1912 | holgerb | 1065 | |
1066 | StickNick -= GPS_Nick; |
||
1067 | StickRoll -= GPS_Roll; |
||
1933 | holgerb | 1068 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1330 | killagreg | 1069 | |
1153 | hbuss | 1070 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1071 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 1072 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1073 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 1074 | |
595 | hbuss | 1075 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1076 | //+ Analoge Steuerung per Seriell |
||
1077 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
921 | hbuss | 1078 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
595 | hbuss | 1079 | { |
1080 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
1081 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
1082 | StickGier += ExternControl.Gier; |
||
1083 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1084 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
1085 | } |
||
855 | hbuss | 1086 | if(StickGas < 0) StickGas = 0; |
1330 | killagreg | 1087 | |
1916 | holgerb | 1088 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 1089 | |
1051 | killagreg | 1090 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 1091 | { |
1051 | killagreg | 1092 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 1093 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 1094 | } |
928 | hbuss | 1095 | else MaxStickNick--; |
1051 | killagreg | 1096 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 1097 | { |
1051 | killagreg | 1098 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 1099 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 1100 | } |
928 | hbuss | 1101 | else MaxStickRoll--; |
1765 | killagreg | 1102 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 1103 | |
1051 | killagreg | 1104 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1105 | // Looping? |
1051 | killagreg | 1106 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 1107 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 1108 | else |
1109 | { |
||
395 | hbuss | 1110 | { |
1051 | killagreg | 1111 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1112 | } |
||
1113 | } |
||
993 | hbuss | 1114 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 1115 | else |
395 | hbuss | 1116 | { |
1117 | if(Looping_Rechts) // Hysterese |
||
1118 | { |
||
1119 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
1120 | } |
||
1051 | killagreg | 1121 | } |
173 | holgerb | 1122 | |
993 | hbuss | 1123 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 1124 | else |
1125 | { |
||
395 | hbuss | 1126 | if(Looping_Oben) // Hysterese |
1127 | { |
||
1051 | killagreg | 1128 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1129 | } |
||
1130 | } |
||
993 | hbuss | 1131 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 1132 | else |
395 | hbuss | 1133 | { |
1134 | if(Looping_Unten) // Hysterese |
||
1135 | { |
||
1136 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
1137 | } |
||
1051 | killagreg | 1138 | } |
395 | hbuss | 1139 | |
1140 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 1141 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 1142 | } // Ende neue Funken-Werte |
1143 | |||
1144 | if(Looping_Roll || Looping_Nick) |
||
1145 | { |
||
173 | holgerb | 1146 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 1147 | TrichterFlug = 1; |
173 | holgerb | 1148 | } |
1149 | |||
1051 | killagreg | 1150 | |
1151 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1152 | // Bei Empfangsausfall im Flug |
||
1153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 1154 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1155 | { |
||
1156 | StickNick = -GPS_Nick; |
||
1157 | StickRoll = -GPS_Roll; |
||
2230 | holgerb | 1158 | StickGas = StickGasHover; |
1916 | holgerb | 1159 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1160 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1161 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1162 | Parameter_HoehenSchalter = 200; // switch on |
||
1163 | } |
||
1164 | else |
||
1765 | killagreg | 1165 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 1166 | { |
1167 | StickGier = 0; |
||
1168 | StickNick = 0; |
||
1169 | StickRoll = 0; |
||
1211 | hbuss | 1170 | GyroFaktor = 90; |
1171 | IntegralFaktor = 120; |
||
1172 | GyroFaktorGier = 90; |
||
1173 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1174 | Looping_Roll = 0; |
1175 | Looping_Nick = 0; |
||
1051 | killagreg | 1176 | } |
395 | hbuss | 1177 | |
1051 | killagreg | 1178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1179 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1181 | #define ABGLEICH_ANZAHL 256L |
1182 | |||
1183 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1184 | MittelIntegralRoll += IntegralRoll; |
||
1185 | MittelIntegralNick2 += IntegralNick2; |
||
1186 | MittelIntegralRoll2 += IntegralRoll2; |
||
1187 | |||
1188 | if(Looping_Nick || Looping_Roll) |
||
1189 | { |
||
1190 | IntegralAccNick = 0; |
||
1191 | IntegralAccRoll = 0; |
||
1192 | MittelIntegralNick = 0; |
||
1193 | MittelIntegralRoll = 0; |
||
1194 | MittelIntegralNick2 = 0; |
||
1195 | MittelIntegralRoll2 = 0; |
||
1196 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1197 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1198 | ZaehlMessungen = 0; |
||
498 | hbuss | 1199 | LageKorrekturNick = 0; |
1200 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1201 | } |
1202 | |||
1051 | killagreg | 1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1204 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1205 | { |
1206 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1207 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1208 | { |
