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1 | ingob | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | |||
57 | #include "main.h" |
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1320 | hbuss | 58 | #include "mymath.h" |
1330 | killagreg | 59 | #include "isqrt.h" |
1 | ingob | 60 | |
1352 | hbuss | 61 | unsigned char h,m,s; |
62 | unsigned int BaroExpandActive = 0; |
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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; |
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693 | hbuss | 75 | long Integral_Gier = 0; |
2481 | holgerb | 76 | long Mess_IntegralNick = 0; |
77 | long Mess_IntegralRoll = 0; |
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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; |
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88 | unsigned int KompassSignalSchlecht = 50; |
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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; |
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1153 | hbuss | 98 | int DiffNick,DiffRoll; |
2427 | holgerb | 99 | unsigned int StickGasHover = 127; |
100 | int HoverGasMin = 0, HoverGasMax = 1023; |
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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; |
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1942 | holgerb | 108 | signed int AltitudeSetpointTrimming = 0; |
1855 | holgerb | 109 | long FromNC_AltitudeSetpoint = 0; |
110 | unsigned char FromNC_AltitudeSpeed = 0; |
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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; |
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1 | ingob | 121 | |
122 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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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 |
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126 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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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 |
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1 | ingob | 133 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
134 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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135 | unsigned char Parameter_UserParam1 = 0; |
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136 | unsigned char Parameter_UserParam2 = 0; |
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137 | unsigned char Parameter_UserParam3 = 0; |
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138 | unsigned char Parameter_UserParam4 = 0; |
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499 | hbuss | 139 | unsigned char Parameter_UserParam5 = 0; |
140 | unsigned char Parameter_UserParam6 = 0; |
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141 | unsigned char Parameter_UserParam7 = 0; |
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142 | unsigned char Parameter_UserParam8 = 0; |
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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; |
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173 | holgerb | 148 | unsigned char Parameter_LoopGasLimit = 70; |
1120 | hbuss | 149 | unsigned char Parameter_AchsKopplung1 = 90; |
150 | unsigned char Parameter_AchsKopplung2 = 65; |
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151 | unsigned char Parameter_CouplingYawCorrection = 64; |
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152 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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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 |
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156 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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157 | unsigned char Parameter_J17Timing; // for the J17 Output |
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1051 | killagreg | 158 | unsigned char Parameter_NaviGpsGain; |
159 | unsigned char Parameter_NaviGpsP; |
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160 | unsigned char Parameter_NaviGpsI; |
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161 | unsigned char Parameter_NaviGpsD; |
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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; |
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921 | hbuss | 166 | unsigned char Parameter_ExternalControl; |
1916 | holgerb | 167 | unsigned char Parameter_GlobalConfig; |
168 | unsigned char Parameter_ExtraConfig; |
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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 |
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186 | unsigned char ACC_AltitudeControl = 0; |
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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 |
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194 | #else |
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195 | #define OPA_OFFSET_STEP 10 |
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196 | #endif |
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197 | |||
1639 | holgerb | 198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
199 | // Debugwerte zuordnen |
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200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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201 | void CopyDebugValues(void) |
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202 | { |
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2373 | holgerb | 203 | DebugOut.Analog[0] = ToNaviCtrl.IntegralNick;//IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
204 | DebugOut.Analog[1] = ToNaviCtrl.IntegralRoll;//IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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1639 | holgerb | 205 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
206 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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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; |
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212 | DebugOut.Analog[10] = SenderOkay; |
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1941 | holgerb | 213 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
1702 | holgerb | 214 | DebugOut.Analog[12] = Motor[0].SetPoint; |
215 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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216 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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217 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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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; |
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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; |
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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; |
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2316 | holgerb | 230 | //DebugOut.Analog[16] = Variance; |
231 | //DebugOut.Analog[17] = VarioMeter; |
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2369 | holgerb | 232 | //DebugOut.Analog[16] = GasIsZeroCnt; |
2316 | holgerb | 233 | //DebugOut.Analog[18] = HoehenWertF; |
234 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
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235 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
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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; |
2559 | holgerb | 242 | unsigned char update_spi = 12; |
1232 | hbuss | 243 | if(MotorenEin) return; //auf keinen Fall im Flug! |
1966 | holgerb | 244 | GRN_OFF; |
1 | ingob | 245 | while(Anzahl--) |
246 | { |
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1232 | hbuss | 247 | beeptime = dauer; |
2263 | holgerb | 248 | wait = dauer; |
249 | while(beeptime || wait) |
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250 | { |
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251 | if(UpdateMotor) |
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252 | { |
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253 | UpdateMotor = 0; |
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254 | if(!beeptime) wait--; |
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255 | LIBFC_Polling(); |
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2559 | holgerb | 256 | update_spi--; |
2263 | holgerb | 257 | }; |
2559 | holgerb | 258 | if(update_spi == 0) // 41Hz |
259 | { |
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260 | if(SPI_StartTransmitPacket()) update_spi = 12; |
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261 | else |
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262 | if(BytegapSPI == 0) SPI_TransmitByte(); |
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263 | } |
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264 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
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2263 | holgerb | 265 | } |
1 | ingob | 266 | } |
