Rev 2541 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
||
3 | #######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2050 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
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. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
22 | // + des Mitverschuldens offen. |
||
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
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 |
||
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
||
37 | // + The Software may only be used with the Licensor's products. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | |||
57 | #include "main.h" |
||
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; |
||
2481 | holgerb | 63 | int MesswertNick,MesswertRoll,MesswertGier,RohMesswertNick,RohMesswertRoll; |
1166 | hbuss | 64 | int TrimNick, TrimRoll; |
927 | hbuss | 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
2499 | holgerb | 66 | int BoatNeutralNick = 0,BoatNeutralRoll = 0,BoatNeutralGier = 0; |
1703 | holgerb | 67 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 68 | unsigned int NeutralAccX=0, NeutralAccY=0; |
805 | hbuss | 69 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
1639 | holgerb | 70 | int NeutralAccZ = 0; |
2316 | holgerb | 71 | signed char NeutralAccZfine = 0; |
1683 | killagreg | 72 | unsigned char ControlHeading = 0;// in 2° |
2481 | holgerb | 73 | long IntegralNick = 0; |
74 | long IntegralRoll = 0; |
||
693 | hbuss | 75 | long Integral_Gier = 0; |
2481 | holgerb | 76 | long Mess_IntegralNick = 0; |
77 | long Mess_IntegralRoll = 0; |
||
693 | hbuss | 78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
2481 | holgerb | 79 | long MittelIntegralNick,MittelIntegralRoll; |
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; |
2497 | holgerb | 84 | int NC_CompassSetpoint = -1; |
1941 | holgerb | 85 | //int KompassRichtung = 0; |
1839 | holgerb | 86 | char CalculateCompassTimer = 100; |
87 | unsigned char KompassFusion = 32; |
||
88 | unsigned int KompassSignalSchlecht = 50; |
||
855 | hbuss | 89 | unsigned char MAX_GAS,MIN_GAS; |
1 | ingob | 90 | unsigned char HoehenReglerAktiv = 0; |
880 | hbuss | 91 | unsigned char TrichterFlug = 0; |
395 | hbuss | 92 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
693 | hbuss | 93 | long ErsatzKompass; |
2437 | holgerb | 94 | int ErsatzKompassInGrad, CompassCorrected; // Kompasswert in Grad |
693 | hbuss | 95 | int GierGyroFehler = 0; |
1211 | hbuss | 96 | char GyroFaktor,GyroFaktorGier; |
97 | char IntegralFaktor,IntegralFaktorGier; |
||
1153 | hbuss | 98 | int DiffNick,DiffRoll; |
2427 | holgerb | 99 | unsigned int StickGasHover = 127; |
100 | int HoverGasMin = 0, HoverGasMax = 1023; |
||
1943 | holgerb | 101 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
1377 | hbuss | 102 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
1391 | killagreg | 103 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
1 | ingob | 104 | volatile unsigned char SenderOkay = 0; |
1698 | holgerb | 105 | char MotorenEin = 0,StartTrigger = 0; |
1246 | killagreg | 106 | long HoehenWert = 0; |
107 | long SollHoehe = 0; |
||
1942 | holgerb | 108 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 109 | long FromNC_AltitudeSetpoint = 0; |
110 | unsigned char FromNC_AltitudeSpeed = 0; |
||
1862 | holgerb | 111 | unsigned char carefree_old = 50; // to make the Beep when switching |
1942 | holgerb | 112 | signed char WaypointTrimming = 0; |
1840 | holgerb | 113 | int CompassGierSetpoint = 0; |
2009 | holgerb | 114 | unsigned char CalibrationDone = 0; |
2061 | holgerb | 115 | char NeueKompassRichtungMerken = 0; |
1692 | holgerb | 116 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
1153 | hbuss | 117 | //float Ki = FAKTOR_I; |
1676 | holgerb | 118 | int Ki = 10300 / 33; |
395 | hbuss | 119 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
120 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
||
1 | ingob | 121 | |
122 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
||
2342 | holgerb | 123 | unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250 |
1 | ingob | 124 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
125 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
||
126 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
||
2486 | holgerb | 127 | unsigned char Parameter_Hoehe_TiltCompensation = 100; // Wert : 0-250 |
1111 | hbuss | 128 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
173 | holgerb | 129 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
1 | ingob | 130 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
1322 | hbuss | 131 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
132 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
||
1 | ingob | 133 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
134 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
||
135 | unsigned char Parameter_UserParam1 = 0; |
||
136 | unsigned char Parameter_UserParam2 = 0; |
||
137 | unsigned char Parameter_UserParam3 = 0; |
||
138 | unsigned char Parameter_UserParam4 = 0; |
||
499 | hbuss | 139 | unsigned char Parameter_UserParam5 = 0; |
140 | unsigned char Parameter_UserParam6 = 0; |
||
141 | unsigned char Parameter_UserParam7 = 0; |
||
142 | unsigned char Parameter_UserParam8 = 0; |
||
2349 | holgerb | 143 | unsigned char Parameter_NickControl = 100; |
1 | ingob | 144 | unsigned char Parameter_ServoNickControl = 100; |
1232 | hbuss | 145 | unsigned char Parameter_ServoRollControl = 100; |
2296 | holgerb | 146 | unsigned char Parameter_ServoNickComp = 50; |
147 | unsigned char Parameter_ServoRollComp = 85; |
||
173 | holgerb | 148 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 149 | unsigned char Parameter_AchsKopplung1 = 90; |
150 | unsigned char Parameter_AchsKopplung2 = 65; |
||
151 | unsigned char Parameter_CouplingYawCorrection = 64; |
||
152 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
||
499 | hbuss | 153 | unsigned char Parameter_DynamicStability = 100; |
921 | hbuss | 154 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
155 | unsigned char Parameter_J16Timing; // for the J16 Output |
||
156 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
||
157 | unsigned char Parameter_J17Timing; // for the J17 Output |
||
1051 | killagreg | 158 | unsigned char Parameter_NaviGpsGain; |
159 | unsigned char Parameter_NaviGpsP; |
||
160 | unsigned char Parameter_NaviGpsI; |
||
161 | unsigned char Parameter_NaviGpsD; |
||
2344 | holgerb | 162 | unsigned char Parameter_NaviGpsA; |
2447 | holgerb | 163 | //unsigned char Parameter_NaviOperatingRadius; |
993 | hbuss | 164 | unsigned char Parameter_NaviWindCorrection; |
165 | unsigned char Parameter_NaviSpeedCompensation; |
||
921 | hbuss | 166 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 167 | unsigned char Parameter_GlobalConfig; |
168 | unsigned char Parameter_ExtraConfig; |
||
1966 | holgerb | 169 | unsigned char Parameter_MaximumAltitude; |
1403 | hbuss | 170 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1668 | holgerb | 171 | unsigned char CareFree = 0; |
1876 | holgerb | 172 | 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 | 173 | |
614 | hbuss | 174 | int MaxStickNick = 0,MaxStickRoll = 0; |
871 | hbuss | 175 | unsigned int modell_fliegt = 0; |
1861 | holgerb | 176 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
2481 | holgerb | 177 | unsigned char FC_StatusFlags3 = 0; |
1121 | hbuss | 178 | long GIER_GRAD_FAKTOR = 1291; |
1153 | hbuss | 179 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
1209 | hbuss | 180 | signed int tmp_motorwert[MAX_MOTORS]; |
1591 | holgerb | 181 | char VarioCharacter = ' '; |
2028 | holgerb | 182 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
2230 | holgerb | 183 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
2309 | holgerb | 184 | signed int Variance = 0; |
185 | signed int CosAttitude; // for projection of hoover gas |
||
186 | unsigned char ACC_AltitudeControl = 0; |
||
2390 | holgerb | 187 | unsigned char LowVoltageLandingActive = 0; |
2408 | holgerb | 188 | unsigned char LowVoltageHomeActive = 0; |
2481 | holgerb | 189 | signed int DriftNick = 0, DriftRoll = 0; |
2541 | holgerb | 190 | unsigned char ServoFailsafeActive = 0; // moves Servos into the FS-Position |
1591 | holgerb | 191 | |
2367 | holgerb | 192 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
193 | #define OPA_OFFSET_STEP 5 |
||
194 | #else |
||
195 | #define OPA_OFFSET_STEP 10 |
||
196 | #endif |
||
197 | |||
1639 | holgerb | 198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
199 | // Debugwerte zuordnen |
||
200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
201 | void CopyDebugValues(void) |
||
202 | { |
||
2373 | holgerb | 203 | DebugOut.Analog[0] = ToNaviCtrl.IntegralNick;//IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
204 | DebugOut.Analog[1] = ToNaviCtrl.IntegralRoll;//IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
||
1639 | holgerb | 205 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
206 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
||
1660 | holgerb | 207 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
2367 | holgerb | 208 | DebugOut.Analog[5] = HoehenWert/10; |
2309 | holgerb | 209 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
1639 | holgerb | 210 | DebugOut.Analog[8] = KompassValue; |
211 | DebugOut.Analog[9] = UBat; |
||
212 | DebugOut.Analog[10] = SenderOkay; |
||
1941 | holgerb | 213 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 214 | DebugOut.Analog[12] = Motor[0].SetPoint; |
215 | DebugOut.Analog[13] = Motor[1].SetPoint; |
||
216 | DebugOut.Analog[14] = Motor[2].SetPoint; |
||
217 | DebugOut.Analog[15] = Motor[3].SetPoint; |
||
1639 | holgerb | 218 | DebugOut.Analog[20] = ServoNickValue; |
2491 | holgerb | 219 | DebugOut.Analog[21] = HoverGas; |
1639 | holgerb | 220 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
221 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
||
2309 | holgerb | 222 | DebugOut.Analog[24] = SollHoehe/10; |
2437 | holgerb | 223 | // DebugOut.Analog[27] = KompassSollWert; |
1682 | holgerb | 224 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
1639 | holgerb | 225 | DebugOut.Analog[30] = GPS_Nick; |
226 | DebugOut.Analog[31] = GPS_Roll; |
||
1702 | holgerb | 227 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
2373 | holgerb | 228 | //DebugOut.Analog[16] = MinBlTemperture; |
229 | //DebugOut.Analog[17] = MaxBlTemperture; |
||
2316 | holgerb | 230 | //DebugOut.Analog[16] = Variance; |
231 | //DebugOut.Analog[17] = VarioMeter; |
||
2369 | holgerb | 232 | //DebugOut.Analog[16] = GasIsZeroCnt; |
2316 | holgerb | 233 | //DebugOut.Analog[18] = HoehenWertF; |
234 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
||
235 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
||
1639 | holgerb | 236 | } |
237 | |||
1760 | holgerb | 238 | |
1232 | hbuss | 239 | void Piep(unsigned char Anzahl, unsigned int dauer) |
1 | ingob | 240 | { |
2263 | holgerb | 241 | unsigned int wait = 0; |
1232 | hbuss | 242 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1966 | holgerb | 243 | GRN_OFF; |
1 | ingob | 244 | while(Anzahl--) |
245 | { |
||
1232 | hbuss | 246 | beeptime = dauer; |
2263 | holgerb | 247 | wait = dauer; |
248 | while(beeptime || wait) |
||
249 | { |
||
250 | if(UpdateMotor) |
||
251 | { |
||
252 | UpdateMotor = 0; |
||
253 | if(!beeptime) wait--; |
||
254 | LIBFC_Polling(); |
||
255 | }; |
||
256 | } |
||
1 | ingob | 257 | } |
1966 | holgerb | 258 | GRN_ON; |
1 | ingob | 259 | } |
260 | |||
261 | //############################################################################ |
||
1622 | killagreg | 262 | // Messwerte beim Ermitteln der Nullage |
263 | void CalibrierMittelwert(void) |
||
264 | //############################################################################ |
||
265 | { |
||
2426 | holgerb | 266 | // if(PlatinenVersion == 13) SucheGyroOffset(); |
1622 | killagreg | 267 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
268 | ANALOG_OFF; |
||
269 | MesswertNick = AdWertNick; |
||
270 | MesswertRoll = AdWertRoll; |
||
271 | MesswertGier = AdWertGier; |
||
1703 | holgerb | 272 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
273 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1622 | killagreg | 274 | // ADC einschalten |
275 | ANALOG_ON; |
||
276 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
277 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
278 | } |
||
279 | |||
2537 | holgerb | 280 | void StoreNeutralToEeprom(void) |
281 | { |
||
282 | BoatNeutralNick = AdNeutralNick; |
||
283 | BoatNeutralRoll = AdNeutralRoll; |
||
284 | BoatNeutralGier = AdNeutralGier; |
||
285 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
||
286 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
287 | SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick); |
||
288 | SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll); |
||
289 | SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier); |
||
290 | } |
||
291 | |||