1944 | holgerb | 1209 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1210 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1211 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1212 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1213 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1214 | { |
||
1215 | tmp_long /= 2; |
||
1216 | tmp_long2 /= 2; |
||
1217 | } |
||
2309 | holgerb | 1218 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1944 | holgerb | 1219 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1220 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1221 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | hbuss | 1222 | } |
1051 | killagreg | 1223 | else |
992 | hbuss | 1224 | { |
1944 | holgerb | 1225 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1226 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1227 | tmp_long /= 16; |
||
1228 | tmp_long2 /= 16; |
||
1229 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1230 | { |
||
1231 | tmp_long /= 3; |
||
1232 | tmp_long2 /= 3; |
||
1233 | } |
||
1234 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1235 | { |
||
1236 | tmp_long /= 3; |
||
1237 | tmp_long2 /= 3; |
||
1238 | } |
||
1239 | KompassFusion = 25; |
||
1155 | hbuss | 1240 | #define AUSGLEICH 32 |
1944 | holgerb | 1241 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1242 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1243 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1244 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
992 | hbuss | 1245 | } |
1166 | hbuss | 1246 | |
1111 | hbuss | 1247 | Mess_IntegralNick -= tmp_long; |
1248 | Mess_IntegralRoll -= tmp_long2; |
||
469 | hbuss | 1249 | } |
1051 | killagreg | 1250 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1251 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1252 | { |
||
1253 | static int cnt = 0; |
||
1254 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1255 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1173 | hbuss | 1256 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
173 | holgerb | 1257 | { |
395 | hbuss | 1258 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1259 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1260 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1261 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1262 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1707 | holgerb | 1263 | #define MAX_I 0 |
395 | hbuss | 1264 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1265 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1266 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1051 | killagreg | 1267 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1268 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
395 | hbuss | 1269 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
614 | hbuss | 1270 | |
1271 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
498 | hbuss | 1272 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1273 | |
992 | hbuss | 1274 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
614 | hbuss | 1275 | { |
1276 | LageKorrekturNick /= 2; |
||
720 | ingob | 1277 | LageKorrekturRoll /= 2; |
614 | hbuss | 1278 | } |
498 | hbuss | 1279 | |
1051 | killagreg | 1280 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1281 | // Gyro-Drift ermitteln |
1051 | killagreg | 1282 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1283 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1284 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1051 | killagreg | 1285 | tmp_long = IntegralNick2 - IntegralNick; |
1286 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
395 | hbuss | 1287 | |
1288 | IntegralFehlerNick = tmp_long; |
||
1289 | IntegralFehlerRoll = tmp_long2; |
||
1290 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1291 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1292 | |||
1111 | hbuss | 1293 | if(EE_Parameter.Driftkomp) |
1294 | { |
||
1622 | killagreg | 1295 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1296 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1111 | hbuss | 1297 | } |
693 | hbuss | 1298 | GierGyroFehler = 0; |
720 | ingob | 1299 | |
1243 | killagreg | 1300 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1301 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1225 | hbuss | 1302 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
492 | hbuss | 1303 | #define BEWEGUNGS_LIMIT 20000 |
395 | hbuss | 1304 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1305 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1225 | hbuss | 1306 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1307 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1308 | { |
1051 | killagreg | 1309 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
395 | hbuss | 1310 | { |
1051 | killagreg | 1311 | if(last_n_p) |
395 | hbuss | 1312 | { |
1173 | hbuss | 1313 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1314 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1315 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
498 | hbuss | 1316 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1317 | } |
395 | hbuss | 1318 | else last_n_p = 1; |
1319 | } else last_n_p = 0; |
||
1051 | killagreg | 1320 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
395 | hbuss | 1321 | { |
1322 | if(last_n_n) |
||
1051 | killagreg | 1323 | { |
1173 | hbuss | 1324 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1325 | ausgleichNick = IntegralFehlerNick / 8; |
401 | hbuss | 1326 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
498 | hbuss | 1327 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1051 | killagreg | 1328 | } |
395 | hbuss | 1329 | else last_n_n = 1; |
1330 | } else last_n_n = 0; |
||
1051 | killagreg | 1331 | } |
1332 | else |
||
847 | hbuss | 1333 | { |
1334 | cnt = 0; |
||
1839 | holgerb | 1335 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1336 | } |