1966 | holgerb | 267 | GRN_ON; |
1 | ingob | 268 | } |
269 | |||
270 | //############################################################################ |
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1622 | killagreg | 271 | // Messwerte beim Ermitteln der Nullage |
272 | void CalibrierMittelwert(void) |
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273 | //############################################################################ |
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274 | { |
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2426 | holgerb | 275 | // if(PlatinenVersion == 13) SucheGyroOffset(); |
1622 | killagreg | 276 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
277 | ANALOG_OFF; |
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278 | MesswertNick = AdWertNick; |
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279 | MesswertRoll = AdWertRoll; |
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280 | MesswertGier = AdWertGier; |
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1703 | holgerb | 281 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
282 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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1622 | killagreg | 283 | // ADC einschalten |
284 | ANALOG_ON; |
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285 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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286 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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287 | } |
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288 | |||
2537 | holgerb | 289 | void StoreNeutralToEeprom(void) |
290 | { |
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291 | BoatNeutralNick = AdNeutralNick; |
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292 | BoatNeutralRoll = AdNeutralRoll; |
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293 | BoatNeutralGier = AdNeutralGier; |
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294 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
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295 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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296 | SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick); |
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297 | SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll); |
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298 | SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier); |
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299 | } |
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300 | |||
1622 | killagreg | 301 | //############################################################################ |
1 | ingob | 302 | // Nullwerte ermitteln |
2319 | holgerb | 303 | // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
304 | // Parameter: 1 -> before Start |
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305 | // Parameter: 2 -> calibrate and store ACC |
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2538 | holgerb | 306 | // Parameter: 3 -> use stored Gyro calibration Data from EEPROM (Boat-Mode) |
2319 | holgerb | 307 | unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
1 | ingob | 308 | //############################################################################ |
309 | { |
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2316 | holgerb | 310 | unsigned char i, sucess = 1; |
2367 | holgerb | 311 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest; |
1702 | holgerb | 312 | VersionInfo.HardwareError[0] = 0; |
2146 | holgerb | 313 | // HEF4017Reset_ON; |
1051 | killagreg | 314 | NeutralAccX = 0; |
1 | ingob | 315 | NeutralAccY = 0; |
316 | NeutralAccZ = 0; |
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2316 | holgerb | 317 | NeutralAccZfine = 0; |
1622 | killagreg | 318 | |
1051 | killagreg | 319 | AdNeutralNick = 0; |
320 | AdNeutralRoll = 0; |
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1 | ingob | 321 | AdNeutralGier = 0; |
1622 | killagreg | 322 | |
395 | hbuss | 323 | Parameter_AchsKopplung1 = 0; |
1120 | hbuss | 324 | Parameter_AchsKopplung2 = 0; |
1622 | killagreg | 325 | |
1036 | hbuss | 326 | ExpandBaro = 0; |
2481 | holgerb | 327 | if(AdjustmentMode == 3) FC_StatusFlags3 |= FC_STATUS3_BOAT; |
328 | // else FC_StatusFlags3 &= ~FC_STATUS3_BOAT; -> do not clear that |
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1622 | killagreg | 329 | |
1051 | killagreg | 330 | CalibrierMittelwert(); |
395 | hbuss | 331 | Delay_ms_Mess(100); |
1 | ingob | 332 | CalibrierMittelwert(); |
1622 | killagreg | 333 | |
1 | ingob | 334 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
1051 | killagreg | 335 | { |
2367 | holgerb | 336 | if((MessLuftdruck > 950) || (MessLuftdruck < 750) || ExpandBaro) SucheLuftruckOffset(); |
1 | ingob | 337 | } |
2367 | holgerb | 338 | |
339 | barotest = MessLuftdruck; |
||
1166 | hbuss | 340 | #define NEUTRAL_FILTER 32 |
2367 | holgerb | 341 | OCR0A += OPA_OFFSET_STEP; |
342 | OCR0B = 255 - OCR0A; |
||
1166 | hbuss | 343 | for(i=0; i<NEUTRAL_FILTER; i++) |
1111 | hbuss | 344 | { |
345 | Delay_ms_Mess(10); |
||
1216 | killagreg | 346 | gier_neutral += AdWertGier; |
1166 | hbuss | 347 | nick_neutral += AdWertNick; |
348 | roll_neutral += AdWertRoll; |
||
2316 | holgerb | 349 | acc_z_neutral += Aktuell_az; |
1111 | hbuss | 350 | } |
2367 | holgerb | 351 | if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck; |
352 | OCR0A -= OPA_OFFSET_STEP; |
||
353 | OCR0B = 255 - OCR0A; |
||
2316 | holgerb | 354 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
355 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
||
356 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
||
357 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
||
1622 | killagreg | 358 | |
401 | hbuss | 359 | StartNeutralRoll = AdNeutralRoll; |
360 | StartNeutralNick = AdNeutralNick; |
||
1622 | killagreg | 361 | |
2319 | holgerb | 362 | if(AdjustmentMode == 2) |
1622 | killagreg | 363 | { |
364 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
365 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
366 | // Save ACC neutral settings to eeprom |
||
2537 | holgerb | 367 | StoreNeutralToEeprom(); |
513 | hbuss | 368 | } |
1051 | killagreg | 369 | else |
513 | hbuss | 370 | { |
1622 | killagreg | 371 | // restore from eeprom |
372 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
||
373 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
||
374 | // strange settings? |
||
2316 | holgerb | 375 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
1622 | killagreg | 376 | { |
377 | printf("\n\rACC not calibrated!\r\n"); |
||
378 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
379 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
2316 | holgerb | 380 | sucess = 0; |
1622 | killagreg | 381 | } |
2499 | holgerb | 382 | |
383 | // restore from eeprom |
||
384 | BoatNeutralNick = (int16_t)GetParamWord(PID_GYRO_NICK); |
||
385 | BoatNeutralRoll = (int16_t)GetParamWord(PID_GYRO_ROLL); |
||
386 | BoatNeutralGier = (int16_t)GetParamWord(PID_GYRO_YAW); |
||
387 | |||
2481 | holgerb | 388 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) // Read Gyro Data from eeprom |
389 | { |
||
390 | // strange settings? |
||
2499 | holgerb | 391 | if(((unsigned int) BoatNeutralNick > (600 * 16)) || ((unsigned int) BoatNeutralNick < (400 * 16)) |
392 | || ((unsigned int) BoatNeutralRoll > (600 * 16)) || ((unsigned int) BoatNeutralRoll < (400 * 16)) |
||
393 | || ((unsigned int) BoatNeutralGier > (600 * 2)) || ((unsigned int) BoatNeutralGier < (400 * 2))) |
||
2481 | holgerb | 394 | { |
395 | printf("\n\rGyro calibration data not valid\r\n"); |
||
396 | sucess = 0; |
||
2485 | holgerb | 397 | FC_StatusFlags3 &= ~FC_STATUS3_BOAT; |
2481 | holgerb | 398 | } |
399 | else |
||
400 | { |
||
2499 | holgerb | 401 | AdNeutralNick = BoatNeutralNick; |
402 | AdNeutralRoll = BoatNeutralRoll; |
||
403 | AdNeutralGier = BoatNeutralGier; |
||
2481 | holgerb | 404 | } |
405 | } |
||
513 | hbuss | 406 | } |
2330 | holgerb | 407 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
408 | MesswertNick = 0; |
||
1 | ingob | 409 | MesswertRoll = 0; |
410 | MesswertGier = 0; |
||
2367 | holgerb | 411 | Delay_ms_Mess(200); |
1703 | holgerb | 412 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
413 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
1173 | hbuss | 414 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
415 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
2072 | holgerb | 416 | Mess_IntegralNick = IntegralNick; |
417 | Mess_IntegralRoll = IntegralRoll; |
||
1173 | hbuss | 418 | Mess_Integral_Gier = 0; |
1837 | holgerb | 419 | KompassSollWert = KompassValue; |
2497 | holgerb | 420 | NC_CompassSetpoint = -1; |
1839 | holgerb | 421 | KompassSignalSchlecht = 100; |
882 | hbuss | 422 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
423 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
693 | hbuss | 424 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
425 | GierGyroFehler = 0; |
||
921 | hbuss | 426 | LED_Init(); |
2389 | holgerb | 427 | if(AdjustmentMode != 0) FC_StatusFlags |= FC_STATUS_CALIBRATE; |