1622 | killagreg | 292 | //############################################################################ |
1 | ingob | 293 | // Nullwerte ermitteln |
2319 | holgerb | 294 | // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
295 | // Parameter: 1 -> before Start |
||
296 | // Parameter: 2 -> calibrate and store ACC |
||
2538 | holgerb | 297 | // Parameter: 3 -> use stored Gyro calibration Data from EEPROM (Boat-Mode) |
2319 | holgerb | 298 | unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
1 | ingob | 299 | //############################################################################ |
300 | { |
||
2316 | holgerb | 301 | unsigned char i, sucess = 1; |
2367 | holgerb | 302 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest; |
1702 | holgerb | 303 | VersionInfo.HardwareError[0] = 0; |
2146 | holgerb | 304 | // HEF4017Reset_ON; |
1051 | killagreg | 305 | NeutralAccX = 0; |
1 | ingob | 306 | NeutralAccY = 0; |
307 | NeutralAccZ = 0; |
||
2316 | holgerb | 308 | NeutralAccZfine = 0; |
1622 | killagreg | 309 | |
1051 | killagreg | 310 | AdNeutralNick = 0; |
311 | AdNeutralRoll = 0; |
||
1 | ingob | 312 | AdNeutralGier = 0; |
1622 | killagreg | 313 | |
395 | hbuss | 314 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 315 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 316 | |
1036 | hbuss | 317 | ExpandBaro = 0; |
2481 | holgerb | 318 | if(AdjustmentMode == 3) FC_StatusFlags3 |= FC_STATUS3_BOAT; |
319 | // else FC_StatusFlags3 &= ~FC_STATUS3_BOAT; -> do not clear that |
||
1622 | killagreg | 320 | |
1051 | killagreg | 321 | CalibrierMittelwert(); |
395 | hbuss | 322 | Delay_ms_Mess(100); |
1 | ingob | 323 | CalibrierMittelwert(); |
1622 | killagreg | 324 | |
1 | ingob | 325 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 326 | { |
2367 | holgerb | 327 | if((MessLuftdruck > 950) || (MessLuftdruck < 750) || ExpandBaro) SucheLuftruckOffset(); |
1 | ingob | 328 | } |
2367 | holgerb | 329 | |
330 | barotest = MessLuftdruck; |
||
1166 | hbuss | 331 | #define NEUTRAL_FILTER 32 |
2367 | holgerb | 332 | OCR0A += OPA_OFFSET_STEP; |
333 | OCR0B = 255 - OCR0A; |
||
1166 | hbuss | 334 | for(i=0; i<NEUTRAL_FILTER; i++) |
1111 | hbuss | 335 | { |
336 | Delay_ms_Mess(10); |
||
1216 | killagreg | 337 | gier_neutral += AdWertGier; |
1166 | hbuss | 338 | nick_neutral += AdWertNick; |
339 | roll_neutral += AdWertRoll; |
||
2316 | holgerb | 340 | acc_z_neutral += Aktuell_az; |
1111 | hbuss | 341 | } |
2367 | holgerb | 342 | if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck; |
343 | OCR0A -= OPA_OFFSET_STEP; |
||
344 | OCR0B = 255 - OCR0A; |
||
2316 | holgerb | 345 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
346 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
||
347 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
||
348 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
||
1622 | killagreg | 349 | |
401 | hbuss | 350 | StartNeutralRoll = AdNeutralRoll; |
351 | StartNeutralNick = AdNeutralNick; |
||
1622 | killagreg | 352 | |
2319 | holgerb | 353 | if(AdjustmentMode == 2) |
1622 | killagreg | 354 | { |
355 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
356 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
357 | // Save ACC neutral settings to eeprom |
||
2537 | holgerb | 358 | StoreNeutralToEeprom(); |
513 | hbuss | 359 | } |
1051 | killagreg | 360 | else |
513 | hbuss | 361 | { |
1622 | killagreg | 362 | // restore from eeprom |
363 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
||
364 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
||
365 | // strange settings? |
||
2316 | holgerb | 366 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
1622 | killagreg | 367 | { |
368 | printf("\n\rACC not calibrated!\r\n"); |
||
369 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
370 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
2316 | holgerb | 371 | sucess = 0; |
1622 | killagreg | 372 | } |
2499 | holgerb | 373 | |
374 | // restore from eeprom |
||
375 | BoatNeutralNick = (int16_t)GetParamWord(PID_GYRO_NICK); |
||
376 | BoatNeutralRoll = (int16_t)GetParamWord(PID_GYRO_ROLL); |
||
377 | BoatNeutralGier = (int16_t)GetParamWord(PID_GYRO_YAW); |
||
378 | |||
2481 | holgerb | 379 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) // Read Gyro Data from eeprom |
380 | { |
||
381 | // strange settings? |
||
2499 | holgerb | 382 | if(((unsigned int) BoatNeutralNick > (600 * 16)) || ((unsigned int) BoatNeutralNick < (400 * 16)) |
383 | || ((unsigned int) BoatNeutralRoll > (600 * 16)) || ((unsigned int) BoatNeutralRoll < (400 * 16)) |
||
384 | || ((unsigned int) BoatNeutralGier > (600 * 2)) || ((unsigned int) BoatNeutralGier < (400 * 2))) |
||
2481 | holgerb | 385 | { |
386 | printf("\n\rGyro calibration data not valid\r\n"); |
||
387 | sucess = 0; |
||
2485 | holgerb | 388 | FC_StatusFlags3 &= ~FC_STATUS3_BOAT; |
2481 | holgerb | 389 | } |
390 | else |
||
391 | { |
||
2499 | holgerb | 392 | AdNeutralNick = BoatNeutralNick; |
393 | AdNeutralRoll = BoatNeutralRoll; |
||
394 | AdNeutralGier = BoatNeutralGier; |
||
2481 | holgerb | 395 | } |
396 | } |
||
513 | hbuss | 397 | } |
2330 | holgerb | 398 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
399 | MesswertNick = 0; |
||
1 | ingob | 400 | MesswertRoll = 0; |
401 | MesswertGier = 0; |
||
2367 | holgerb | 402 | Delay_ms_Mess(200); |
1703 | holgerb | 403 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
404 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1173 | hbuss | 405 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
406 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
2072 | holgerb | 407 | Mess_IntegralNick = IntegralNick; |
408 | Mess_IntegralRoll = IntegralRoll; |
||
1173 | hbuss | 409 | Mess_Integral_Gier = 0; |
1837 | holgerb | 410 | KompassSollWert = KompassValue; |
2497 | holgerb | 411 | NC_CompassSetpoint = -1; |
1839 | holgerb | 412 | KompassSignalSchlecht = 100; |
882 | hbuss | 413 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
414 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
693 | hbuss | 415 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
416 | GierGyroFehler = 0; |
||
921 | hbuss | 417 | LED_Init(); |
2389 | holgerb | 418 | if(AdjustmentMode != 0) FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 419 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 420 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 421 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1171 | hbuss | 422 | SenderOkay = 100; |
2349 | holgerb | 423 | |
424 | if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal |
||
425 | else |
||
1320 | hbuss | 426 | { |
2366 | holgerb | 427 | if((EE_Parameter.ServoCompInvert & SERVO_NICK_INV) && (EE_Parameter.ServoCompInvert & SERVO_RELATIVE)) NickServoValue = 12000;//((128 + 60) * 4 * 16); // neutral position = upper 1/4// else |
428 | else NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
||
2349 | holgerb | 429 | CalculateServoSignals = 1; |
430 | CalculateServo(); // nick |
||
431 | CalculateServo(); // roll |
||
2240 | holgerb | 432 | } |
1702 | holgerb | 433 | |
2316 | holgerb | 434 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
435 | signed int tilt1, tilt2; |
||
436 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
437 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
438 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
||
439 | CosAttitude = c_cos_8192(tilt1); |
||
440 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
||
441 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
||
2427 | holgerb | 442 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 30) || (NeutralAccZ > 682 + 35)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
2316 | holgerb | 443 | #else |
444 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
||
2330 | holgerb | 445 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
2316 | holgerb | 446 | #endif |
1765 | killagreg | 447 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
448 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
449 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
450 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
451 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
452 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
2316 | holgerb | 453 | if(VersionInfo.HardwareError[0]) sucess = 0; |
1862 | holgerb | 454 | carefree_old = 70; |
1925 | holgerb | 455 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 456 | LIBFC_HoTT_Clear(); |
2316 | holgerb | 457 | ACC_AltitudeFusion(2); // initalisation |
1925 | holgerb | 458 | #endif |
2367 | holgerb | 459 | StartLuftdruck = Luftdruck; |
460 | VarioMeter = 0; |
||
461 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
||
2373 | holgerb | 462 | DebugOut.Analog[28] = 0; // I2C-Counter |
2367 | holgerb | 463 | CalcExpandBaroStep(); |
2481 | holgerb | 464 | if(FC_StatusFlags3 & FC_STATUS3_BOAT && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 4; |
2518 | holgerb | 465 | ShutterCounter = 0; |
2497 | holgerb | 466 | /* |
467 | //+++++++++++++++++++++++++++++++++++++++++++ |
||
468 | //For testing the expandBaro at 30m |
||
469 | ExpandBaro -= 1; |
||
470 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
471 | OCR0B = 255 - OCR0A; |
||
472 | CalcExpandBaroStep(); |
||
473 | //+++++++++++++++++++++++++++++++++++++++++++ |
||
474 | */ |
||
2316 | holgerb | 475 | return(sucess); |
1 | ingob | 476 | } |
477 | |||
1702 | holgerb | 478 | |
1 | ingob | 479 | //############################################################################ |
395 | hbuss | 480 | // Bearbeitet die Messwerte |
1 | ingob | 481 | void Mittelwert(void) |
482 | //############################################################################ |
||
1051 | killagreg | 483 | { |
1111 | hbuss | 484 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
485 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 486 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 487 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 488 | MesswertNick = (signed int) AdWertNickFilter / 8; |
489 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 490 | RohMesswertNick = MesswertNick; |
491 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 492 | |
395 | hbuss | 493 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 494 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
495 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
805 | hbuss | 496 | NaviAccNick += AdWertAccNick; |
497 | NaviAccRoll += AdWertAccRoll; |
||
498 | NaviCntAcc++; |
||
1153 | hbuss | 499 | |
1155 | hbuss | 500 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
2471 | holgerb | 501 | HoehenWert = HoehenWert_Mess; |
502 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
503 | HoehenWertF = HoehenWertF_Mess; |
||
504 | #else |
||
505 | HoehenWertF = HoehenWert; |
||
506 | #endif |
||
507 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1155 | hbuss | 508 | // ADC einschalten |
1171 | hbuss | 509 | ANALOG_ON; |
1155 | hbuss | 510 | AdReady = 0; |
511 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
512 | |||
1216 | killagreg | 513 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
514 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 515 | else winkel_roll = Mess_IntegralRoll; |
516 | |||
1216 | killagreg | 517 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
518 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 519 | else winkel_nick = Mess_IntegralNick; |
520 | |||
1120 | hbuss | 521 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 522 | Mess_Integral_Gier += MesswertGier; |
523 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 524 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 525 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 526 | { |
1153 | hbuss | 527 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 528 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 529 | tmpl3 /= 4096L; |
1153 | hbuss | 530 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 531 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 532 | tmpl4 /= 4096L; |
1153 | hbuss | 533 | KopplungsteilNickRoll = tmpl3; |
534 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 535 | tmpl4 -= tmpl3; |
536 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 537 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 538 | |
1153 | hbuss | 539 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 540 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 541 | tmpl /= 4096L; |
1153 | hbuss | 542 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 543 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 544 | tmpl2 /= 4096L; |
1225 | hbuss | 545 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 546 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 547 | } |
1166 | hbuss | 548 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 549 | TrimRoll = tmpl - tmpl2 / 100L; |
550 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 551 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
552 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