499 | hbuss | 1337 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1338 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1339 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1340 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
401 | hbuss | 1341 | |
395 | hbuss | 1342 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1695 | holgerb | 1343 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1225 | hbuss | 1344 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1173 | hbuss | 1345 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
492 | hbuss | 1346 | { |
1051 | killagreg | 1347 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
395 | hbuss | 1348 | { |
1051 | killagreg | 1349 | if(last_r_p) |
395 | hbuss | 1350 | { |
1173 | hbuss | 1351 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1352 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1353 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
498 | hbuss | 1354 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | killagreg | 1355 | } |
395 | hbuss | 1356 | else last_r_p = 1; |
1357 | } else last_r_p = 0; |
||
1051 | killagreg | 1358 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
395 | hbuss | 1359 | { |
1051 | killagreg | 1360 | if(last_r_n) |
395 | hbuss | 1361 | { |
1173 | hbuss | 1362 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
492 | hbuss | 1363 | ausgleichRoll = IntegralFehlerRoll / 8; |
401 | hbuss | 1364 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
498 | hbuss | 1365 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
395 | hbuss | 1366 | } |
1367 | else last_r_n = 1; |
||
1368 | } else last_r_n = 0; |
||
1051 | killagreg | 1369 | } else |
492 | hbuss | 1370 | { |
1371 | cnt = 0; |
||
1839 | holgerb | 1372 | KompassSignalSchlecht = 100; |
1051 | killagreg | 1373 | } |
499 | hbuss | 1374 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | hbuss | 1375 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
395 | hbuss | 1376 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1377 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
173 | holgerb | 1378 | } |
1051 | killagreg | 1379 | else |
498 | hbuss | 1380 | { |
1381 | LageKorrekturRoll = 0; |
||
1382 | LageKorrekturNick = 0; |
||
880 | hbuss | 1383 | TrichterFlug = 0; |
498 | hbuss | 1384 | } |
1051 | killagreg | 1385 | |
498 | hbuss | 1386 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1387 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1388 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1389 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1390 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1391 | IntegralAccNick = 0; |
1392 | IntegralAccRoll = 0; |
||
1393 | IntegralAccZ = 0; |
||
1394 | MittelIntegralNick = 0; |
||
1395 | MittelIntegralRoll = 0; |
||
1396 | MittelIntegralNick2 = 0; |
||
1397 | MittelIntegralRoll2 = 0; |
||
1398 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1399 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1400 | |
1051 | killagreg | 1401 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1402 | // Gieren |
1051 | killagreg | 1403 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1404 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1405 | { |
1839 | holgerb | 1406 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1407 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1408 | { |
1840 | holgerb | 1409 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1410 | }; |
1 | ingob | 1411 | } |
1944 | holgerb | 1412 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1413 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
2309 | holgerb | 1414 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
1840 | holgerb | 1415 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1416 | sollGier = tmp_int; |
1051 | killagreg | 1417 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1418 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1419 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1420 | |
1421 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1422 | // Kompass |
1051 | killagreg | 1423 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1424 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1425 | { |
1839 | holgerb | 1426 | if(CalculateCompassTimer-- == 1) |
1427 | { |
||
1428 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1429 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1430 | // max. Korrekturwert schätzen |
1 | ingob | 1431 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1432 | v = abs(IntegralRoll /512); |
||
1433 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1972 | holgerb | 1434 | // korrektur = w / 4 + 1; |
1435 | korrektur = w / 8 + 2; |
||
1941 | holgerb | 1436 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1437 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1438 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1439 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1440 | // Kompasswert einloggen |
||
1441 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1442 | else |
||
1443 | if(w < 25) |
||
921 | hbuss | 1444 | { |
1445 | GierGyroFehler += fehler; |
||
1051 | killagreg | 1446 | if(NeueKompassRichtungMerken) |
1447 | { |
||
1839 | holgerb | 1448 | if(--NeueKompassRichtungMerken == 0) |
1449 | { |
||
1941 | holgerb | 1450 | KompassSollWert = ErsatzKompassInGrad; |
1839 | holgerb | 1451 | } |
921 | hbuss | 1452 | } |
1 | ingob | 1453 | } |
1840 | holgerb | 1454 | // Kompass fusionieren |
1839 | holgerb | 1455 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1941 | holgerb | 1456 | // MK Gieren |
1457 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1458 | { |
1941 | holgerb | 1459 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1460 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1461 | CompassGierSetpoint = v / 16; |