992 | hbuss | 428 | FromNaviCtrl_Value.Kalman_K = -1; |
1173 | hbuss | 429 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
992 | hbuss | 430 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
1171 | hbuss | 431 | SenderOkay = 100; |
2349 | holgerb | 432 | |
433 | if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal |
||
434 | else |
||
1320 | hbuss | 435 | { |
2366 | holgerb | 436 | if((EE_Parameter.ServoCompInvert & SERVO_NICK_INV) && (EE_Parameter.ServoCompInvert & SERVO_RELATIVE)) NickServoValue = 12000;//((128 + 60) * 4 * 16); // neutral position = upper 1/4// else |
437 | else NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
||
2349 | holgerb | 438 | CalculateServoSignals = 1; |
439 | CalculateServo(); // nick |
||
440 | CalculateServo(); // roll |
||
2240 | holgerb | 441 | } |
1702 | holgerb | 442 | |
2316 | holgerb | 443 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
444 | signed int tilt1, tilt2; |
||
445 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
446 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
447 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
||
448 | CosAttitude = c_cos_8192(tilt1); |
||
449 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
||
450 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
||
2427 | holgerb | 451 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 30) || (NeutralAccZ > 682 + 35)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
2316 | holgerb | 452 | #else |
453 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
||
2330 | holgerb | 454 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
2316 | holgerb | 455 | #endif |
1765 | killagreg | 456 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
457 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
458 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
459 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
460 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
461 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
2316 | holgerb | 462 | if(VersionInfo.HardwareError[0]) sucess = 0; |
1862 | holgerb | 463 | carefree_old = 70; |
1925 | holgerb | 464 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 465 | LIBFC_HoTT_Clear(); |
2316 | holgerb | 466 | ACC_AltitudeFusion(2); // initalisation |
1925 | holgerb | 467 | #endif |
2367 | holgerb | 468 | StartLuftdruck = Luftdruck; |
469 | VarioMeter = 0; |
||
470 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
||
2373 | holgerb | 471 | DebugOut.Analog[28] = 0; // I2C-Counter |
2367 | holgerb | 472 | CalcExpandBaroStep(); |
2481 | holgerb | 473 | if(FC_StatusFlags3 & FC_STATUS3_BOAT && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 4; |
2518 | holgerb | 474 | ShutterCounter = 0; |
2497 | holgerb | 475 | /* |
476 | //+++++++++++++++++++++++++++++++++++++++++++ |
||
477 | //For testing the expandBaro at 30m |
||
478 | ExpandBaro -= 1; |
||
479 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
480 | OCR0B = 255 - OCR0A; |
||
481 | CalcExpandBaroStep(); |
||
482 | //+++++++++++++++++++++++++++++++++++++++++++ |
||
483 | */ |
||
2316 | holgerb | 484 | return(sucess); |
1 | ingob | 485 | } |
486 | |||
1702 | holgerb | 487 | |
1 | ingob | 488 | //############################################################################ |
395 | hbuss | 489 | // Bearbeitet die Messwerte |
1 | ingob | 490 | void Mittelwert(void) |
491 | //############################################################################ |
||
1051 | killagreg | 492 | { |
1111 | hbuss | 493 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
494 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
1153 | hbuss | 495 | signed long winkel_nick, winkel_roll; |
1111 | hbuss | 496 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 497 | MesswertNick = (signed int) AdWertNickFilter / 8; |
498 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
1153 | hbuss | 499 | RohMesswertNick = MesswertNick; |
500 | RohMesswertRoll = MesswertRoll; |
||
1166 | hbuss | 501 | |
395 | hbuss | 502 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | holgerb | 503 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
504 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
805 | hbuss | 505 | NaviAccNick += AdWertAccNick; |
506 | NaviAccRoll += AdWertAccRoll; |
||
507 | NaviCntAcc++; |
||
1153 | hbuss | 508 | |
1155 | hbuss | 509 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
2471 | holgerb | 510 | HoehenWert = HoehenWert_Mess; |
511 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
512 | HoehenWertF = HoehenWertF_Mess; |
||
513 | #else |
||
514 | HoehenWertF = HoehenWert; |
||
515 | #endif |
||
516 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1155 | hbuss | 517 | // ADC einschalten |
1171 | hbuss | 518 | ANALOG_ON; |
1155 | hbuss | 519 | AdReady = 0; |
520 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
521 | |||
1216 | killagreg | 522 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
523 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
1153 | hbuss | 524 | else winkel_roll = Mess_IntegralRoll; |
525 | |||
1216 | killagreg | 526 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
527 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
1153 | hbuss | 528 | else winkel_nick = Mess_IntegralNick; |
529 | |||
1120 | hbuss | 530 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
1153 | hbuss | 531 | Mess_Integral_Gier += MesswertGier; |
532 | ErsatzKompass += MesswertGier; |
||
395 | hbuss | 533 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
2575 | holgerb | 534 | if(!Looping_Nick && !Looping_Roll)// && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
395 | hbuss | 535 | { |
1153 | hbuss | 536 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
1120 | hbuss | 537 | tmpl3 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 538 | tmpl3 /= 4096L; |
1153 | hbuss | 539 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
1216 | killagreg | 540 | tmpl4 *= Parameter_AchsKopplung2; //65 |
1111 | hbuss | 541 | tmpl4 /= 4096L; |
1153 | hbuss | 542 | KopplungsteilNickRoll = tmpl3; |
543 | KopplungsteilRollNick = tmpl4; |
||
1111 | hbuss | 544 | tmpl4 -= tmpl3; |
545 | ErsatzKompass += tmpl4; |
||
1166 | hbuss | 546 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
1111 | hbuss | 547 | |
1153 | hbuss | 548 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
1111 | hbuss | 549 | tmpl *= Parameter_AchsKopplung1; // 90 |
880 | hbuss | 550 | tmpl /= 4096L; |
1153 | hbuss | 551 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
395 | hbuss | 552 | tmpl2 *= Parameter_AchsKopplung1; |
1662 | killagreg | 553 | tmpl2 /= 4096L; |
1225 | hbuss | 554 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
1153 | hbuss | 555 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
395 | hbuss | 556 | } |
1166 | hbuss | 557 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
1658 | holgerb | 558 | TrimRoll = tmpl - tmpl2 / 100L; |
559 | TrimNick = -tmpl2 + tmpl / 100L; |
||
1111 | hbuss | 560 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
561 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
562 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
395 | hbuss | 563 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 564 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
1051 | killagreg | 565 | if(Mess_IntegralRoll > Umschlag180Roll) |
395 | hbuss | 566 | { |
882 | hbuss | 567 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
1051 | killagreg | 568 | } |
395 | hbuss | 569 | if(Mess_IntegralRoll <-Umschlag180Roll) |
570 | { |
||
882 | hbuss | 571 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
1051 | killagreg | 572 | } |
395 | hbuss | 573 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | hbuss | 574 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
1051 | killagreg | 575 | if(Mess_IntegralNick > Umschlag180Nick) |
882 | hbuss | 576 | { |
577 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
1051 | killagreg | 578 | } |
579 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
395 | hbuss | 580 | { |
882 | hbuss | 581 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
1051 | killagreg | 582 | } |
1111 | hbuss | 583 | |
1 | ingob | 584 | Integral_Gier = Mess_Integral_Gier; |
585 | IntegralNick = Mess_IntegralNick; |
||
586 | IntegralRoll = Mess_IntegralRoll; |
||
587 | |||
2481 | holgerb | 588 | |
1166 | hbuss | 589 | #define D_LIMIT 128 |
590 | |||
1171 | hbuss | 591 | MesswertNick = HiResNick / 8; |
592 | MesswertRoll = HiResRoll / 8; |
||
1166 | hbuss | 593 | |
1167 | hbuss | 594 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
2426 | holgerb | 595 | // if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
596 | // else |
||
597 | { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
1167 | hbuss | 598 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
2426 | holgerb | 599 | // if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
600 | // else |
||
601 | { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
1167 | hbuss | 602 | |
1216 | killagreg | 603 | if(Parameter_Gyro_D) |
1111 | hbuss | 604 | { |
1166 | hbuss | 605 | d2Nick = HiResNick - oldNick; |
606 | oldNick = (oldNick + HiResNick)/2; |
||