553 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 554 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 555 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
1051 | killagreg | 556 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 557 | { |
882 | hbuss | 558 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
1051 | killagreg | 559 | } |
395 | hbuss | 560 | if(Mess_IntegralRoll <-Umschlag180Roll) |
561 | { |
||
882 | hbuss | 562 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
1051 | killagreg | 563 | } |
395 | hbuss | 564 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 565 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
1051 | killagreg | 566 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 567 | { |
568 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
1051 | killagreg | 569 | } |
570 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 571 | { |
882 | hbuss | 572 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
1051 | killagreg | 573 | } |
1111 | hbuss | 574 | |
1 | ingob | 575 | Integral_Gier = Mess_Integral_Gier; |
576 | IntegralNick = Mess_IntegralNick; |
||
577 | IntegralRoll = Mess_IntegralRoll; |
||
578 | |||
2481 | holgerb | 579 | |
1166 | hbuss | 580 | #define D_LIMIT 128 |
581 | |||
1171 | hbuss | 582 | MesswertNick = HiResNick / 8; |
583 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 584 | |
1167 | hbuss | 585 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
2426 | holgerb | 586 | // if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
587 | // else |
||
588 | { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
1167 | hbuss | 589 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
2426 | holgerb | 590 | // if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
591 | // else |
||
592 | { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
1167 | hbuss | 593 | |
1216 | killagreg | 594 | if(Parameter_Gyro_D) |
1111 | hbuss | 595 | { |
1166 | hbuss | 596 | d2Nick = HiResNick - oldNick; |
597 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 598 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
599 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 600 | |
1166 | hbuss | 601 | d2Roll = HiResRoll - oldRoll; |
602 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 603 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
604 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 605 | |
606 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 607 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
608 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
609 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 610 | } |
1111 | hbuss | 611 | |
1166 | hbuss | 612 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
613 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
614 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
615 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 616 | |
1916 | holgerb | 617 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 618 | { |
619 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
620 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
621 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
622 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
623 | } |
||
1 | ingob | 624 | } |
625 | |||
626 | //############################################################################ |
||
627 | // Senden der Motorwerte per I2C-Bus |
||
628 | void SendMotorData(void) |
||
629 | //############################################################################ |
||
1051 | killagreg | 630 | { |
1209 | hbuss | 631 | unsigned char i; |
921 | hbuss | 632 | if(!MotorenEin) |
1 | ingob | 633 | { |
1765 | killagreg | 634 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
2309 | holgerb | 635 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
1216 | killagreg | 636 | for(i=0;i<MAX_MOTORS;i++) |
637 | { |
||
638 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 639 | Motor[i].SetPoint = MotorTest[i]; |
640 | Motor[i].SetPointLowerBits = 0; |
||
641 | /* |
||
1760 | holgerb | 642 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
643 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 644 | */ |
1216 | killagreg | 645 | } |
1212 | hbuss | 646 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 647 | } |
1765 | killagreg | 648 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 649 | |
2418 | holgerb | 650 | // ++++++++++++++++++++++++++++++++++++++++++ |
651 | |||
652 | // ++++++++++++++++++++++++++++++++++++++++++ |
||
2427 | holgerb | 653 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 654 | I2CTimeout = 100; |
2529 | holgerb | 655 | return; // don't send I2C-Data |
2427 | holgerb | 656 | #endif |
657 | |||
658 | #ifdef REDUNDANT_FC_MASTER |
||
659 | if(Parameter_UserParam7 > 150) |
||
2418 | holgerb | 660 | { |
2529 | holgerb | 661 | FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST; |
2427 | holgerb | 662 | // Make noise |
663 | if((BeepMuster == 0xffff)) { beeptime = 25000; BeepMuster = 0x0080; } |
||
664 | // Do not send I2C-Data |
||
2529 | holgerb | 665 | if((FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) || !(FC_StatusFlags |= FC_STATUS_MOTOR_RUN)) |
2427 | holgerb | 666 | { |
667 | I2CTimeout = 100; |
||
2529 | holgerb | 668 | return; // don't send I2C-Data |
2427 | holgerb | 669 | } |
2418 | holgerb | 670 | } |
671 | #endif |
||
1765 | killagreg | 672 | if(I2C_TransferActive) |
1744 | holgerb | 673 | { |
1760 | holgerb | 674 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 675 | } |
676 | else |
||
1744 | holgerb | 677 | { |
2407 | holgerb | 678 | // motor_write = 0; |
1760 | holgerb | 679 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 680 | } |
1 | ingob | 681 | } |
682 | |||
2342 | holgerb | 683 | unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
684 | { |
||
685 | int tmp2; |
||
686 | if(ch == 0) return(0); |
||
687 | tmp2 = PPM_in[ch] + 127; |
||
688 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
||
689 | return(tmp2); |
||
690 | } |
||
1 | ingob | 691 | |
692 | //############################################################################ |
||
693 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 694 | void ParameterZuordnung(void) |
1 | ingob | 695 | //############################################################################ |
696 | { |
||
1787 | holgerb | 697 | unsigned char tmp,i; |
698 | for(i=0;i<8;i++) |
||
699 | { |
||
700 | int tmp2; |
||
1933 | holgerb | 701 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
702 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 703 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 704 | |
705 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
706 | else |
||
1787 | holgerb | 707 | if(tmp2 != Poti[i]) |
708 | { |
||
709 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
710 | if(Poti[i] > tmp2) Poti[i]--; |
||
711 | else Poti[i]++; |
||
712 | } |
||
713 | } |
||
921 | hbuss | 714 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
715 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
716 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 717 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
718 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
2443 | holgerb | 719 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} // Out1 (J16) |
720 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} |
||
2349 | holgerb | 721 | else CHK_POTI_MM(Parameter_Servo3,EE_Parameter.Servo3, 24, 255); |
2012 | holgerb | 722 | |
2443 | holgerb | 723 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} |
724 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} // Out2 (J17) |
||
2349 | holgerb | 725 | else CHK_POTI_MM(Parameter_Servo4,EE_Parameter.Servo4, 24, 255); |
726 | |||
727 | CHK_POTI_MM(Parameter_Servo5,EE_Parameter.Servo5, 24, 255); |
||
2342 | holgerb | 728 | Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
1377 | hbuss | 729 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
2486 | holgerb | 730 | CHK_POTI(Parameter_Hoehe_TiltCompensation,EE_Parameter.Hoehe_TiltCompensation); |
1377 | hbuss | 731 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
732 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
733 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
734 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
735 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
736 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
737 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
738 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
739 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
740 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
741 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
742 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
743 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
744 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
745 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
746 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
2296 | holgerb | 747 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
748 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
||
1377 | hbuss | 749 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
1668 | holgerb | 750 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
751 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 752 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 753 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
2447 | holgerb | 754 | // if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
1916 | holgerb | 755 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
756 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 757 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
758 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
759 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 760 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 761 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 762 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 763 | |
2342 | holgerb | 764 | if(EE_Parameter.CareFreeChannel) |
1668 | holgerb | 765 | { |
1682 | holgerb | 766 | CareFree = 1; |
2342 | holgerb | 767 | if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0; |
768 | // if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
||
1862 | holgerb | 769 | if(carefree_old != CareFree) |
770 | { |
||
771 | if(carefree_old < 3) |
||
772 | { |
||
2090 | holgerb | 773 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
774 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
||
775 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
||
776 | #else |
||
2063 | holgerb | 777 | if(CareFree) beeptime = 1500; |
1862 | holgerb | 778 | else beeptime = 200; |
2090 | holgerb | 779 | #endif |
2063 | holgerb | 780 | NeueKompassRichtungMerken = 5; |
1862 | holgerb | 781 | carefree_old = CareFree; |
782 | } else carefree_old--; |
||
783 | } |
||
1937 | holgerb | 784 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
1669 | killagreg | 785 | } |
1839 | holgerb | 786 | else |
787 | { |
||
788 | CareFree = 0; |
||
1862 | holgerb | 789 | carefree_old = 10; |
1839 | holgerb | 790 | } |
1668 | holgerb | 791 | |
1691 | holgerb | 792 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
1690 | holgerb | 793 | { |
794 | beeptime = 15000; |
||
795 | BeepMuster = 0xA400; |
||
796 | CareFree = 0; |
||
1765 | killagreg | 797 | } |
2341 | holgerb | 798 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; /*if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;*/} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 799 | } |
800 | |||
2427 | holgerb | 801 | void CalcStickGasHover(void) |
802 | { |
||
803 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
804 | { |
||
805 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
806 | StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
||
807 | } |
||
808 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
809 | LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down |
||
810 | } |
||
811 | |||
2499 | holgerb | 812 | void ChannelAssingment(void) |
813 | { |
||
814 | cli(); |
||
815 | ChannelNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
||
816 | ChannelRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
||
817 | ChannelYaw = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
||
818 | ChannelGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; |
||
819 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
820 | //+ Analoge Steuerung per Seriell |
||
821 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
822 | if((ExternalControl.Config & EC_VALID) && (Parameter_ExternalControl > 128)) |
||
823 | { |
||
824 | ChannelNick += ExternalControl.Nick; |
||
825 | ChannelRoll += ExternalControl.Roll; |
||
826 | ChannelYaw += ExternalControl.Gier; |
||
827 | if(ExternalControl.Config & EC_GAS_ADD) ChannelGas += ExternalControl.Gas; |
||
828 | else |
||
829 | { |
||