1462 | } |
||
1865 | holgerb | 1463 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1464 | } // CalculateCompassTimer |
1051 | killagreg | 1465 | } |
1840 | holgerb | 1466 | else CompassGierSetpoint = 0; |
1972 | holgerb | 1467 | |
1468 | //DebugOut.Analog[16] = KompassFusion; |
||
1051 | killagreg | 1469 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1470 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1471 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1472 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1473 | |
1171 | hbuss | 1474 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1475 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1476 | |
1167 | hbuss | 1477 | #define TRIM_MAX 200 |
1166 | hbuss | 1478 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1479 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1480 | |
1166 | hbuss | 1481 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1482 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1483 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1484 | |
1 | ingob | 1485 | // Maximalwerte abfangen |
1685 | holgerb | 1486 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1487 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1488 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1489 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1490 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1491 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1492 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1493 | |||
1051 | killagreg | 1494 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1495 | // Höhenregelung |
1496 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
1051 | killagreg | 1497 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1374 | hbuss | 1498 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
855 | hbuss | 1499 | GasMischanteil *= STICK_GAIN; |
1309 | hbuss | 1500 | // if height control is activated |
1916 | holgerb | 1501 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1309 | hbuss | 1502 | { |
1698 | holgerb | 1503 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1504 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1505 | |
1506 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1507 | #define OPA_OFFSET_STEP 15 |
||
1642 | killagreg | 1508 | #else |
1638 | holgerb | 1509 | #define OPA_OFFSET_STEP 10 |
1510 | #endif |
||
2309 | holgerb | 1511 | int HCGas, GasReduction = 0; |
1309 | hbuss | 1512 | static int HeightTrimming = 0; // rate for change of height setpoint |
2309 | holgerb | 1513 | static int HeightDeviation = 0, FilterHCGas = 0; |
1587 | killagreg | 1514 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1515 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1330 | killagreg | 1516 | |
1642 | killagreg | 1517 | |
1322 | hbuss | 1518 | // Expand the measurement |
1519 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1520 | if(!BaroExpandActive) |
||
1521 | { |
||
1522 | if(MessLuftdruck > 920) |
||
1523 | { // increase offset |
||
1330 | killagreg | 1524 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1525 | { |
1526 | ExpandBaro -= 1; |
||
1527 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1528 | beeptime = 300; |
||
1352 | hbuss | 1529 | BaroExpandActive = 350; |
1330 | killagreg | 1530 | } |
1531 | else |
||
1322 | hbuss | 1532 | { |
1533 | BaroAtLowerLimit = 1; |
||
1534 | } |
||
1535 | } |
||
1536 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1537 | else |
1322 | hbuss | 1538 | if(MessLuftdruck < 100) |
1539 | { // decrease offset |
||
1330 | killagreg | 1540 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1541 | { |
1542 | ExpandBaro += 1; |
||
1543 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1544 | beeptime = 300; |
||
1352 | hbuss | 1545 | BaroExpandActive = 350; |
1330 | killagreg | 1546 | } |
1547 | else |
||
1322 | hbuss | 1548 | { |
1549 | BaroAtUpperLimit = 1; |
||
1550 | } |
||
1551 | } |
||
1330 | killagreg | 1552 | else |
1322 | hbuss | 1553 | { |
1554 | BaroAtUpperLimit = 0; |
||
1555 | BaroAtLowerLimit = 0; |
||
1556 | } |
||
1557 | } |
||
1558 | else // delay, because of expanding the Baro-Range |
||
1559 | { |
||
1560 | // now clear the D-values |
||
2316 | holgerb | 1561 | VarioMeter = 0; |
2309 | holgerb | 1562 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1563 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
2309 | holgerb | 1564 | else SummenHoehe = HoehenWert * SM_FILTER; |
1565 | #else |
||
1566 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1567 | #endif |
||
1322 | hbuss | 1568 | BaroExpandActive--; |
1569 | } |
||
1328 | hbuss | 1570 | // if height control is activated by an rc channel |
1916 | holgerb | 1571 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1572 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1573 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1574 | { //height control not active |
1575 | if(!delay--) |
||
1576 | { |
||
2090 | holgerb | 1577 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1578 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
2090 | holgerb | 1579 | #endif |
1328 | hbuss | 1580 | HoehenReglerAktiv = 0; // disable height control |
1581 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1582 | delay = 1; |
||
1583 | } |
||
1584 | } |
||
1585 | else |
||
2090 | holgerb | 1586 | if(Parameter_HoehenSchalter > 70) |
1328 | hbuss | 1587 | { //height control is activated |
2090 | holgerb | 1588 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1589 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
2090 | holgerb | 1590 | #endif |
2263 | holgerb | 1591 | delay = 200; |
1328 | hbuss | 1592 | HoehenReglerAktiv = 1; // enable height control |
1593 | } |
||
1051 | killagreg | 1594 | } |