1111 | hbuss | 607 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
608 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
1791 | holgerb | 609 | |
1166 | hbuss | 610 | d2Roll = HiResRoll - oldRoll; |
611 | oldRoll = (oldRoll + HiResRoll)/2; |
||
1111 | hbuss | 612 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
613 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
1791 | holgerb | 614 | |
615 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
1166 | hbuss | 616 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
617 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
618 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
1216 | killagreg | 619 | } |
1111 | hbuss | 620 | |
1166 | hbuss | 621 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
622 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
623 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
624 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
1153 | hbuss | 625 | |
1916 | holgerb | 626 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
1153 | hbuss | 627 | { |
628 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
629 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
630 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
631 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
632 | } |
||
1 | ingob | 633 | } |
634 | |||
635 | //############################################################################ |
||
636 | // Senden der Motorwerte per I2C-Bus |
||
637 | void SendMotorData(void) |
||
638 | //############################################################################ |
||
1051 | killagreg | 639 | { |
1209 | hbuss | 640 | unsigned char i; |
921 | hbuss | 641 | if(!MotorenEin) |
1 | ingob | 642 | { |
1765 | killagreg | 643 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
2309 | holgerb | 644 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
1216 | killagreg | 645 | for(i=0;i<MAX_MOTORS;i++) |
646 | { |
||
647 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
1638 | holgerb | 648 | Motor[i].SetPoint = MotorTest[i]; |
649 | Motor[i].SetPointLowerBits = 0; |
||
650 | /* |
||
1760 | holgerb | 651 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
652 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
1638 | holgerb | 653 | */ |
1216 | killagreg | 654 | } |
1212 | hbuss | 655 | if(PC_MotortestActive) PC_MotortestActive--; |
1216 | killagreg | 656 | } |
1765 | killagreg | 657 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
1744 | holgerb | 658 | |
2418 | holgerb | 659 | // ++++++++++++++++++++++++++++++++++++++++++ |
660 | |||
661 | // ++++++++++++++++++++++++++++++++++++++++++ |
||
2427 | holgerb | 662 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 663 | I2CTimeout = 100; |
2529 | holgerb | 664 | return; // don't send I2C-Data |
2427 | holgerb | 665 | #endif |
666 | |||
667 | #ifdef REDUNDANT_FC_MASTER |
||
668 | if(Parameter_UserParam7 > 150) |
||
2418 | holgerb | 669 | { |
2529 | holgerb | 670 | FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST; |
2427 | holgerb | 671 | // Make noise |
672 | if((BeepMuster == 0xffff)) { beeptime = 25000; BeepMuster = 0x0080; } |
||
673 | // Do not send I2C-Data |
||
2529 | holgerb | 674 | if((FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) || !(FC_StatusFlags |= FC_STATUS_MOTOR_RUN)) |
2427 | holgerb | 675 | { |
676 | I2CTimeout = 100; |
||
2554 | holgerb | 677 | if(modell_fliegt != 0 && modell_fliegt < 100) modell_fliegt = 100; // ansonsten kann es vorkommen, dass die Master-FC auf Standgas bleibt |
2529 | holgerb | 678 | return; // don't send I2C-Data |
2427 | holgerb | 679 | } |
2418 | holgerb | 680 | } |
681 | #endif |
||
1765 | killagreg | 682 | if(I2C_TransferActive) |
1744 | holgerb | 683 | { |
1760 | holgerb | 684 | I2C_TransferActive = 0; // enable for the next time |
1765 | killagreg | 685 | } |
686 | else |
||
1744 | holgerb | 687 | { |
2407 | holgerb | 688 | // motor_write = 0; |
1760 | holgerb | 689 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
1765 | killagreg | 690 | } |
1 | ingob | 691 | } |
692 | |||
2342 | holgerb | 693 | unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
694 | { |
||
695 | int tmp2; |
||
696 | if(ch == 0) return(0); |
||
697 | tmp2 = PPM_in[ch] + 127; |
||
698 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
||
699 | return(tmp2); |
||
700 | } |
||
1 | ingob | 701 | |
702 | //############################################################################ |
||
703 | // Trägt ggf. das Poti als Parameter ein |
||
1051 | killagreg | 704 | void ParameterZuordnung(void) |
1 | ingob | 705 | //############################################################################ |
706 | { |
||
1787 | holgerb | 707 | unsigned char tmp,i; |
708 | for(i=0;i<8;i++) |
||
709 | { |
||
710 | int tmp2; |
||
1933 | holgerb | 711 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
712 | tmp2 = PPM_in[tmp] + 127; |
||
1787 | holgerb | 713 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
1933 | holgerb | 714 | |
715 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
716 | else |
||
1787 | holgerb | 717 | if(tmp2 != Poti[i]) |
718 | { |
||
719 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
720 | if(Poti[i] > tmp2) Poti[i]--; |
||
721 | else Poti[i]++; |
||
722 | } |
||
723 | } |
||
921 | hbuss | 724 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
725 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
726 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
1933 | holgerb | 727 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
728 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
2443 | holgerb | 729 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} // Out1 (J16) |
730 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} |
||
2349 | holgerb | 731 | else CHK_POTI_MM(Parameter_Servo3,EE_Parameter.Servo3, 24, 255); |
2012 | holgerb | 732 | |
2443 | holgerb | 733 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} |
734 | 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 | 735 | else CHK_POTI_MM(Parameter_Servo4,EE_Parameter.Servo4, 24, 255); |
736 | |||
737 | CHK_POTI_MM(Parameter_Servo5,EE_Parameter.Servo5, 24, 255); |
||
2342 | holgerb | 738 | Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
1377 | hbuss | 739 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
2486 | holgerb | 740 | CHK_POTI(Parameter_Hoehe_TiltCompensation,EE_Parameter.Hoehe_TiltCompensation); |
1377 | hbuss | 741 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
742 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
743 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
744 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
745 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
746 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
747 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
748 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
749 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
750 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
751 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
752 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
753 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
754 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
755 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
756 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
2296 | holgerb | 757 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
758 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
||
1377 | hbuss | 759 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
1668 | holgerb | 760 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
761 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
1377 | hbuss | 762 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
1936 | holgerb | 763 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
2447 | holgerb | 764 | // if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
1916 | holgerb | 765 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
766 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
1377 | hbuss | 767 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
768 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
769 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
1676 | holgerb | 770 | Ki = 10300 / (Parameter_I_Faktor + 1); |
1 | ingob | 771 | MAX_GAS = EE_Parameter.Gas_Max; |
1662 | killagreg | 772 | MIN_GAS = EE_Parameter.Gas_Min; |
1668 | holgerb | 773 | |
2342 | holgerb | 774 | if(EE_Parameter.CareFreeChannel) |
1668 | holgerb | 775 | { |
1682 | holgerb | 776 | CareFree = 1; |
2342 | holgerb | 777 | if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0; |
778 | // if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
||
1862 | holgerb | 779 | if(carefree_old != CareFree) |
780 | { |
||
781 | if(carefree_old < 3) |
||
782 | { |
||
2090 | holgerb | 783 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
784 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
||
785 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
||
786 | #else |
||
2063 | holgerb | 787 | if(CareFree) beeptime = 1500; |
1862 | holgerb | 788 | else beeptime = 200; |
2090 | holgerb | 789 | #endif |
2063 | holgerb | 790 | NeueKompassRichtungMerken = 5; |