830 | if(ExternalControl.Gas < ChannelGas) ChannelGas = ExternalControl.Gas; // the RC-Stick is the MAX value here |
||
831 | } |
||
832 | } |
||
833 | sei(); |
||
834 | if(ChannelNick > 127) ChannelNick = 127; else if(ChannelNick < -127) ChannelNick = -127; |
||
835 | if(ChannelRoll > 127) ChannelRoll = 127; else if(ChannelRoll < -127) ChannelRoll = -127; |
||
836 | if(ChannelYaw > 127) ChannelYaw = 127; else if(ChannelYaw < -127) ChannelYaw = -127; |
||
837 | if(ChannelGas > 127) ChannelGas = 127; else if(ChannelGas < -127) ChannelGas = -127; |
||
838 | } |
||
2427 | holgerb | 839 | |
1 | ingob | 840 | //############################################################################ |
841 | // |
||
842 | void MotorRegler(void) |
||
843 | //############################################################################ |
||
844 | { |
||
1330 | killagreg | 845 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 846 | int GierMischanteil,GasMischanteil; |
847 | static long sollGier = 0,tmp_long,tmp_long2; |
||
2538 | holgerb | 848 | static unsigned int RcLostTimer, delay_Acc_neutral; |
1 | ingob | 849 | static unsigned char delay_neutral = 0; |
850 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
2146 | holgerb | 851 | static signed char move_safety_switch = 0; |
1153 | hbuss | 852 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 853 | unsigned char i; |
1051 | killagreg | 854 | Mittelwert(); |
855 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 856 | // Gaswert ermitteln |
1051 | killagreg | 857 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2230 | holgerb | 858 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
859 | { |
||
860 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
||
2028 | holgerb | 861 | { |
862 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
863 | { |
||
864 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
865 | } |
||
866 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
867 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
2230 | holgerb | 868 | } |
869 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
||
870 | { |
||
871 | StickGas = 0; // Hold Gas down in that case |
||
2499 | holgerb | 872 | // ExternalControl.Gas = 0; |
2230 | holgerb | 873 | HooverGasEmergencyPercent = MIN_GAS; |
874 | } |
||
1051 | killagreg | 875 | GasMischanteil = StickGas; |
831 | hbuss | 876 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1051 | killagreg | 877 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 878 | // Empfang schlecht |
1051 | killagreg | 879 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 880 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 881 | { |
2541 | holgerb | 882 | ServoFailsafeActive = SERVO_FS_TIME; |
1051 | killagreg | 883 | if(RcLostTimer) RcLostTimer--; |
884 | else |
||
1 | ingob | 885 | { |
886 | MotorenEin = 0; |
||
1954 | holgerb | 887 | modell_fliegt = 0; |
888 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
1051 | killagreg | 889 | } |
1 | ingob | 890 | ROT_ON; |
2008 | holgerb | 891 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 892 | { |
2028 | holgerb | 893 | GasMischanteil = HooverGasEmergencyPercent; |
1765 | killagreg | 894 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
173 | holgerb | 895 | } |
1954 | holgerb | 896 | else |
897 | { |
||
898 | MotorenEin = 0; |
||
899 | } |
||
1 | ingob | 900 | } |
1051 | killagreg | 901 | else |
902 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 903 | // Emfang gut |
1051 | killagreg | 904 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 905 | if(SenderOkay > 140) |
906 | { |
||
2340 | holgerb | 907 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2345 | holgerb | 908 | static unsigned int trigger = 1000; |
2340 | holgerb | 909 | static unsigned char old_switch = 100; |
910 | if(EE_Parameter.StartLandChannel && EE_Parameter.LandingSpeed) |
||
911 | { |
||
912 | if(PPM_in[EE_Parameter.StartLandChannel] > 50) |
||
913 | { |
||
914 | if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
||
2342 | holgerb | 915 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
2340 | holgerb | 916 | old_switch = 150; |
917 | } |
||
918 | else |
||
919 | if(PPM_in[EE_Parameter.StartLandChannel] < -50) |
||
920 | { |
||
921 | if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
||
2342 | holgerb | 922 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
2340 | holgerb | 923 | old_switch = 50; |
924 | } |
||
925 | else |
||
926 | { |
||
927 | FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
||
928 | } |
||
929 | } |
||
930 | #endif |
||
1765 | killagreg | 931 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 932 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 933 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 934 | { |
935 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
936 | } |
||
871 | hbuss | 937 | if((modell_fliegt < 256)) |
2309 | holgerb | 938 | { |
1 | ingob | 939 | SummeNick = 0; |
940 | SummeRoll = 0; |
||
1682 | holgerb | 941 | sollGier = 0; |
942 | Mess_Integral_Gier = 0; |
||
2309 | holgerb | 943 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
2340 | holgerb | 944 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
945 | old_switch = 100; |
||
946 | #endif |
||
2309 | holgerb | 947 | } |
948 | else |
||
949 | { |
||
950 | FC_StatusFlags |= FC_STATUS_FLY; |
||
951 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
||
952 | { |
||
2322 | holgerb | 953 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2340 | holgerb | 954 | if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl) |
2322 | holgerb | 955 | { |
2340 | holgerb | 956 | FromNC_AltitudeSpeed = 80; |
957 | FromNC_AltitudeSetpoint = 500; |
||
958 | SollHoehe = 500; |
||
2322 | holgerb | 959 | trigger = 1000; |
2340 | holgerb | 960 | if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP; |
2322 | holgerb | 961 | /* if(StartTrigger != 2) |
962 | { |
||
963 | StartTrigger = 1; |
||
964 | if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
||
965 | } |
||
966 | */ |
||
967 | } |
||
2340 | holgerb | 968 | // else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING); |
2322 | holgerb | 969 | #endif |
2340 | holgerb | 970 | if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
2309 | holgerb | 971 | { |
972 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
2322 | holgerb | 973 | trigger = 1000; |
2369 | holgerb | 974 | if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/} |
975 | else SpeakHoTT = SPEAK_RISING; |
||
2309 | holgerb | 976 | #endif |
2340 | holgerb | 977 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
2309 | holgerb | 978 | } |
979 | SummeNick = 0; |
||
980 | SummeRoll = 0; |
||
981 | Mess_Integral_Gier = 0; |
||
982 | // sollGier = 0; |
||
983 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
||
984 | } |
||
2322 | holgerb | 985 | else // Flying mode |
986 | { |
||
987 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
2340 | holgerb | 988 | if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl) |
989 | { |
||
990 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
||
991 | FromNC_AltitudeSetpoint = -20000; |
||
992 | } |
||
2322 | holgerb | 993 | if(trigger < 1000) |
994 | { |
||
995 | trigger++; |
||
996 | SummeNick = 0; |
||
997 | SummeRoll = 0; |
||
998 | Mess_Integral_Gier = 0; |
||
999 | SollHoehe = HoehenWertF - 300; |
||
2345 | holgerb | 1000 | if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+') |
1001 | { |
||
1002 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
||
1003 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state |
||
1004 | } |
||
2322 | holgerb | 1005 | } |
1006 | else |
||
1007 | if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
||
1008 | { |
||
2521 | holgerb | 1009 | if((Aktuell_az/4 > EE_Parameter.LandingPulse) && (NeutralAccZ/4 > EE_Parameter.LandingPulse)) |
2345 | holgerb | 1010 | { |
1011 | trigger = 0; |
||
1012 | SpeakHoTT = SPEAK_LANDING; |
||
1013 | }; |
||
2322 | holgerb | 1014 | } |
1015 | #endif |
||
1016 | } |
||
1017 | } // end of: modell_fliegt > 256 |
||
2496 | holgerb | 1018 | if((ChannelGas > 80) && MotorenEin == 0 && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)) |
1 | ingob | 1019 | { |
1051 | killagreg | 1020 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1021 | // auf Nullwerte kalibrieren |
1051 | killagreg | 1022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2538 | holgerb | 1023 | if(ChannelYaw > 75) // Neutralwerte |
1 | ingob | 1024 | { |
1025 | if(++delay_neutral > 200) // nicht sofort |
||
1026 | { |
||
2481 | holgerb | 1027 | unsigned char setting = 0; |
1 | ingob | 1028 | delay_neutral = 0; |
1029 | modell_fliegt = 0; |
||
2496 | holgerb | 1030 | if(ChannelNick > 70 || abs(ChannelRoll) > 70) |
1 | ingob | 1031 | { |
2496 | holgerb | 1032 | if(ChannelRoll > 70 && ChannelNick < 70 && ChannelNick > -70) setting = 1; |
1033 | if(ChannelRoll > 70 && ChannelNick > 70) setting = 2; |
||
1034 | if(ChannelRoll < 70 && ChannelNick > 70) setting = 3; |
||
1035 | if(ChannelRoll <-70 && ChannelNick > 70) setting = 4; |
||
1036 | if(ChannelRoll <-70 && ChannelNick < 70 && ChannelNick > -70) setting = 5; |
||
2481 | holgerb | 1037 | if(setting) SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 1038 | } |
2496 | holgerb | 1039 | if(abs(ChannelRoll) < 30 && ChannelNick < -70) |
1051 | killagreg | 1040 | { |
2538 | holgerb | 1041 | WinkelOut.CalcState = 1; // Compass kalibrieren |
2009 | holgerb | 1042 | CalibrationDone = 0; |
819 | hbuss | 1043 | beeptime = 1000; |
1044 | } |
||
1045 | else |
||
1 | ingob | 1046 | { |
2340 | holgerb | 1047 | ParamSet_ReadFromEEProm(ActiveParamSet); |
1413 | killagreg | 1048 | LipoDetection(0); |
1626 | killagreg | 1049 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 1050 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 1051 | { |
1 | ingob | 1052 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 1053 | } |
2538 | holgerb | 1054 | if(!setting && ChannelRoll < -70 && ChannelNick < 70) CalibrationDone = SetNeutral(3); // Boat-Mode |
1055 | // else |
||
1056 | // if(!setting && ChannelYaw < -75 && abs(ChannelNick) < 70) CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
||
2481 | holgerb | 1057 | else CalibrationDone = SetNeutral(1); |
1232 | hbuss | 1058 | ServoActive = 1; |
1059 | DDRD |=0x80; // enable J7 -> Servo signal |
||
2263 | holgerb | 1060 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2309 | holgerb | 1061 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
2316 | holgerb | 1062 | else |
1063 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
2309 | holgerb | 1064 | else SpeakHoTT = SPEAK_CALIBRATE; |
2481 | holgerb | 1065 | ShowSettingNameTime = 10; // for HoTT & Jeti |
2263 | holgerb | 1066 | #endif |
2332 | holgerb | 1067 | Piep(ActiveParamSet,120); |
819 | hbuss | 1068 | } |
1051 | killagreg | 1069 | } |
1 | ingob | 1070 | } |
2538 | holgerb | 1071 | else |
1072 | if(ChannelYaw < -75 && abs(ChannelRoll) < 16 && abs(ChannelRoll) < 16) // ACC calibrate |
||
1073 | { |
||
1074 | if(++delay_Acc_neutral > 500 * 5) // 5 sekunden |
||
1075 | { |
||
1076 | delay_Acc_neutral = 0; |
||
1077 | CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
||
1078 | ServoActive = 1; |
||
1079 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1080 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1081 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
||
1082 | else |
||
1083 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
1084 | else SpeakHoTT = SPEAK_CALIBRATE; |
||
1085 | ShowSettingNameTime = 10; // for HoTT & Jeti |
||
1086 | #endif |
||
1087 | Piep(ActiveParamSet,120); |
||
1088 | } |
||
1089 | } |
||
1090 | else { delay_neutral = 0; delay_Acc_neutral = 0;}; |
||
1 | ingob | 1091 | } |
1051 | killagreg | 1092 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1093 | // Gas ist unten |
1051 | killagreg | 1094 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2496 | holgerb | 1095 | if(ChannelGas < -100) |
1 | ingob | 1096 | { |
2146 | holgerb | 1097 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
1098 | else |
||
1099 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
||
1521 | killagreg | 1100 | // Motoren Starten |
1101 | if(!MotorenEin) |
||
1102 | { |
||
2496 | holgerb | 1103 | if(((((ChannelYaw < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
2481 | holgerb | 1104 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
1105 | && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)) |
||
1521 | killagreg | 1106 | { |
1051 | killagreg | 1107 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1108 | // Einschalten |
1051 | killagreg | 1109 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2146 | holgerb | 1110 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
2367 | holgerb | 1111 | |
2309 | holgerb | 1112 | StartLuftdruck = Luftdruck; |
1113 | HoehenWert = 0; |
||
2471 | holgerb | 1114 | HoehenWert_Mess = 0; |
2481 | holgerb | 1115 | GasIsZeroCnt = 600; |
2471 | holgerb | 1116 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1117 | HoehenWertF_Mess = 0; |