1309 | hbuss | 1595 | else // no switchable height control |
1596 | { |
||
1916 | holgerb | 1597 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1598 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1599 | } |
1320 | hbuss | 1600 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1601 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1602 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1603 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1320 | hbuss | 1604 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1605 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1591 | holgerb | 1606 | VarioCharacter = ' '; |
1942 | holgerb | 1607 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1608 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1609 | { |
1330 | killagreg | 1610 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1309 | hbuss | 1611 | // Holger original version |
1612 | // start of height control algorithm |
||
1613 | // the height control is only an attenuation of the actual gas stick. |
||
1614 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1615 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1616 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1617 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1618 | { // old version |
1309 | hbuss | 1619 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1620 | HeightTrimming = 0; |
||
1942 | holgerb | 1621 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1622 | // set both flags to indicate no vario mode |
1623 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1624 | } |
1314 | killagreg | 1625 | else |
1309 | hbuss | 1626 | { |
1627 | // alternative height control |
||
1628 | // PD-Control with respect to hoover point |
||
1629 | // the thrust loss out of horizontal attitude is compensated |
||
1630 | // the setpoint will be fine adjusted with the gas stick position |
||
1943 | holgerb | 1631 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1632 | { // gas stick is above hoover point |
1587 | killagreg | 1633 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1634 | { |
2309 | holgerb | 1635 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
1767 | killagreg | 1636 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1637 | { |
1767 | killagreg | 1638 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
2309 | holgerb | 1639 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1640 | } |
1767 | killagreg | 1641 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1966 | holgerb | 1642 | // Limit the maximum Altitude |
1643 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
||
1644 | else |
||
1645 | { |
||
1646 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
1647 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1942 | holgerb | 1648 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1649 | VarioCharacter = '+'; |
1966 | holgerb | 1650 | } |
1865 | holgerb | 1651 | WaypointTrimming = 0; |
1309 | hbuss | 1652 | } // gas stick is below hoover point |
1587 | killagreg | 1653 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1309 | hbuss | 1654 | { |
1767 | killagreg | 1655 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1309 | hbuss | 1656 | { |
1767 | killagreg | 1657 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
2309 | holgerb | 1658 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1659 | } |
1767 | killagreg | 1660 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1661 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1662 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1591 | holgerb | 1663 | VarioCharacter = '-'; |
1865 | holgerb | 1664 | WaypointTrimming = 0; |
1309 | hbuss | 1665 | } |
1587 | killagreg | 1666 | else // Gas Stick in Hover Range |
1309 | hbuss | 1667 | { |
1855 | holgerb | 1668 | VarioCharacter = '='; |
1857 | holgerb | 1669 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1670 | { |
1671 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1672 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1673 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1674 | WaypointTrimming = 10; |
1675 | VarioCharacter = '^'; |
||
1865 | holgerb | 1676 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1677 | { |
||
1678 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
2309 | holgerb | 1679 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1680 | } |
1855 | holgerb | 1681 | } |
1682 | else |
||
1857 | holgerb | 1683 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1684 | { |
1685 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1686 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1687 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1688 | WaypointTrimming = -10; |
1689 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1690 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1691 | { |
||
1692 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
2309 | holgerb | 1693 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1694 | } |
1855 | holgerb | 1695 | } |
1696 | else |
||
1767 | killagreg | 1697 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1698 | { |
2309 | holgerb | 1699 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1933 | holgerb | 1700 | else WaypointTrimming = 0; |
1767 | killagreg | 1701 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1702 | HeightTrimming = 0; |
1916 | holgerb | 1703 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1704 | if(!StartTrigger && HoehenWert > 50) |
1705 | { |
||
1706 | StartTrigger = 1; |
||
1765 | killagreg | 1707 | } |
1309 | hbuss | 1708 | } |
1709 | } |
||
1710 | // Trim height set point |
||
1942 | holgerb | 1711 | HeightTrimming += AltitudeSetpointTrimming; |
1712 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1713 | { |
1857 | holgerb | 1714 | if(WaypointTrimming) |
1715 | { |