1862 | holgerb | 791 | carefree_old = CareFree; |
792 | } else carefree_old--; |
||
793 | } |
||
2569 | holgerb | 794 | #ifndef REDUNDANT_FC_SLAVE |
1937 | holgerb | 795 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
2569 | holgerb | 796 | #endif |
1669 | killagreg | 797 | } |
1839 | holgerb | 798 | else |
799 | { |
||
800 | CareFree = 0; |
||
1862 | holgerb | 801 | carefree_old = 10; |
1839 | holgerb | 802 | } |
1668 | holgerb | 803 | |
2551 | holgerb | 804 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree) // ungültiger Kompasswert |
1690 | holgerb | 805 | { |
2551 | holgerb | 806 | if(BeepMuster == 0xffff) { beeptime = 15000; BeepMuster = 0xA400;}; |
1690 | holgerb | 807 | CareFree = 0; |
1765 | killagreg | 808 | } |
2551 | holgerb | 809 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; } else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
1 | ingob | 810 | } |
811 | |||
2427 | holgerb | 812 | void CalcStickGasHover(void) |
813 | { |
||
814 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
815 | { |
||
816 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
817 | StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
||
818 | } |
||
819 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
820 | LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down |
||
821 | } |
||
822 | |||
2499 | holgerb | 823 | void ChannelAssingment(void) |
824 | { |
||
825 | cli(); |
||
826 | ChannelNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
||
827 | ChannelRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
||
828 | ChannelYaw = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
||
829 | ChannelGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; |
||
830 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
831 | //+ Analoge Steuerung per Seriell |
||
832 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
833 | if((ExternalControl.Config & EC_VALID) && (Parameter_ExternalControl > 128)) |
||
834 | { |
||
835 | ChannelNick += ExternalControl.Nick; |
||
836 | ChannelRoll += ExternalControl.Roll; |
||
837 | ChannelYaw += ExternalControl.Gier; |
||
838 | if(ExternalControl.Config & EC_GAS_ADD) ChannelGas += ExternalControl.Gas; |
||
839 | else |
||
840 | { |
||
841 | if(ExternalControl.Gas < ChannelGas) ChannelGas = ExternalControl.Gas; // the RC-Stick is the MAX value here |
||
842 | } |
||
843 | } |
||
844 | sei(); |
||
845 | if(ChannelNick > 127) ChannelNick = 127; else if(ChannelNick < -127) ChannelNick = -127; |
||
846 | if(ChannelRoll > 127) ChannelRoll = 127; else if(ChannelRoll < -127) ChannelRoll = -127; |
||
847 | if(ChannelYaw > 127) ChannelYaw = 127; else if(ChannelYaw < -127) ChannelYaw = -127; |
||
848 | if(ChannelGas > 127) ChannelGas = 127; else if(ChannelGas < -127) ChannelGas = -127; |
||
849 | } |
||
2427 | holgerb | 850 | |
1 | ingob | 851 | //############################################################################ |
852 | // |
||
853 | void MotorRegler(void) |
||
854 | //############################################################################ |
||
855 | { |
||
1330 | killagreg | 856 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
1 | ingob | 857 | int GierMischanteil,GasMischanteil; |
858 | static long sollGier = 0,tmp_long,tmp_long2; |
||
2538 | holgerb | 859 | static unsigned int RcLostTimer, delay_Acc_neutral; |
1 | ingob | 860 | static unsigned char delay_neutral = 0; |
861 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
2146 | holgerb | 862 | static signed char move_safety_switch = 0; |
1153 | hbuss | 863 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
1209 | hbuss | 864 | unsigned char i; |
1051 | killagreg | 865 | Mittelwert(); |
866 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 867 | // Gaswert ermitteln |
1051 | killagreg | 868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2230 | holgerb | 869 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
870 | { |
||
871 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
||
2028 | holgerb | 872 | { |
873 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
874 | { |
||
875 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
876 | } |
||
877 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
878 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
2230 | holgerb | 879 | } |
880 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
||
881 | { |
||
882 | StickGas = 0; // Hold Gas down in that case |
||
2499 | holgerb | 883 | // ExternalControl.Gas = 0; |
2230 | holgerb | 884 | HooverGasEmergencyPercent = MIN_GAS; |
885 | } |
||
1051 | killagreg | 886 | GasMischanteil = StickGas; |
831 | hbuss | 887 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
1051 | killagreg | 888 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | hbuss | 889 | // Empfang schlecht |
1051 | killagreg | 890 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 891 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
1 | ingob | 892 | { |
2541 | holgerb | 893 | ServoFailsafeActive = SERVO_FS_TIME; |
1051 | killagreg | 894 | if(RcLostTimer) RcLostTimer--; |
895 | else |
||
1 | ingob | 896 | { |
897 | MotorenEin = 0; |
||
1954 | holgerb | 898 | modell_fliegt = 0; |
899 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
1051 | killagreg | 900 | } |
1 | ingob | 901 | ROT_ON; |
2008 | holgerb | 902 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
1 | ingob | 903 | { |
2028 | holgerb | 904 | GasMischanteil = HooverGasEmergencyPercent; |
1765 | killagreg | 905 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
173 | holgerb | 906 | } |
1954 | holgerb | 907 | else |
908 | { |
||
909 | MotorenEin = 0; |
||
910 | } |
||
1 | ingob | 911 | } |
1051 | killagreg | 912 | else |
913 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 914 | // Emfang gut |
1051 | killagreg | 915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 916 | if(SenderOkay > 140) |
917 | { |
||
2340 | holgerb | 918 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2345 | holgerb | 919 | static unsigned int trigger = 1000; |
2340 | holgerb | 920 | static unsigned char old_switch = 100; |
921 | if(EE_Parameter.StartLandChannel && EE_Parameter.LandingSpeed) |
||
922 | { |
||
923 | if(PPM_in[EE_Parameter.StartLandChannel] > 50) |
||
924 | { |
||
925 | if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
||
2342 | holgerb | 926 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
2340 | holgerb | 927 | old_switch = 150; |
928 | } |
||
929 | else |
||
930 | if(PPM_in[EE_Parameter.StartLandChannel] < -50) |
||
931 | { |
||
932 | if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
||
2342 | holgerb | 933 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
2340 | holgerb | 934 | old_switch = 50; |
935 | } |
||
936 | else |
||
937 | { |
||
938 | FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
||
939 | } |
||
940 | } |
||
941 | #endif |
||
1765 | killagreg | 942 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
1 | ingob | 943 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
921 | hbuss | 944 | if(GasMischanteil > 40 && MotorenEin) |
1 | ingob | 945 | { |
946 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
947 | } |
||
871 | hbuss | 948 | if((modell_fliegt < 256)) |
2309 | holgerb | 949 | { |
1 | ingob | 950 | SummeNick = 0; |
951 | SummeRoll = 0; |
||
1682 | holgerb | 952 | sollGier = 0; |
953 | Mess_Integral_Gier = 0; |
||
2309 | holgerb | 954 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
2340 | holgerb | 955 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
956 | old_switch = 100; |
||
957 | #endif |
||
2309 | holgerb | 958 | } |
959 | else |
||
960 | { |
||
961 | FC_StatusFlags |= FC_STATUS_FLY; |
||
962 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
||
963 | { |
||
2322 | holgerb | 964 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2340 | holgerb | 965 | if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl) |
2322 | holgerb | 966 | { |
2340 | holgerb | 967 | FromNC_AltitudeSpeed = 80; |
968 | FromNC_AltitudeSetpoint = 500; |
||
969 | SollHoehe = 500; |
||
2322 | holgerb | 970 | trigger = 1000; |
2340 | holgerb | 971 | if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP; |
2322 | holgerb | 972 | /* if(StartTrigger != 2) |
973 | { |
||
974 | StartTrigger = 1; |
||
975 | if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
||
976 | } |
||
977 | */ |
||
978 | } |
||
2340 | holgerb | 979 | // else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING); |
2322 | holgerb | 980 | #endif |
2340 | holgerb | 981 | if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
2309 | holgerb | 982 | { |
983 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
2322 | holgerb | 984 | trigger = 1000; |
2369 | holgerb | 985 | if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/} |
986 | else SpeakHoTT = SPEAK_RISING; |
||
2309 | holgerb | 987 | #endif |
2340 | holgerb | 988 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
2309 | holgerb | 989 | } |
990 | SummeNick = 0; |
||
991 | SummeRoll = 0; |
||
992 | Mess_Integral_Gier = 0; |
||
993 | // sollGier = 0; |
||
994 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
||
995 | } |
||
2322 | holgerb | 996 | else // Flying mode |
997 | { |
||
998 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