||
1118 | #endif |
||
2309 | holgerb | 1119 | SummenHoehe = 0; |
2496 | holgerb | 1120 | if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
2146 | holgerb | 1121 | if(++delay_einschalten > 253) |
1521 | killagreg | 1122 | { |
2481 | holgerb | 1123 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) { if((abs(MesswertGier) > 32*2 || abs(MesswertNick) > 20*3) || abs(MesswertRoll) > 20*3) CalibrationDone = 0; } // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
1124 | else |
||
2407 | holgerb | 1125 | if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
1521 | killagreg | 1126 | delay_einschalten = 0; |
2009 | holgerb | 1127 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1622 | killagreg | 1128 | { |
1129 | modell_fliegt = 1; |
||
1130 | MotorenEin = 1; |
||
1131 | sollGier = 0; |
||
1132 | Mess_Integral_Gier = 0; |
||
1133 | Mess_Integral_Gier2 = 0; |
||
1134 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
1135 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
1136 | SummeNick = 0; |
||
1137 | SummeRoll = 0; |
||
1913 | holgerb | 1138 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 1139 | NeueKompassRichtungMerken = 100; // 2 sekunden |
2090 | holgerb | 1140 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1141 | SpeakHoTT = SPEAK_STARTING; |
||
1142 | #endif |
||
1622 | killagreg | 1143 | } |
1144 | else |
||
1145 | { |
||
1146 | beeptime = 1500; // indicate missing calibration |
||
2090 | holgerb | 1147 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2146 | holgerb | 1148 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
2090 | holgerb | 1149 | #endif |
1622 | killagreg | 1150 | } |
1521 | killagreg | 1151 | } |
1152 | } |
||
1153 | else delay_einschalten = 0; |
||
1154 | } |
||
1051 | killagreg | 1155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1156 | // Auschalten |
1051 | killagreg | 1157 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 1158 | else // only if motors are running |
1159 | { |
||
2146 | holgerb | 1160 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
2496 | holgerb | 1161 | if((((ChannelYaw > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
2146 | holgerb | 1162 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
1521 | killagreg | 1163 | { |
2496 | holgerb | 1164 | if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
2349 | holgerb | 1165 | { |
1166 | delay_ausschalten = 0; |
||
1167 | } |
||
1168 | else |
||
1169 | { |
||
1170 | SummeNick = 0; |
||
1171 | SummeRoll = 0; |
||
1172 | StickNick = 0; |
||
1173 | StickRoll = 0; |
||
1174 | } |
||
2146 | holgerb | 1175 | if(++delay_ausschalten > 250) // nicht sofort |
1521 | killagreg | 1176 | { |
1177 | MotorenEin = 0; |
||
1178 | delay_ausschalten = 0; |
||
1179 | modell_fliegt = 0; |
||
2349 | holgerb | 1180 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
1181 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1182 | SpeakHoTT = SPEAK_MK_OFF; |
||
1183 | #endif |
||
1521 | killagreg | 1184 | } |
2366 | holgerb | 1185 | else |
1186 | if(delay_ausschalten == 100) beeptime = 3500; |
||
1521 | killagreg | 1187 | } |
1188 | else delay_ausschalten = 0; |
||
1189 | } |
||
2369 | holgerb | 1190 | if(GasIsZeroCnt < 1000) |
1191 | { |
||
1192 | if(VarioMeter > -150) GasIsZeroCnt++; |
||
1193 | else if(GasIsZeroCnt) GasIsZeroCnt--; |
||
1194 | } |
||
2230 | holgerb | 1195 | } |
2146 | holgerb | 1196 | else // gas not at minimum |
2230 | holgerb | 1197 | { |
1198 | move_safety_switch = 0; |
||
1199 | GasIsZeroCnt = 0; |
||
1200 | } |
||
1 | ingob | 1201 | } |
2230 | holgerb | 1202 | else // Empfang zwischen 100 und 140 -> schlecht |
1203 | { |
||
1204 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
||
1205 | { |
||
1206 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
||
1207 | { |
||
1208 | GasIsZeroCnt = 30000; |
||
1209 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
||
1210 | } |
||
1211 | } |
||
1212 | } |
||
1051 | killagreg | 1213 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1214 | // neue Werte von der Funke |
1051 | killagreg | 1215 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1216 | |
1765 | killagreg | 1217 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 1218 | { |
604 | hbuss | 1219 | static int stick_nick,stick_roll; |
1912 | holgerb | 1220 | unsigned char stick_p; |
1 | ingob | 1221 | ParameterZuordnung(); |
2499 | holgerb | 1222 | ChannelAssingment(); |
2496 | holgerb | 1223 | |
1912 | holgerb | 1224 | stick_p = EE_Parameter.Stick_P; |
2496 | holgerb | 1225 | stick_nick = (stick_nick * 3 + ChannelNick * stick_p) / 4; |
1226 | stick_roll = (stick_roll * 3 + ChannelRoll * stick_p) / 4; |
||
1227 | cli(); |
||
723 | hbuss | 1228 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1229 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
2496 | holgerb | 1230 | sei(); |
1231 | StickGas = ChannelGas + 127; |
||
723 | hbuss | 1232 | |
1707 | holgerb | 1233 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1234 | // CareFree und freie Wahl der vorderen Richtung |
||
1235 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 1236 | if(CareFree) |
1237 | { |
||
1238 | signed int nick, roll; |
||
1239 | nick = stick_nick / 4; |
||
1240 | roll = stick_roll / 4; |
||
1241 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
1242 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1243 | } |
||
1244 | else |
||
1245 | { |
||
1246 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
1247 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
1248 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
1249 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1250 | } |
||
1662 | killagreg | 1251 | |
2496 | holgerb | 1252 | StickGier = -ChannelYaw; |
1840 | holgerb | 1253 | if(StickGier > 4) StickGier -= 4; else |
1254 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 1255 | |
2369 | holgerb | 1256 | if(GasIsZeroCnt > 512) // About to switch - off |
1257 | { |
||
1258 | StickNick = StickNick/8; |
||
1259 | StickRoll = StickRoll/8; |
||
1260 | SummeNick = 0; |
||
1261 | SummeRoll = 0; |
||
1262 | } |
||
1263 | else |
||
1945 | holgerb | 1264 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1265 | { |
||
1266 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
1267 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
1268 | } |
||
1912 | holgerb | 1269 | StickNick -= GPS_Nick; |
1270 | StickRoll -= GPS_Roll; |
||
1330 | killagreg | 1271 | |
1153 | hbuss | 1272 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1273 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 1274 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1275 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 1276 | |
1330 | killagreg | 1277 | |
1916 | holgerb | 1278 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 1279 | |
1051 | killagreg | 1280 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 1281 | { |
1051 | killagreg | 1282 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 1283 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 1284 | } |
928 | hbuss | 1285 | else MaxStickNick--; |
1051 | killagreg | 1286 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 1287 | { |
1051 | killagreg | 1288 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 1289 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 1290 | } |
928 | hbuss | 1291 | else MaxStickRoll--; |
1765 | killagreg | 1292 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 1293 | |
1051 | killagreg | 1294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1295 | // Looping? |
1051 | killagreg | 1296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 1297 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 1298 | else |
1299 | { |
||
395 | hbuss | 1300 | { |
1051 | killagreg | 1301 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1302 | } |
||
1303 | } |
||
993 | hbuss | 1304 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 1305 | else |
395 | hbuss | 1306 | { |
1307 | if(Looping_Rechts) // Hysterese |
||
1308 | { |
||
1309 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
1310 | } |
||
1051 | killagreg | 1311 | } |
173 | holgerb | 1312 | |
993 | hbuss | 1313 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 1314 | else |
1315 | { |
||
395 | hbuss | 1316 | if(Looping_Oben) // Hysterese |
1317 | { |
||
1051 | killagreg | 1318 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1319 | } |
||
1320 | } |
||
993 | hbuss | 1321 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 1322 | else |
395 | hbuss | 1323 | { |
1324 | if(Looping_Unten) // Hysterese |
||
1325 | { |
||
1326 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
1327 | } |
||
1051 | killagreg | 1328 | } |
395 | hbuss | 1329 | |
1330 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 1331 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 1332 | } // Ende neue Funken-Werte |
1333 | |||
1334 | if(Looping_Roll || Looping_Nick) |
||
1335 | { |
||
173 | holgerb | 1336 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 1337 | TrichterFlug = 1; |
173 | holgerb | 1338 | } |
1339 | |||
1051 | killagreg | 1340 | |
1341 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1342 | // Bei Empfangsausfall im Flug |
||
1343 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 1344 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1345 | { |
||
1346 | StickNick = -GPS_Nick; |
||
1347 | StickRoll = -GPS_Roll; |
||
2230 | holgerb | 1348 | StickGas = StickGasHover; |
2407 | holgerb | 1349 | StickGier = 0; |
1916 | holgerb | 1350 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1351 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1352 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1353 | Parameter_HoehenSchalter = 200; // switch on |
||
1354 | } |
||
1355 | else |
||
1765 | killagreg | 1356 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 1357 | { |
1358 | StickGier = 0; |
||
1359 | StickNick = 0; |
||
1360 | StickRoll = 0; |
||
1211 | hbuss | 1361 | GyroFaktor = 90; |
1362 | IntegralFaktor = 120; |
||
1363 | GyroFaktorGier = 90; |
||
1364 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1365 | Looping_Roll = 0; |
1366 | Looping_Nick = 0; |
||
1051 | killagreg | 1367 | } |
395 | hbuss | 1368 | |
1051 | killagreg | 1369 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1370 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1371 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1372 | #define ABGLEICH_ANZAHL 256L |
1373 | |||
1374 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1375 | MittelIntegralRoll += IntegralRoll; |
||
1376 | if(Looping_Nick || Looping_Roll) |
||
1377 | { |
||
1378 | MittelIntegralNick = 0; |
||
1379 | MittelIntegralRoll = 0; |
||
1380 | ZaehlMessungen = 0; |
||
498 | hbuss | 1381 | LageKorrekturNick = 0; |
1382 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1383 | } |
1384 | |||
1051 | killagreg | 1385 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1386 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1387 | { |
1388 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1389 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1390 | { |
1944 | holgerb | 1391 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1392 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1393 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1394 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1395 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1396 | { |
||
1397 | tmp_long /= 2; |
||
1398 | tmp_long2 /= 2; |
||
1399 | } |
||
2309 | holgerb | 1400 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1944 | holgerb | 1401 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1402 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1403 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | hbuss | 1404 | } |
1051 | killagreg | 1405 | else |
992 | hbuss | 1406 | { |
1944 | holgerb | 1407 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1408 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1409 | tmp_long /= 16; |
||
1410 | tmp_long2 /= 16; |
||
1411 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1412 | { |
||
1413 | tmp_long /= 3; |
||
1414 | tmp_long2 /= 3; |
||
1415 | } |
||
2496 | holgerb | 1416 | if(abs(ChannelYaw) > 25) |
1944 | holgerb | 1417 | { |
1418 | tmp_long /= 3; |
||
1419 | tmp_long2 /= 3; |
||
1420 | } |
||
1421 | KompassFusion = 25; |
||
1155 | hbuss | 1422 | #define AUSGLEICH 32 |
1944 | holgerb | 1423 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1424 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1425 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1426 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
992 | hbuss | 1427 | } |
1166 | hbuss | 1428 | |
2481 | holgerb | 1429 | Mess_IntegralNick -= tmp_long; |
1430 | Mess_IntegralRoll -= tmp_long2; |
||
1431 | DriftNick += tmp_long; |
||
1432 | DriftRoll += tmp_long2; |
||
469 | hbuss | 1433 | } |
1051 | killagreg | 1434 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2499 | holgerb | 1435 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) //alle 512ms |