||
1716 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1717 | else SollHoehe += WaypointTrimming; |
||
1718 | } |
||
1719 | else |
||
1966 | holgerb | 1720 | { |
1721 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1722 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1723 | } |
||
1309 | hbuss | 1724 | HeightTrimming = 0; |
1932 | holgerb | 1725 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1916 | holgerb | 1726 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1727 | //update hoover gas stick value when setpoint is shifted |
1857 | holgerb | 1728 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1729 | { |
1587 | killagreg | 1730 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1731 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1732 | if(StickGasHover < 70) StickGasHover = 70; |
||
1733 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1332 | hbuss | 1734 | } |
1309 | hbuss | 1735 | } |
2309 | holgerb | 1736 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1737 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1738 | else |
1739 | { |
||
1322 | hbuss | 1740 | SollHoehe = HoehenWert - 400; |
1587 | killagreg | 1741 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1742 | else StickGasHover = 120; |
||
1698 | holgerb | 1743 | HoverGas = GasMischanteil; |
1972 | holgerb | 1744 | VarioCharacter = '.'; |
1320 | hbuss | 1745 | } |
1590 | killagreg | 1746 | HCGas = HoverGas; // take hover gas (neutral point) |
1747 | } |
||
2309 | holgerb | 1748 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1749 | { |
2316 | holgerb | 1750 | if(!ACC_AltitudeControl) |
1751 | { |
||
1590 | killagreg | 1752 | // from this point the Heigth Control Algorithm is identical for both versions |
1753 | if(BaroExpandActive) // baro range expanding active |
||
1754 | { |
||
1755 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1756 | HeightDeviation = 0; |
||
1757 | } // EOF // baro range expanding active |
||
1758 | else // valid data from air pressure sensor |
||
1759 | { |
||
1760 | // ------------------------- P-Part ---------------------------- |
||
2309 | holgerb | 1761 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1590 | killagreg | 1762 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1763 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1764 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1765 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1766 | GasReduction = tmp_long; |
||
1590 | killagreg | 1767 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1768 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1769 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1770 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1771 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1772 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1773 | else |
1916 | holgerb | 1774 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1775 | GasReduction += tmp_int; |
1590 | killagreg | 1776 | } // EOF no baro range expanding |
1309 | hbuss | 1777 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1778 | if(Parameter_Hoehe_ACC_Wirkung) |
1779 | { |
||
1780 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1781 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1782 | GasReduction += tmp_long; |
||
1765 | killagreg | 1783 | } |
1587 | killagreg | 1784 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1785 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1786 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1787 | GasReduction += tmp_int; |
1701 | holgerb | 1788 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
2309 | holgerb | 1789 | |
1701 | holgerb | 1790 | // ------------------------ ---------------------------------- |
1791 | HCGas -= GasReduction; |
||
1309 | hbuss | 1792 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1793 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1794 | { |
1765 | killagreg | 1795 | unsigned int tmp; |
1705 | holgerb | 1796 | tmp = abs(HeightDeviation); |
1797 | if(tmp <= 60) |
||
1798 | { |
||
1799 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1800 | } |
||
1801 | else |
||
1765 | killagreg | 1802 | { |
1705 | holgerb | 1803 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1804 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1805 | if(HeightDeviation > 0) |
1693 | holgerb | 1806 | { |
1705 | holgerb | 1807 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1808 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1809 | } |
1705 | holgerb | 1810 | else |
1811 | { |
||
1812 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1813 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1814 | } |
||
1815 | } |
||
1309 | hbuss | 1816 | } |
1322 | hbuss | 1817 | // strech control output by inverse attitude projection 1/cos |
1818 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1819 | tmp_long2 = (int32_t)HCGas; |
1820 | tmp_long2 *= 8192L; |
||
1821 | tmp_long2 /= CosAttitude; |
||
1822 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1823 | // update height control gas averaging |
1824 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1825 | // limit height control gas pd-control output |
||
1826 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1827 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1828 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1829 | { // old version |
1830 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1831 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1832 | } |
1719 | holgerb | 1833 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
2316 | holgerb | 1834 | } |
2320 | holgerb | 1835 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1836 | else // ACC-Altitude control |
1837 | { |
||
2309 | holgerb | 1838 | // from this point the Heigth Control Algorithm is identical for both versions |