2340 | holgerb | 999 | if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl) |
1000 | { |
||
1001 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
||
1002 | FromNC_AltitudeSetpoint = -20000; |
||
1003 | } |
||
2322 | holgerb | 1004 | if(trigger < 1000) |
1005 | { |
||
1006 | trigger++; |
||
1007 | SummeNick = 0; |
||
1008 | SummeRoll = 0; |
||
1009 | Mess_Integral_Gier = 0; |
||
1010 | SollHoehe = HoehenWertF - 300; |
||
2345 | holgerb | 1011 | if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+') |
1012 | { |
||
1013 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
||
1014 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state |
||
1015 | } |
||
2322 | holgerb | 1016 | } |
1017 | else |
||
1018 | if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
||
1019 | { |
||
2521 | holgerb | 1020 | if((Aktuell_az/4 > EE_Parameter.LandingPulse) && (NeutralAccZ/4 > EE_Parameter.LandingPulse)) |
2345 | holgerb | 1021 | { |
1022 | trigger = 0; |
||
1023 | SpeakHoTT = SPEAK_LANDING; |
||
1024 | }; |
||
2322 | holgerb | 1025 | } |
1026 | #endif |
||
1027 | } |
||
1028 | } // end of: modell_fliegt > 256 |
||
2496 | holgerb | 1029 | if((ChannelGas > 80) && MotorenEin == 0 && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)) |
1 | ingob | 1030 | { |
1051 | killagreg | 1031 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1032 | // auf Nullwerte kalibrieren |
1051 | killagreg | 1033 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2538 | holgerb | 1034 | if(ChannelYaw > 75) // Neutralwerte |
1 | ingob | 1035 | { |
1036 | if(++delay_neutral > 200) // nicht sofort |
||
1037 | { |
||
2481 | holgerb | 1038 | unsigned char setting = 0; |
1 | ingob | 1039 | delay_neutral = 0; |
1040 | modell_fliegt = 0; |
||
2496 | holgerb | 1041 | if(ChannelNick > 70 || abs(ChannelRoll) > 70) |
1 | ingob | 1042 | { |
2496 | holgerb | 1043 | if(ChannelRoll > 70 && ChannelNick < 70 && ChannelNick > -70) setting = 1; |
1044 | if(ChannelRoll > 70 && ChannelNick > 70) setting = 2; |
||
1045 | if(ChannelRoll < 70 && ChannelNick > 70) setting = 3; |
||
1046 | if(ChannelRoll <-70 && ChannelNick > 70) setting = 4; |
||
1047 | if(ChannelRoll <-70 && ChannelNick < 70 && ChannelNick > -70) setting = 5; |
||
2481 | holgerb | 1048 | if(setting) SetActiveParamSet(setting); // aktiven Datensatz merken |
1 | ingob | 1049 | } |
2496 | holgerb | 1050 | if(abs(ChannelRoll) < 30 && ChannelNick < -70) |
1051 | killagreg | 1051 | { |
2538 | holgerb | 1052 | WinkelOut.CalcState = 1; // Compass kalibrieren |
2009 | holgerb | 1053 | CalibrationDone = 0; |
819 | hbuss | 1054 | beeptime = 1000; |
1055 | } |
||
1056 | else |
||
1 | ingob | 1057 | { |
2340 | holgerb | 1058 | ParamSet_ReadFromEEProm(ActiveParamSet); |
1413 | killagreg | 1059 | LipoDetection(0); |
1626 | killagreg | 1060 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1916 | holgerb | 1061 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
819 | hbuss | 1062 | { |
1 | ingob | 1063 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
1051 | killagreg | 1064 | } |
2538 | holgerb | 1065 | if(!setting && ChannelRoll < -70 && ChannelNick < 70) CalibrationDone = SetNeutral(3); // Boat-Mode |
1066 | // else |
||
1067 | // if(!setting && ChannelYaw < -75 && abs(ChannelNick) < 70) CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
||
2481 | holgerb | 1068 | else CalibrationDone = SetNeutral(1); |
1232 | hbuss | 1069 | ServoActive = 1; |
1070 | DDRD |=0x80; // enable J7 -> Servo signal |
||
2263 | holgerb | 1071 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2309 | holgerb | 1072 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
2316 | holgerb | 1073 | else |
1074 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
2309 | holgerb | 1075 | else SpeakHoTT = SPEAK_CALIBRATE; |
2481 | holgerb | 1076 | ShowSettingNameTime = 10; // for HoTT & Jeti |
2263 | holgerb | 1077 | #endif |
2332 | holgerb | 1078 | Piep(ActiveParamSet,120); |
819 | hbuss | 1079 | } |
1051 | killagreg | 1080 | } |
1 | ingob | 1081 | } |
2538 | holgerb | 1082 | else |
1083 | if(ChannelYaw < -75 && abs(ChannelRoll) < 16 && abs(ChannelRoll) < 16) // ACC calibrate |
||
1084 | { |
||
1085 | if(++delay_Acc_neutral > 500 * 5) // 5 sekunden |
||
1086 | { |
||
1087 | delay_Acc_neutral = 0; |
||
1088 | CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
||
1089 | ServoActive = 1; |
||
1090 | DDRD |=0x80; // enable J7 -> Servo signal |
||
1091 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1092 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
||
1093 | else |
||
1094 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
1095 | else SpeakHoTT = SPEAK_CALIBRATE; |
||
1096 | ShowSettingNameTime = 10; // for HoTT & Jeti |
||
1097 | #endif |
||
1098 | Piep(ActiveParamSet,120); |
||
1099 | } |
||
1100 | } |
||
1101 | else { delay_neutral = 0; delay_Acc_neutral = 0;}; |
||
1 | ingob | 1102 | } |
1051 | killagreg | 1103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1104 | // Gas ist unten |
1051 | killagreg | 1105 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2496 | holgerb | 1106 | if(ChannelGas < -100) |
1 | ingob | 1107 | { |
2146 | holgerb | 1108 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
1109 | else |
||
1110 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
||
1521 | killagreg | 1111 | // Motoren Starten |
1112 | if(!MotorenEin) |
||
1113 | { |
||
2496 | holgerb | 1114 | if(((((ChannelYaw < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
2481 | holgerb | 1115 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
1116 | && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)) |
||
1521 | killagreg | 1117 | { |
1051 | killagreg | 1118 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1119 | // Einschalten |
1051 | killagreg | 1120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2146 | holgerb | 1121 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
2367 | holgerb | 1122 | |
2309 | holgerb | 1123 | StartLuftdruck = Luftdruck; |
1124 | HoehenWert = 0; |
||
2471 | holgerb | 1125 | HoehenWert_Mess = 0; |
2481 | holgerb | 1126 | GasIsZeroCnt = 600; |
2471 | holgerb | 1127 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1128 | HoehenWertF_Mess = 0; |
||
1129 | #endif |
||
2309 | holgerb | 1130 | SummenHoehe = 0; |
2496 | holgerb | 1131 | if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
2146 | holgerb | 1132 | if(++delay_einschalten > 253) |
1521 | killagreg | 1133 | { |
2481 | holgerb | 1134 | 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 |
1135 | else |
||
2407 | holgerb | 1136 | 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 | 1137 | delay_einschalten = 0; |
2569 | holgerb | 1138 | |
2009 | holgerb | 1139 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1622 | killagreg | 1140 | { |
1141 | modell_fliegt = 1; |
||
1142 | MotorenEin = 1; |
||
1143 | sollGier = 0; |
||
1144 | Mess_Integral_Gier = 0; |
||
1145 | Mess_Integral_Gier2 = 0; |
||
1146 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
1147 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
1148 | SummeNick = 0; |
||
1149 | SummeRoll = 0; |
||
1913 | holgerb | 1150 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1840 | holgerb | 1151 | NeueKompassRichtungMerken = 100; // 2 sekunden |
2090 | holgerb | 1152 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1153 | SpeakHoTT = SPEAK_STARTING; |
||
1154 | #endif |
||
1622 | killagreg | 1155 | } |
1156 | else |
||
1157 | { |
||
1158 | beeptime = 1500; // indicate missing calibration |
||
2090 | holgerb | 1159 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2146 | holgerb | 1160 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
2090 | holgerb | 1161 | #endif |
1622 | killagreg | 1162 | } |
1521 | killagreg | 1163 | } |
1164 | } |
||
1165 | else delay_einschalten = 0; |
||
1166 | } |
||
1051 | killagreg | 1167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1168 | // Auschalten |
1051 | killagreg | 1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1521 | killagreg | 1170 | else // only if motors are running |
1171 | { |
||
2146 | holgerb | 1172 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
2496 | holgerb | 1173 | if((((ChannelYaw > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
2146 | holgerb | 1174 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
1521 | killagreg | 1175 | { |
2496 | holgerb | 1176 | if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
2349 | holgerb | 1177 | { |
1178 | delay_ausschalten = 0; |
||
1179 | } |
||
1180 | else |
||
1181 | { |
||
1182 | SummeNick = 0; |
||
1183 | SummeRoll = 0; |
||
1184 | StickNick = 0; |
||
1185 | StickRoll = 0; |
||
1186 | } |
||
2146 | holgerb | 1187 | if(++delay_ausschalten > 250) // nicht sofort |
1521 | killagreg | 1188 | { |
1189 | MotorenEin = 0; |
||
1190 | delay_ausschalten = 0; |
||
1191 | modell_fliegt = 0; |
||
2349 | holgerb | 1192 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
1193 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1194 | SpeakHoTT = SPEAK_MK_OFF; |
||
1195 | #endif |
||
1521 | killagreg | 1196 | } |
2366 | holgerb | 1197 | else |
1198 | if(delay_ausschalten == 100) beeptime = 3500; |
||
1521 | killagreg | 1199 | } |
1200 | else delay_ausschalten = 0; |
||
1201 | } |
||