395 | hbuss | 1436 | { |
2481 | holgerb | 1437 | // static int cnt = 0; |
1438 | // static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
395 | hbuss | 1439 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
2481 | holgerb | 1440 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1441 | // Gyro-Drift ermitteln |
||
1442 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1443 | if(EE_Parameter.Driftkomp && abs(Mittelwert_AccNick) < 200*4 && abs(Mittelwert_AccRoll) < 200*4 && !TrichterFlug && abs(MesswertGier) < 32/* && (FC_StatusFlags & FC_STATUS_FLY)*/) |
||
1444 | { |
||
1445 | DriftNick -= DriftNick / (64 * (unsigned int) EE_Parameter.Driftkomp); |
||
1446 | DriftRoll -= DriftRoll / (64 * (unsigned int) EE_Parameter.Driftkomp); |
||
1447 | GierGyroFehler -= GierGyroFehler / (64 * (unsigned int) EE_Parameter.Driftkomp); |
||
2496 | holgerb | 1448 | if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(ChannelYaw) > 25)) |
2481 | holgerb | 1449 | { |
1450 | DriftNick /= 2; |
||
1451 | DriftRoll /= 2; |
||
1452 | GierGyroFehler = 0; |
||
1453 | } |
||
1454 | if(DriftNick > 3000) { DriftNick = 0; AdNeutralNick++;} |
||
1455 | if(DriftNick <-3000) { DriftNick = 0; AdNeutralNick--;} |
||
1456 | if(DriftRoll > 3000) { DriftRoll = 0; AdNeutralRoll++;} |
||
1457 | if(DriftRoll <-3000) { DriftRoll = 0; AdNeutralRoll--;} |
||
1458 | if(GierGyroFehler > 3500) { GierGyroFehler = 0; AdNeutralGier++; } |
||
1459 | if(GierGyroFehler <-3500) { GierGyroFehler = 0; AdNeutralGier--; } |
||
1460 | } |
||
1461 | else |
||
1462 | { |
||
1463 | DriftNick = 0; |
||
1464 | DriftRoll = 0; |
||
1465 | GierGyroFehler = 0; |
||
1466 | } |
||
1467 | TrichterFlug = 0; |
||
1468 | |||
498 | hbuss | 1469 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1470 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1471 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1472 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1473 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1474 | MittelIntegralNick = 0; |
1475 | MittelIntegralRoll = 0; |
||
1476 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1477 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1478 | |
1051 | killagreg | 1479 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1480 | // Gieren |
1051 | killagreg | 1481 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1482 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1483 | { |
1839 | holgerb | 1484 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1485 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1486 | { |
1840 | holgerb | 1487 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1488 | }; |
1 | ingob | 1489 | } |
1944 | holgerb | 1490 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1491 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
2309 | holgerb | 1492 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
1840 | holgerb | 1493 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1494 | sollGier = tmp_int; |
1051 | killagreg | 1495 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1496 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1497 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1498 | |
1499 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1500 | // Kompass |
1051 | killagreg | 1501 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1502 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1503 | { |
1839 | holgerb | 1504 | if(CalculateCompassTimer-- == 1) |
1505 | { |
||
1506 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1507 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1508 | // max. Korrekturwert schätzen |
1 | ingob | 1509 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1510 | v = abs(IntegralRoll /512); |
||
1511 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1972 | holgerb | 1512 | // korrektur = w / 4 + 1; |
1513 | korrektur = w / 8 + 2; |
||
1941 | holgerb | 1514 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1515 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1516 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1517 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1518 | // Kompasswert einloggen |
||
2439 | holgerb | 1519 | if(NeueKompassRichtungMerken) KompassSollWert = ErsatzKompassInGrad; |
1520 | |||
1840 | holgerb | 1521 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1522 | else |
||
1523 | if(w < 25) |
||
921 | hbuss | 1524 | { |
1525 | GierGyroFehler += fehler; |
||
2439 | holgerb | 1526 | if(NeueKompassRichtungMerken) NeueKompassRichtungMerken--; |
1 | ingob | 1527 | } |
1840 | holgerb | 1528 | // Kompass fusionieren |
1839 | holgerb | 1529 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1941 | holgerb | 1530 | // MK Gieren |
1531 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1532 | { |
1941 | holgerb | 1533 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1534 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1535 | CompassGierSetpoint = v / 16; |
1536 | } |
||
1865 | holgerb | 1537 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1538 | } // CalculateCompassTimer |
1051 | killagreg | 1539 | } |
1840 | holgerb | 1540 | else CompassGierSetpoint = 0; |
1972 | holgerb | 1541 | |
1542 | //DebugOut.Analog[16] = KompassFusion; |
||
1051 | killagreg | 1543 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1544 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1545 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1546 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1547 | |
1171 | hbuss | 1548 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1549 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1550 | |
1167 | hbuss | 1551 | #define TRIM_MAX 200 |
1166 | hbuss | 1552 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1553 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1554 | |
1166 | hbuss | 1555 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1556 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1557 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1558 | |
1 | ingob | 1559 | // Maximalwerte abfangen |
1685 | holgerb | 1560 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1561 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1562 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1563 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1564 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1565 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1566 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1567 | |||
1051 | killagreg | 1568 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2390 | holgerb | 1569 | // Undervoltage |
1570 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1571 | if(!(FC_StatusFlags & FC_STATUS_LOWBAT)) |
||
1572 | { |
||
1573 | GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
||
1574 | } |
||
1575 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1576 | // Auto-Landing |
||
1577 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1578 | static unsigned char slower; |
||
1579 | if(!slower--) |
||
1580 | { |
||
2402 | holgerb | 1581 | static unsigned int u_filter = 0; |
1582 | if(!u_filter) u_filter = UBat; |
||
1583 | if(UBat > u_filter) u_filter++; else |
||
1584 | if(UBat < u_filter) u_filter--; |
||
1585 | slower = 100; // 5Hz |
||
2416 | holgerb | 1586 | if(u_filter < BattAutoLandingVoltage) |
2390 | holgerb | 1587 | { |
2402 | holgerb | 1588 | LowVoltageLandingActive = 10; // 2 sek |
2541 | holgerb | 1589 | ServoFailsafeActive = SERVO_FS_TIME; |
2390 | holgerb | 1590 | } |
2416 | holgerb | 1591 | else if(u_filter > BattAutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--; |
2408 | holgerb | 1592 | |
2416 | holgerb | 1593 | if(u_filter < BattComingHomeVoltage) |
2408 | holgerb | 1594 | { |
1595 | LowVoltageHomeActive = 25; // min. 5 sek |
||
1596 | } |
||
2416 | holgerb | 1597 | else if(u_filter > BattComingHomeVoltage + LipoCells && LowVoltageHomeActive) LowVoltageHomeActive--; |
2390 | holgerb | 1598 | } |
1599 | if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0) |
||
1600 | { |
||
1601 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
||
2541 | holgerb | 1602 | if(HoehenWert > 15*100) FromNC_AltitudeSpeed *= 2; // faster above 15m |
2390 | holgerb | 1603 | FromNC_AltitudeSetpoint = -20000; |
1604 | } |
||
1605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2427 | holgerb | 1606 | // send SPI pending bytes |
1607 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
1608 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1609 | // Höhenregelung |
1051 | killagreg | 1610 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1611 | GasMischanteil *= STICK_GAIN; |
2427 | holgerb | 1612 | // if height control is activated |
2334 | holgerb | 1613 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
1309 | hbuss | 1614 | { |
1698 | holgerb | 1615 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1616 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1617 | |
2309 | holgerb | 1618 | int HCGas, GasReduction = 0; |
1309 | hbuss | 1619 | static int HeightTrimming = 0; // rate for change of height setpoint |
2309 | holgerb | 1620 | static int HeightDeviation = 0, FilterHCGas = 0; |
1587 | killagreg | 1621 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1622 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1623 | // Expand the measurement |
||
1624 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1625 | if(!BaroExpandActive) |
||
1626 | { |
||
1627 | if(MessLuftdruck > 920) |
||
1628 | { // increase offset |
||
1330 | killagreg | 1629 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1630 | { |
1631 | ExpandBaro -= 1; |
||
1632 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
2367 | holgerb | 1633 | OCR0B = 255 - OCR0A; |
1322 | hbuss | 1634 | beeptime = 300; |
2497 | holgerb | 1635 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1636 | if(ACC_AltitudeControl) BaroExpandActive = 50; |
||
1637 | else |
||
1638 | #endif |
||
1639 | BaroExpandActive = 350; |
||
2367 | holgerb | 1640 | CalcExpandBaroStep(); |
1330 | killagreg | 1641 | } |
1642 | else |
||
1322 | hbuss | 1643 | { |
1644 | BaroAtLowerLimit = 1; |
||
1645 | } |
||
1646 | } |
||
1647 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1648 | else |
1322 | hbuss | 1649 | if(MessLuftdruck < 100) |
1650 | { // decrease offset |
||
1330 | killagreg | 1651 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1652 | { |
1653 | ExpandBaro += 1; |
||
1654 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
2367 | holgerb | 1655 | OCR0B = 255 - OCR0A; |
1322 | hbuss | 1656 | beeptime = 300; |
2497 | holgerb | 1657 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1658 | if(ACC_AltitudeControl) BaroExpandActive = 50; |
||
1659 | else |
||
1660 | #endif |
||
1661 | BaroExpandActive = 350; |
||
2367 | holgerb | 1662 | CalcExpandBaroStep(); |
1330 | killagreg | 1663 | } |
1664 | else |
||
1322 | hbuss | 1665 | { |
1666 | BaroAtUpperLimit = 1; |
||
1667 | } |
||
1668 | } |
||
1330 | killagreg | 1669 | else |
1322 | hbuss | 1670 | { |
1671 | BaroAtUpperLimit = 0; |
||
1672 | BaroAtLowerLimit = 0; |
||
1673 | } |
||
1674 | } |
||
1675 | else // delay, because of expanding the Baro-Range |
||
1676 | { |
||
1677 | // now clear the D-values |
||
2316 | holgerb | 1678 | VarioMeter = 0; |
2497 | holgerb | 1679 | cli(); |
2309 | holgerb | 1680 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1681 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
2309 | holgerb | 1682 | else SummenHoehe = HoehenWert * SM_FILTER; |
1683 | #else |
||
1684 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1685 | #endif |
||
2497 | holgerb | 1686 | sei(); |
1322 | hbuss | 1687 | BaroExpandActive--; |
1688 | } |
||
1328 | hbuss | 1689 | // if height control is activated by an rc channel |
1916 | holgerb | 1690 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1691 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1692 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1693 | { //height control not active |
1694 | if(!delay--) |
||
1695 | { |
||
2090 | holgerb | 1696 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1697 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
2090 | holgerb | 1698 | #endif |
1328 | hbuss | 1699 | HoehenReglerAktiv = 0; // disable height control |
1700 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1701 | delay = 1; |
||
1702 | } |
||
1703 | } |
||
1704 | else |
||
2090 | holgerb | 1705 | if(Parameter_HoehenSchalter > 70) |
1328 | hbuss | 1706 | { //height control is activated |
2090 | holgerb | 1707 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1708 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
2090 | holgerb | 1709 | #endif |
2263 | holgerb | 1710 | delay = 200; |
1328 | hbuss | 1711 | HoehenReglerAktiv = 1; // enable height control |
1712 | } |
||
1051 | killagreg | 1713 | } |
1309 | hbuss | 1714 | else // no switchable height control |
1715 | { |
||