1839 | if(BaroExpandActive) // baro range expanding active |
||
1840 | { |
||
1841 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1842 | HeightDeviation = 0; |
||
1843 | } // EOF // baro range expanding active |
||
1844 | else // valid data from air pressure sensor |
||
1845 | { |
||
1846 | // ------------------------- P-Part ---------------------------- |
||
1847 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
||
1848 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1849 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1850 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
||
1851 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
||
1852 | GasReduction = tmp_long; |
||
1853 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
||
2316 | holgerb | 1854 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
2309 | holgerb | 1855 | // ------------------------- D-Part: Vario Meter ---------------------------- |
1856 | if(WaypointTrimming) { |
||
1857 | Variance = AltitudeSetpointTrimming * 8; |
||
1858 | } else { |
||
1859 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
||
1860 | } |
||
1861 | tmp_long -= (long)Variance; |
||
1862 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
||
1863 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
||
1864 | GasReduction += tmp_long; |
||
1865 | } // EOF no baro range expanding |
||
1866 | HCGas -= GasReduction; |
||
1867 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
||
1868 | // strech control output by inverse attitude projection 1/cos |
||
1869 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1870 | tmp_long2 = (int32_t)HCGas; |
||
1871 | tmp_long2 *= 8192L; |
||
1872 | tmp_long2 /= CosAttitude; |
||
1873 | HCGas = (int16_t)tmp_long2; |
||
1874 | // update height control gas averaging |
||
1875 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1876 | // limit height control gas pd-control output |
||
1877 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1878 | // set GasMischanteil to HeightControlGasFilter |
||
1879 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
1880 | { // old version |
||
1881 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1882 | GasMischanteil = FilterHCGas; |
||
1883 | } |
||
2316 | holgerb | 1884 | else GasMischanteil = FilterHCGas; |
1885 | } // end of ACC-Altitude control |
||
2320 | holgerb | 1886 | #endif |
1314 | killagreg | 1887 | } |
1309 | hbuss | 1888 | }// EOF height control active |
1320 | hbuss | 1889 | else // HC not active |
1890 | { |
||
1891 | //update hoover gas stick value when HC is not active |
||
1587 | killagreg | 1892 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1893 | { |
||
1894 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
1895 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1322 | hbuss | 1896 | } |
1587 | killagreg | 1897 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1898 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
1328 | hbuss | 1899 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 1900 | // set both flags to indicate no vario mode |
1901 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 1902 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 1903 | } |
1587 | killagreg | 1904 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 1905 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 1906 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1907 | { |
2316 | holgerb | 1908 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
2318 | holgerb | 1909 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
1698 | holgerb | 1910 | if(StartTrigger == 1) StartTrigger = 2; |
1330 | killagreg | 1911 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1912 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
1913 | tmp_long2 /= 8192; |
||
1309 | hbuss | 1914 | // average vertical projected thrust |
1698 | holgerb | 1915 | if(modell_fliegt < 4000) // the first 8 seconds |
1916 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
1917 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
1918 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 1919 | } |
1698 | holgerb | 1920 | if(modell_fliegt < 8000) // the first 16 seconds |
1921 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 1922 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 1923 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 1924 | } |
1698 | holgerb | 1925 | else //later |
2316 | holgerb | 1926 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 1927 | { |
1590 | killagreg | 1928 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 1929 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 1930 | } |
1590 | killagreg | 1931 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 1932 | if(EE_Parameter.Hoehe_HoverBand) |
1933 | { |
||
1934 | int16_t band; |
||
1587 | killagreg | 1935 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1936 | HoverGasMin = HoverGas - band; |
||
1937 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 1938 | } |
1939 | else |
||
1940 | { // no limit |
||
1587 | killagreg | 1941 | HoverGasMin = 0; |
1942 | HoverGasMax = 1023; |
||
1309 | hbuss | 1943 | } |
1765 | killagreg | 1944 | } |
1945 | else |
||
1698 | holgerb | 1946 | { |
1947 | StartTrigger = 0; |
||
1948 | HoverGasFilter = 0; |
||
1949 | HoverGas = 0; |
||
1765 | killagreg | 1950 | } |
1916 | holgerb | 1951 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 1952 | else |
1953 | { |
||
1954 | // set undefined state to indicate vario off |
||
1955 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1956 | } // EOF no height control |
||
1957 | |||
2309 | holgerb | 1958 | // Limits the maximum gas in case of "Out of Range emergency landing" |
2009 | holgerb | 1959 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1960 | { |
||