2369 | holgerb | 1202 | if(GasIsZeroCnt < 1000) |
1203 | { |
||
1204 | if(VarioMeter > -150) GasIsZeroCnt++; |
||
1205 | else if(GasIsZeroCnt) GasIsZeroCnt--; |
||
1206 | } |
||
2230 | holgerb | 1207 | } |
2146 | holgerb | 1208 | else // gas not at minimum |
2230 | holgerb | 1209 | { |
1210 | move_safety_switch = 0; |
||
1211 | GasIsZeroCnt = 0; |
||
1212 | } |
||
1 | ingob | 1213 | } |
2230 | holgerb | 1214 | else // Empfang zwischen 100 und 140 -> schlecht |
1215 | { |
||
1216 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
||
1217 | { |
||
1218 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
||
1219 | { |
||
1220 | GasIsZeroCnt = 30000; |
||
1221 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
||
1222 | } |
||
1223 | } |
||
1224 | } |
||
1051 | killagreg | 1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1226 | // neue Werte von der Funke |
1051 | killagreg | 1227 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1228 | |
1765 | killagreg | 1229 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1 | ingob | 1230 | { |
604 | hbuss | 1231 | static int stick_nick,stick_roll; |
1912 | holgerb | 1232 | unsigned char stick_p; |
1 | ingob | 1233 | ParameterZuordnung(); |
2499 | holgerb | 1234 | ChannelAssingment(); |
2496 | holgerb | 1235 | |
1912 | holgerb | 1236 | stick_p = EE_Parameter.Stick_P; |
2496 | holgerb | 1237 | stick_nick = (stick_nick * 3 + ChannelNick * stick_p) / 4; |
1238 | stick_roll = (stick_roll * 3 + ChannelRoll * stick_p) / 4; |
||
1239 | cli(); |
||
723 | hbuss | 1240 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1241 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
2496 | holgerb | 1242 | sei(); |
1243 | StickGas = ChannelGas + 127; |
||
723 | hbuss | 1244 | |
1707 | holgerb | 1245 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1246 | // CareFree und freie Wahl der vorderen Richtung |
||
1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1865 | holgerb | 1248 | if(CareFree) |
1249 | { |
||
1250 | signed int nick, roll; |
||
1251 | nick = stick_nick / 4; |
||
1252 | roll = stick_roll / 4; |
||
1253 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
1254 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1255 | } |
||
1256 | else |
||
1257 | { |
||
1258 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
1259 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
1260 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
1261 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1262 | } |
||
1662 | killagreg | 1263 | |
2496 | holgerb | 1264 | StickGier = -ChannelYaw; |
1840 | holgerb | 1265 | if(StickGier > 4) StickGier -= 4; else |
1266 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1120 | hbuss | 1267 | |
2369 | holgerb | 1268 | if(GasIsZeroCnt > 512) // About to switch - off |
1269 | { |
||
1270 | StickNick = StickNick/8; |
||
1271 | StickRoll = StickRoll/8; |
||
1272 | SummeNick = 0; |
||
1273 | SummeRoll = 0; |
||
1274 | } |
||
1275 | else |
||
1945 | holgerb | 1276 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1277 | { |
||
1278 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
1279 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
1280 | } |
||
1912 | holgerb | 1281 | StickNick -= GPS_Nick; |
1282 | StickRoll -= GPS_Roll; |
||
1330 | killagreg | 1283 | |
1153 | hbuss | 1284 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1285 | IntegralFaktor = Parameter_Gyro_I; |
||
1322 | hbuss | 1286 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1287 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1 | ingob | 1288 | |
1330 | killagreg | 1289 | |
1916 | holgerb | 1290 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
723 | hbuss | 1291 | |
1051 | killagreg | 1292 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
928 | hbuss | 1293 | { |
1051 | killagreg | 1294 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
928 | hbuss | 1295 | if(MaxStickNick > 100) MaxStickNick = 100; |
1051 | killagreg | 1296 | } |
928 | hbuss | 1297 | else MaxStickNick--; |
1051 | killagreg | 1298 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
928 | hbuss | 1299 | { |
1051 | killagreg | 1300 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
928 | hbuss | 1301 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1051 | killagreg | 1302 | } |
928 | hbuss | 1303 | else MaxStickRoll--; |
1765 | killagreg | 1304 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
723 | hbuss | 1305 | |
1051 | killagreg | 1306 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | holgerb | 1307 | // Looping? |
1051 | killagreg | 1308 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | hbuss | 1309 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1051 | killagreg | 1310 | else |
1311 | { |
||
395 | hbuss | 1312 | { |
1051 | killagreg | 1313 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1314 | } |
||
1315 | } |
||
993 | hbuss | 1316 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1051 | killagreg | 1317 | else |
395 | hbuss | 1318 | { |
1319 | if(Looping_Rechts) // Hysterese |
||
1320 | { |
||
1321 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
1322 | } |
||
1051 | killagreg | 1323 | } |
173 | holgerb | 1324 | |
993 | hbuss | 1325 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1051 | killagreg | 1326 | else |
1327 | { |
||
395 | hbuss | 1328 | if(Looping_Oben) // Hysterese |
1329 | { |
||
1051 | killagreg | 1330 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1331 | } |
||
1332 | } |
||
993 | hbuss | 1333 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1051 | killagreg | 1334 | else |
395 | hbuss | 1335 | { |
1336 | if(Looping_Unten) // Hysterese |
||
1337 | { |
||
1338 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
1339 | } |
||
1051 | killagreg | 1340 | } |
395 | hbuss | 1341 | |
1342 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1153 | hbuss | 1343 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
395 | hbuss | 1344 | } // Ende neue Funken-Werte |
1345 | |||
1346 | if(Looping_Roll || Looping_Nick) |
||
1347 | { |
||
173 | holgerb | 1348 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1153 | hbuss | 1349 | TrichterFlug = 1; |
173 | holgerb | 1350 | } |
1351 | |||
1051 | killagreg | 1352 | |
1353 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1354 | // Bei Empfangsausfall im Flug |
||
1355 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1916 | holgerb | 1356 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1357 | { |
||
1358 | StickNick = -GPS_Nick; |
||
1359 | StickRoll = -GPS_Roll; |
||
2230 | holgerb | 1360 | StickGas = StickGasHover; |
2407 | holgerb | 1361 | StickGier = 0; |
1916 | holgerb | 1362 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1363 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1364 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1365 | Parameter_HoehenSchalter = 200; // switch on |
||
1366 | } |
||
1367 | else |
||
1765 | killagreg | 1368 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1 | ingob | 1369 | { |
1370 | StickGier = 0; |
||
1371 | StickNick = 0; |
||
1372 | StickRoll = 0; |
||
1211 | hbuss | 1373 | GyroFaktor = 90; |
1374 | IntegralFaktor = 120; |
||
1375 | GyroFaktorGier = 90; |
||
1376 | IntegralFaktorGier = 120; |
||
173 | holgerb | 1377 | Looping_Roll = 0; |
1378 | Looping_Nick = 0; |
||
1051 | killagreg | 1379 | } |
395 | hbuss | 1380 | |
1051 | killagreg | 1381 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1382 | // Integrale auf ACC-Signal abgleichen |
1051 | killagreg | 1383 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | hbuss | 1384 | #define ABGLEICH_ANZAHL 256L |
1385 | |||
1386 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1387 | MittelIntegralRoll += IntegralRoll; |
||
1388 | if(Looping_Nick || Looping_Roll) |
||
1389 | { |
||
1390 | MittelIntegralNick = 0; |
||
1391 | MittelIntegralRoll = 0; |
||
1392 | ZaehlMessungen = 0; |
||
498 | hbuss | 1393 | LageKorrekturNick = 0; |
1394 | LageKorrekturRoll = 0; |
||
395 | hbuss | 1395 | } |
1396 | |||
1051 | killagreg | 1397 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | hbuss | 1398 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
469 | hbuss | 1399 | { |
1400 | long tmp_long, tmp_long2; |
||
1839 | holgerb | 1401 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
992 | hbuss | 1402 | { |
1944 | holgerb | 1403 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1404 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1405 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1406 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1407 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1408 | { |
||
1409 | tmp_long /= 2; |
||
1410 | tmp_long2 /= 2; |
||
1411 | } |
||
2309 | holgerb | 1412 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1944 | holgerb | 1413 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1414 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1415 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
992 | hbuss | 1416 | } |
1051 | killagreg | 1417 | else |
992 | hbuss | 1418 | { |
1944 | holgerb | 1419 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1420 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1421 | tmp_long /= 16; |
||
1422 | tmp_long2 /= 16; |
||