2496 | holgerb | 1716 | SollHoehe = (/*(int16_t) ExternHoehenValue + */(int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1717 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1718 | } |
1320 | hbuss | 1719 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1720 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1721 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
2486 | holgerb | 1722 | tmp_int = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1723 | tmp_int = (tmp_int * Parameter_Hoehe_TiltCompensation) / 100; |
||
1724 | LIMIT_MAX(tmp_int, 60); // limit effective attitude angle |
||
1725 | CosAttitude = c_cos_8192(tmp_int); // cos of actual attitude |
||
1591 | holgerb | 1726 | VarioCharacter = ' '; |
1942 | holgerb | 1727 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1728 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1729 | { |
1730 | // Holger original version |
||
1731 | // start of height control algorithm |
||
1732 | // the height control is only an attenuation of the actual gas stick. |
||
1733 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1734 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1735 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1736 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1737 | { // old version |
1309 | hbuss | 1738 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1739 | HeightTrimming = 0; |
||
1942 | holgerb | 1740 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1741 | // set both flags to indicate no vario mode |
1742 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1743 | } |
1314 | killagreg | 1744 | else |
1309 | hbuss | 1745 | { |
1746 | // alternative height control |
||
1747 | // PD-Control with respect to hoover point |
||
1748 | // the thrust loss out of horizontal attitude is compensated |
||
1749 | // the setpoint will be fine adjusted with the gas stick position |
||
2390 | holgerb | 1750 | if(/*1 || */FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1751 | { // gas stick is above hoover point |
1587 | killagreg | 1752 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1753 | { |
1767 | killagreg | 1754 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1755 | { |
1767 | killagreg | 1756 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
2309 | holgerb | 1757 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1758 | } |
1966 | holgerb | 1759 | // Limit the maximum Altitude |
2381 | holgerb | 1760 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) |
1761 | { |
||
1762 | AltitudeSetpointTrimming = 0; |
||
1763 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1764 | if(!SpeakHoTT && HoehenWert/95 > Parameter_MaximumAltitude) SpeakHoTT = SPEAK_MAX_ALTITUD; |
||
1765 | #endif |
||
1766 | VarioCharacter = '='; |
||
1767 | } |
||
1966 | holgerb | 1768 | else |
1769 | { |
||
2381 | holgerb | 1770 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
1771 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1772 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
2390 | holgerb | 1773 | if(LowVoltageLandingActive) AltitudeSetpointTrimming /= 3; // only 33% rising |
1591 | holgerb | 1774 | VarioCharacter = '+'; |
1966 | holgerb | 1775 | } |
1865 | holgerb | 1776 | WaypointTrimming = 0; |
1309 | hbuss | 1777 | } // gas stick is below hoover point |
2390 | holgerb | 1778 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) // Minus |
1309 | hbuss | 1779 | { |
2471 | holgerb | 1780 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP || (HeightDeviation < -300)) |
1309 | hbuss | 1781 | { |
1767 | killagreg | 1782 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
2309 | holgerb | 1783 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1784 | } |
1767 | killagreg | 1785 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1786 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1787 | VarioCharacter = '-'; |
1865 | holgerb | 1788 | WaypointTrimming = 0; |
1309 | hbuss | 1789 | } |
1587 | killagreg | 1790 | else // Gas Stick in Hover Range |
1309 | hbuss | 1791 | { |
1855 | holgerb | 1792 | VarioCharacter = '='; |
1857 | holgerb | 1793 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1794 | { |
1795 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1796 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1797 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1798 | WaypointTrimming = 10; |
1799 | VarioCharacter = '^'; |
||
1865 | holgerb | 1800 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1801 | { |
||
1802 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
2309 | holgerb | 1803 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1804 | } |
1855 | holgerb | 1805 | } |
1806 | else |
||
1857 | holgerb | 1807 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1808 | { |
1809 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1810 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1811 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1812 | WaypointTrimming = -10; |
1813 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1814 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1815 | { |
||
1816 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
2309 | holgerb | 1817 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1818 | } |
1855 | holgerb | 1819 | } |
1820 | else |
||
1767 | killagreg | 1821 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1822 | { |
2309 | holgerb | 1823 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1933 | holgerb | 1824 | else WaypointTrimming = 0; |
1767 | killagreg | 1825 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1826 | HeightTrimming = 0; |
1916 | holgerb | 1827 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1828 | if(!StartTrigger && HoehenWert > 50) |
1829 | { |
||
1830 | StartTrigger = 1; |
||
1765 | killagreg | 1831 | } |
1309 | hbuss | 1832 | } |
1833 | } |
||
1834 | // Trim height set point |
||
1942 | holgerb | 1835 | HeightTrimming += AltitudeSetpointTrimming; |
1836 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1837 | { |
1857 | holgerb | 1838 | if(WaypointTrimming) |
1839 | { |
||
1840 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1841 | else SollHoehe += WaypointTrimming; |
||
1842 | } |
||
1843 | else |
||
1966 | holgerb | 1844 | { |
1845 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1846 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1847 | } |
||
1309 | hbuss | 1848 | HeightTrimming = 0; |
2471 | holgerb | 1849 | LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
2486 | holgerb | 1850 | LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1024), (HoehenWertF+1500)); // max. 15m Unterschied |
1916 | holgerb | 1851 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1852 | //update hoover gas stick value when setpoint is shifted |
2427 | holgerb | 1853 | if(FromNC_AltitudeSpeed == 0) CalcStickGasHover(); |
1854 | /* |
||
1857 | holgerb | 1855 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1856 | { |
1587 | killagreg | 1857 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
2427 | holgerb | 1858 | StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
1587 | killagreg | 1859 | if(StickGasHover < 70) StickGasHover = 70; |
2427 | holgerb | 1860 | else if(StickGasHover > 175) StickGasHover = 175; |
1332 | hbuss | 1861 | } |
2427 | holgerb | 1862 | */ |
1309 | hbuss | 1863 | } |
2309 | holgerb | 1864 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1865 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1866 | else |
1867 | { |
||
2466 | holgerb | 1868 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2462 | holgerb | 1869 | ACC_AltitudeFusion(1); // init the ACC and Altitude fusion |
2466 | holgerb | 1870 | #endif |
2471 | holgerb | 1871 | SollHoehe = HoehenWertF - 2000; |
1872 | |||
1587 | killagreg | 1873 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
2427 | holgerb | 1874 | else StickGasHover = 127; |
1698 | holgerb | 1875 | HoverGas = GasMischanteil; |
1972 | holgerb | 1876 | VarioCharacter = '.'; |
1320 | hbuss | 1877 | } |
1590 | killagreg | 1878 | HCGas = HoverGas; // take hover gas (neutral point) |
1879 | } |
||
2309 | holgerb | 1880 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1881 | { |
2316 | holgerb | 1882 | if(!ACC_AltitudeControl) |
1883 | { |
||
1590 | killagreg | 1884 | // from this point the Heigth Control Algorithm is identical for both versions |
1885 | if(BaroExpandActive) // baro range expanding active |
||
1886 | { |
||
1887 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1888 | HeightDeviation = 0; |
||
1889 | } // EOF // baro range expanding active |
||
1890 | else // valid data from air pressure sensor |
||
1891 | { |
||
1892 | // ------------------------- P-Part ---------------------------- |
||
2309 | holgerb | 1893 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1590 | killagreg | 1894 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1895 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1896 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1897 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1898 | GasReduction = tmp_long; |
||
1590 | killagreg | 1899 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1900 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1901 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1902 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1903 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1904 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1905 | else |
1916 | holgerb | 1906 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1907 | GasReduction += tmp_int; |
1590 | killagreg | 1908 | } // EOF no baro range expanding |
1309 | hbuss | 1909 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1910 | if(Parameter_Hoehe_ACC_Wirkung) |
1911 | { |
||
1912 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1913 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1914 | GasReduction += tmp_long; |
||
1765 | killagreg | 1915 | } |
2486 | holgerb | 1916 | /* // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1917 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1918 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1919 | GasReduction += tmp_int; |
2486 | holgerb | 1920 | */ |
1701 | holgerb | 1921 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
2309 | holgerb | 1922 | |
1701 | holgerb | 1923 | // ------------------------ ---------------------------------- |
1924 | HCGas -= GasReduction; |
||
1309 | hbuss | 1925 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1926 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1927 | { |
1765 | killagreg | 1928 | unsigned int tmp; |
1705 | holgerb | 1929 | tmp = abs(HeightDeviation); |
1930 | if(tmp <= 60) |
||
1931 | { |
||
1932 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1933 | } |
||
1934 | else |
||
1765 | killagreg | 1935 | { |
1705 | holgerb | 1936 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1937 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1938 | if(HeightDeviation > 0) |
1693 | holgerb | 1939 | { |
1705 | holgerb | 1940 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1941 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1942 | } |
1705 | holgerb | 1943 | else |
1944 | { |
||
1945 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1946 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1947 | } |
||
1948 | } |
||
1309 | hbuss | 1949 | } |
1322 | hbuss | 1950 | // strech control output by inverse attitude projection 1/cos |
1951 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1952 | tmp_long2 = (int32_t)HCGas; |
1953 | tmp_long2 *= 8192L; |
||
1954 | tmp_long2 /= CosAttitude; |
||
1955 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1956 | // update height control gas averaging |
1957 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1958 | // limit height control gas pd-control output |
||
1959 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1960 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1961 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1962 | { // old version |
1963 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1964 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1965 | } |
1719 | holgerb | 1966 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
2316 | holgerb | 1967 | } |
2320 | holgerb | 1968 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1969 | else // ACC-Altitude control |
1970 | { |
||
2309 | holgerb | 1971 | // from this point the Heigth Control Algorithm is identical for both versions |
1972 | if(BaroExpandActive) // baro range expanding active |
||
1973 | { |
||
1974 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1975 | HeightDeviation = 0; |
||
1976 | } // EOF // baro range expanding active |
||
1977 | else // valid data from air pressure sensor |
||
1978 | { |
||
1979 | // ------------------------- P-Part ---------------------------- |
||
1980 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
||