2028 | holgerb | 1961 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2309 | holgerb | 1962 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2009 | holgerb | 1963 | beeptime = 15000; |
1964 | BeepMuster = 0x0E00; |
||
1965 | } |
||
2028 | holgerb | 1966 | // limit gas to parameter setting |
1320 | hbuss | 1967 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 1968 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 1969 | |
1051 | killagreg | 1970 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 1971 | // all BL-Ctrl connected? |
1972 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1944 | holgerb | 1973 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1931 | holgerb | 1974 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1320 | hbuss | 1975 | { |
1976 | modell_fliegt = 1; |
||
1675 | holgerb | 1977 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1320 | hbuss | 1978 | } |
1979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1980 | // + Mischer und PI-Regler |
1051 | killagreg | 1981 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1982 | DebugOut.Analog[7] = GasMischanteil; |
1051 | killagreg | 1983 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1984 | // Gier-Anteil |
1051 | killagreg | 1985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1986 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1987 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 1988 | if(GasMischanteil > MIN_GIERGAS) |
1989 | { |
||
1051 | killagreg | 1990 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1991 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 1992 | } |
1051 | killagreg | 1993 | else |
693 | hbuss | 1994 | { |
1051 | killagreg | 1995 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1996 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 1997 | } |
855 | hbuss | 1998 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 1999 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 2000 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 2001 | |
1051 | killagreg | 2002 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2003 | // Nick-Achse |
1051 | killagreg | 2004 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 2005 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 2006 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 2007 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 2008 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
2009 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2010 | |
2011 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
2012 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
2013 | pd_ergebnis_nick += SummeNick / Ki; |
||
2014 | |||
1676 | holgerb | 2015 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2016 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
2017 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 2018 | |
1153 | hbuss | 2019 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2020 | // Roll-Achse |
||
2021 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2022 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
2023 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
2024 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
2025 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
2026 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2027 | |
2028 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
2029 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
2030 | pd_ergebnis_roll += SummeRoll / Ki; |
||
2031 | |||
1676 | holgerb | 2032 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2033 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2034 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
2035 | |||
2036 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 2037 | // Universal Mixer |
1155 | hbuss | 2038 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 2039 | for(i=0; i<MAX_MOTORS; i++) |
2040 | { |
||
2041 | signed int tmp_int; |
||
2042 | if(Mixer.Motor[i][0] > 0) |
||
2043 | { |
||
1652 | holgerb | 2044 | // Gas |
1676 | holgerb | 2045 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 2046 | // Nick |
2047 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
2048 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
2049 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
2050 | // Roll |
||
2051 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
2052 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
2053 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
2054 | // Gier |
||
1676 | holgerb | 2055 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2056 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
2057 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
1675 | holgerb | 2058 | |
1913 | holgerb | 2059 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
2060 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
2061 | else |
||
2062 | { |
||
2063 | if(EE_Parameter.MotorSmooth == 0) |
||
2064 | { |
||
1931 | holgerb | 2065 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 2066 | } |
2067 | else // 1 means tmp_int = tmp_int; |
||
2068 | if(EE_Parameter.MotorSmooth > 1) |
||
2069 | { |
||
2070 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
1925 | holgerb | 2071 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1913 | holgerb | 2072 | } |
2073 | } |
||
1931 | holgerb | 2074 | |
1760 | holgerb | 2075 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 2076 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 2077 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 2078 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 2079 | } |
2080 | else |
||
2081 | { |
||
2082 | Motor[i].SetPoint = 0; |
||
2083 | Motor[i].SetPointLowerBits = 0; |
||
2084 | } |
||
2085 | } |
||
1111 | hbuss | 2086 | } |
2090 | holgerb | 2087 | //DebugOut.Analog[16] |