1981 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1982 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1983 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
||
1984 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
||
1985 | GasReduction = tmp_long; |
||
1986 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
||
2316 | holgerb | 1987 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
2309 | holgerb | 1988 | // ------------------------- D-Part: Vario Meter ---------------------------- |
1989 | if(WaypointTrimming) { |
||
1990 | Variance = AltitudeSetpointTrimming * 8; |
||
1991 | } else { |
||
1992 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
||
1993 | } |
||
1994 | tmp_long -= (long)Variance; |
||
1995 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
||
1996 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
||
1997 | GasReduction += tmp_long; |
||
1998 | } // EOF no baro range expanding |
||
1999 | HCGas -= GasReduction; |
||
2000 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
||
2001 | // strech control output by inverse attitude projection 1/cos |
||
2002 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
2003 | tmp_long2 = (int32_t)HCGas; |
||
2004 | tmp_long2 *= 8192L; |
||
2005 | tmp_long2 /= CosAttitude; |
||
2006 | HCGas = (int16_t)tmp_long2; |
||
2007 | // update height control gas averaging |
||
2008 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
2009 | // limit height control gas pd-control output |
||
2471 | holgerb | 2010 | int min; |
2011 | if(GasIsZeroCnt > 400 || (FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)) min = EE_Parameter.Gas_Min; else min = EE_Parameter.Hoehe_MinGas; |
||
2012 | LIMIT_MIN_MAX(FilterHCGas, min * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN) |
||
2309 | holgerb | 2013 | // set GasMischanteil to HeightControlGasFilter |
2014 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
2015 | { // old version |
||
2016 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
2017 | GasMischanteil = FilterHCGas; |
||
2018 | } |
||
2316 | holgerb | 2019 | else GasMischanteil = FilterHCGas; |
2020 | } // end of ACC-Altitude control |
||
2320 | holgerb | 2021 | #endif |
1314 | killagreg | 2022 | } |
1309 | hbuss | 2023 | }// EOF height control active |
1320 | hbuss | 2024 | else // HC not active |
2025 | { |
||
2026 | //update hoover gas stick value when HC is not active |
||
2427 | holgerb | 2027 | CalcStickGasHover(); |
2028 | /* if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
1587 | killagreg | 2029 | { |
2030 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
2427 | holgerb | 2031 | StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
1322 | hbuss | 2032 | } |
1587 | killagreg | 2033 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
2427 | holgerb | 2034 | LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down |
2035 | */ |
||
1328 | hbuss | 2036 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 2037 | // set both flags to indicate no vario mode |
2038 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 2039 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 2040 | } |
1587 | killagreg | 2041 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 2042 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 2043 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 2044 | { |
2316 | holgerb | 2045 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
2318 | holgerb | 2046 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
1698 | holgerb | 2047 | if(StartTrigger == 1) StartTrigger = 2; |
1330 | killagreg | 2048 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
2049 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
2050 | tmp_long2 /= 8192; |
||
1309 | hbuss | 2051 | // average vertical projected thrust |
1698 | holgerb | 2052 | if(modell_fliegt < 4000) // the first 8 seconds |
2053 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
2054 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
2055 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 2056 | } |
1698 | holgerb | 2057 | if(modell_fliegt < 8000) // the first 16 seconds |
2058 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 2059 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 2060 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 2061 | } |
1698 | holgerb | 2062 | else //later |
2316 | holgerb | 2063 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 2064 | { |
1590 | killagreg | 2065 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 2066 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 2067 | } |
1590 | killagreg | 2068 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 2069 | if(EE_Parameter.Hoehe_HoverBand) |
2070 | { |
||
2071 | int16_t band; |
||
1587 | killagreg | 2072 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
2073 | HoverGasMin = HoverGas - band; |
||
2074 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 2075 | } |
2076 | else |
||
2077 | { // no limit |
||
1587 | killagreg | 2078 | HoverGasMin = 0; |
2079 | HoverGasMax = 1023; |
||
1309 | hbuss | 2080 | } |
1765 | killagreg | 2081 | } |
2082 | else |
||
1698 | holgerb | 2083 | { |
2084 | StartTrigger = 0; |
||
2085 | HoverGasFilter = 0; |
||
2086 | HoverGas = 0; |
||
1765 | killagreg | 2087 | } |
1916 | holgerb | 2088 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 2089 | else |
2090 | { |
||
2091 | // set undefined state to indicate vario off |
||
2092 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
2093 | } // EOF no height control |
||
2094 | |||
2309 | holgerb | 2095 | // Limits the maximum gas in case of "Out of Range emergency landing" |
2009 | holgerb | 2096 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
2097 | { |
||
2028 | holgerb | 2098 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2309 | holgerb | 2099 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2009 | holgerb | 2100 | beeptime = 15000; |
2101 | BeepMuster = 0x0E00; |
||
2102 | } |
||
2028 | holgerb | 2103 | // limit gas to parameter setting |
1320 | hbuss | 2104 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 2105 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 2106 | |
1051 | killagreg | 2107 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 2108 | // all BL-Ctrl connected? |
2109 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2529 | holgerb | 2110 | #ifndef REDUNDANT_FC_SLAVE |
2418 | holgerb | 2111 | if(MissingMotor || Capacity.MinOfMaxPWM < 254 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1931 | holgerb | 2112 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1320 | hbuss | 2113 | { |
2114 | modell_fliegt = 1; |
||
1675 | holgerb | 2115 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
2382 | holgerb | 2116 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2117 | if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR; |
||
2118 | #endif |
||
1320 | hbuss | 2119 | } |
2529 | holgerb | 2120 | #endif |
2407 | holgerb | 2121 | |
2427 | holgerb | 2122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2123 | // send SPI pending bytes |
||
2407 | holgerb | 2124 | if(BytegapSPI == 0) SPI_TransmitByte(); |
1320 | hbuss | 2125 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2126 | // + Mischer und PI-Regler |
1051 | killagreg | 2127 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2491 | holgerb | 2128 | DebugOut.Analog[7] = GasMischanteil; // achtung: Muss auf [7] bleiben wegen SPI.C |
1051 | killagreg | 2129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2130 | // Gier-Anteil |
1051 | killagreg | 2131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 2132 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
2133 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 2134 | if(GasMischanteil > MIN_GIERGAS) |
2135 | { |
||
1051 | killagreg | 2136 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
2137 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 2138 | } |
1051 | killagreg | 2139 | else |
693 | hbuss | 2140 | { |
1051 | killagreg | 2141 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
2142 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 2143 | } |
855 | hbuss | 2144 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 2145 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 2146 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 2147 | |
1051 | killagreg | 2148 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2149 | // Nick-Achse |
1051 | killagreg | 2150 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 2151 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 2152 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 2153 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 2154 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
2155 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2156 | |
2157 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
2158 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
2159 | pd_ergebnis_nick += SummeNick / Ki; |
||
2160 | |||
1676 | holgerb | 2161 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2162 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
2163 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 2164 | |
1153 | hbuss | 2165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2166 | // Roll-Achse |
||
2167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2168 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
2169 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
2170 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
2171 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
2172 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2173 | |
2174 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
2175 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
2176 | pd_ergebnis_roll += SummeRoll / Ki; |
||
2177 | |||
1676 | holgerb | 2178 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2179 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2180 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
2181 | |||
2182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2427 | holgerb | 2183 | // send SPI pending bytes |
2184 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
2185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 2186 | // Universal Mixer |
1155 | hbuss | 2187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 2188 | for(i=0; i<MAX_MOTORS; i++) |
2189 | { |
||
2190 | signed int tmp_int; |
||
2191 | if(Mixer.Motor[i][0] > 0) |
||
2192 | { |
||
1652 | holgerb | 2193 | // Gas |
1676 | holgerb | 2194 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 2195 | // Nick |
2196 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
2197 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
2198 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
2199 | // Roll |
||
2200 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
2201 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
2202 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
2203 | // Gier |
||
1676 | holgerb | 2204 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2205 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
2206 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
2427 | holgerb | 2207 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 2208 | tmp_int = (tmp_motorwert[i] + tmp_int) / 2; |
2209 | #else |
||
2386 | holgerb | 2210 | if(Motor[i].Version & MOTOR_STATE_FAST_MODE || tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen |
1913 | holgerb | 2211 | else |
2402 | holgerb | 2212 | { // BL-Ctrl 1.0 or 2.0 |
2386 | holgerb | 2213 | if(EE_Parameter.MotorSmooth == 0) |
1913 | holgerb | 2214 | { |
1931 | holgerb | 2215 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 2216 | } |
2217 | else // 1 means tmp_int = tmp_int; |
||
2443 | holgerb | 2218 | if(EE_Parameter.MotorSmooth > 1) |
1913 | holgerb | 2219 | { |
2386 | holgerb | 2220 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
2221 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth); |
||
1913 | holgerb | 2222 | } |
2223 | } |
||
2418 | holgerb | 2224 | #endif |
1760 | holgerb | 2225 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 2226 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 2227 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 2228 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 2229 | } |
2230 | else |
||
2231 | { |
||
2232 | Motor[i].SetPoint = 0; |
||
2233 | Motor[i].SetPointLowerBits = 0; |
||
2234 | } |
||
2235 | } |
||
2529 | holgerb | 2236 | #if (defined(REDUNDANT_FC_MASTER) || defined(REDUNDANT_FC_SLAVE)) |
2237 | if(Parameter_UserParam6 > 230) // Motor1-Test |
||
2238 | { |
||
2239 | Motor[0].SetPoint = 0; |
||
2240 | FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST; |
||
2241 | } |
||
2242 | else |
||
2243 | if(Parameter_UserParam7 <= 150) // I2C-Test |
||
2244 | { |
||
2245 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_TEST; |
||
2246 | } |
||
2427 | holgerb | 2247 | #endif |
1111 | hbuss | 2248 | } |
2090 | holgerb | 2249 | //DebugOut.Analog[16] |