1423 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1424 | { |
||
1425 | tmp_long /= 3; |
||
1426 | tmp_long2 /= 3; |
||
1427 | } |
||
2496 | holgerb | 1428 | if(abs(ChannelYaw) > 25) |
1944 | holgerb | 1429 | { |
1430 | tmp_long /= 3; |
||
1431 | tmp_long2 /= 3; |
||
1432 | } |
||
1433 | KompassFusion = 25; |
||
1155 | hbuss | 1434 | #define AUSGLEICH 32 |
1944 | holgerb | 1435 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1436 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1437 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1438 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
992 | hbuss | 1439 | } |
1166 | hbuss | 1440 | |
2481 | holgerb | 1441 | Mess_IntegralNick -= tmp_long; |
1442 | Mess_IntegralRoll -= tmp_long2; |
||
1443 | DriftNick += tmp_long; |
||
1444 | DriftRoll += tmp_long2; |
||
469 | hbuss | 1445 | } |
1051 | killagreg | 1446 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2499 | holgerb | 1447 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) //alle 512ms |
395 | hbuss | 1448 | { |
2481 | holgerb | 1449 | // static int cnt = 0; |
1450 | // static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
395 | hbuss | 1451 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
2481 | holgerb | 1452 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1453 | // Gyro-Drift ermitteln |
||
1454 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1455 | if(EE_Parameter.Driftkomp && abs(Mittelwert_AccNick) < 200*4 && abs(Mittelwert_AccRoll) < 200*4 && !TrichterFlug && abs(MesswertGier) < 32/* && (FC_StatusFlags & FC_STATUS_FLY)*/) |
||
1456 | { |
||
1457 | DriftNick -= DriftNick / (64 * (unsigned int) EE_Parameter.Driftkomp); |
||
1458 | DriftRoll -= DriftRoll / (64 * (unsigned int) EE_Parameter.Driftkomp); |
||
1459 | GierGyroFehler -= GierGyroFehler / (64 * (unsigned int) EE_Parameter.Driftkomp); |
||
2496 | holgerb | 1460 | if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(ChannelYaw) > 25)) |
2481 | holgerb | 1461 | { |
1462 | DriftNick /= 2; |
||
1463 | DriftRoll /= 2; |
||
1464 | GierGyroFehler = 0; |
||
1465 | } |
||
1466 | if(DriftNick > 3000) { DriftNick = 0; AdNeutralNick++;} |
||
1467 | if(DriftNick <-3000) { DriftNick = 0; AdNeutralNick--;} |
||
1468 | if(DriftRoll > 3000) { DriftRoll = 0; AdNeutralRoll++;} |
||
1469 | if(DriftRoll <-3000) { DriftRoll = 0; AdNeutralRoll--;} |
||
1470 | if(GierGyroFehler > 3500) { GierGyroFehler = 0; AdNeutralGier++; } |
||
1471 | if(GierGyroFehler <-3500) { GierGyroFehler = 0; AdNeutralGier--; } |
||
1472 | } |
||
1473 | else |
||
1474 | { |
||
1475 | DriftNick = 0; |
||
1476 | DriftRoll = 0; |
||
1477 | GierGyroFehler = 0; |
||
1478 | } |
||
1479 | TrichterFlug = 0; |
||
1480 | |||
498 | hbuss | 1481 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1051 | killagreg | 1482 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1483 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1484 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1485 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
395 | hbuss | 1486 | MittelIntegralNick = 0; |
1487 | MittelIntegralRoll = 0; |
||
1488 | ZaehlMessungen = 0; |
||
1173 | hbuss | 1489 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
395 | hbuss | 1490 | |
1051 | killagreg | 1491 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1492 | // Gieren |
1051 | killagreg | 1493 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | holgerb | 1494 | if(abs(StickGier) > 3) // war 15 |
1 | ingob | 1495 | { |
1839 | holgerb | 1496 | // KompassSignalSchlecht = 1000; |
1916 | holgerb | 1497 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1051 | killagreg | 1498 | { |
1840 | holgerb | 1499 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
824 | hbuss | 1500 | }; |
1 | ingob | 1501 | } |
1944 | holgerb | 1502 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1503 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
2309 | holgerb | 1504 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
1840 | holgerb | 1505 | tmp_int += CompassGierSetpoint; |
173 | holgerb | 1506 | sollGier = tmp_int; |
1051 | killagreg | 1507 | Mess_Integral_Gier -= tmp_int; |
395 | hbuss | 1508 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1509 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1051 | killagreg | 1510 | |
1511 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1512 | // Kompass |
1051 | killagreg | 1513 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1916 | holgerb | 1514 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1 | ingob | 1515 | { |
1839 | holgerb | 1516 | if(CalculateCompassTimer-- == 1) |
1517 | { |
||
1518 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1519 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1840 | holgerb | 1520 | // max. Korrekturwert schätzen |
1 | ingob | 1521 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1522 | v = abs(IntegralRoll /512); |
||
1523 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1972 | holgerb | 1524 | // korrektur = w / 4 + 1; |
1525 | korrektur = w / 8 + 2; |
||
1941 | holgerb | 1526 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1840 | holgerb | 1527 | // Kompassfehlerwert bestimmen |
1941 | holgerb | 1528 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1840 | holgerb | 1529 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1530 | // Kompasswert einloggen |
||
2439 | holgerb | 1531 | if(NeueKompassRichtungMerken) KompassSollWert = ErsatzKompassInGrad; |
1532 | |||
1840 | holgerb | 1533 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1534 | else |
||
1535 | if(w < 25) |
||
921 | hbuss | 1536 | { |
1537 | GierGyroFehler += fehler; |
||
2439 | holgerb | 1538 | if(NeueKompassRichtungMerken) NeueKompassRichtungMerken--; |
1 | ingob | 1539 | } |
1840 | holgerb | 1540 | // Kompass fusionieren |
1839 | holgerb | 1541 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1941 | holgerb | 1542 | // MK Gieren |
1543 | if(!NeueKompassRichtungMerken) |
||
1839 | holgerb | 1544 | { |
1941 | holgerb | 1545 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1839 | holgerb | 1546 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1840 | holgerb | 1547 | CompassGierSetpoint = v / 16; |
1548 | } |
||
1865 | holgerb | 1549 | else CompassGierSetpoint = 0; |
1839 | holgerb | 1550 | } // CalculateCompassTimer |
1051 | killagreg | 1551 | } |
1840 | holgerb | 1552 | else CompassGierSetpoint = 0; |
1972 | holgerb | 1553 | |
1554 | //DebugOut.Analog[16] = KompassFusion; |
||
1051 | killagreg | 1555 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 1556 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1051 | killagreg | 1557 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | killagreg | 1558 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
604 | hbuss | 1559 | |
1171 | hbuss | 1560 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1561 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1153 | hbuss | 1562 | |
1167 | hbuss | 1563 | #define TRIM_MAX 200 |
1166 | hbuss | 1564 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1565 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1153 | hbuss | 1566 | |
1166 | hbuss | 1567 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1568 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1211 | hbuss | 1569 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1166 | hbuss | 1570 | |
1 | ingob | 1571 | // Maximalwerte abfangen |
1685 | holgerb | 1572 | #define MAX_SENSOR (4096) |
1216 | killagreg | 1573 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1 | ingob | 1574 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1575 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1576 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1577 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1578 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1579 | |||
1051 | killagreg | 1580 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2390 | holgerb | 1581 | // Undervoltage |
1582 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1583 | if(!(FC_StatusFlags & FC_STATUS_LOWBAT)) |
||
1584 | { |
||
1585 | GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
||
1586 | } |
||
1587 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1588 | // Auto-Landing |
||
1589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1590 | static unsigned char slower; |
||
1591 | if(!slower--) |
||
1592 | { |
||
2402 | holgerb | 1593 | static unsigned int u_filter = 0; |
1594 | if(!u_filter) u_filter = UBat; |
||
1595 | if(UBat > u_filter) u_filter++; else |
||
1596 | if(UBat < u_filter) u_filter--; |
||
1597 | slower = 100; // 5Hz |
||
2416 | holgerb | 1598 | if(u_filter < BattAutoLandingVoltage) |
2390 | holgerb | 1599 | { |
2402 | holgerb | 1600 | LowVoltageLandingActive = 10; // 2 sek |
2541 | holgerb | 1601 | ServoFailsafeActive = SERVO_FS_TIME; |
2390 | holgerb | 1602 | } |
2416 | holgerb | 1603 | else if(u_filter > BattAutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--; |
2408 | holgerb | 1604 | |
2416 | holgerb | 1605 | if(u_filter < BattComingHomeVoltage) |
2408 | holgerb | 1606 | { |
1607 | LowVoltageHomeActive = 25; // min. 5 sek |
||
1608 | } |
||
2416 | holgerb | 1609 | else if(u_filter > BattComingHomeVoltage + LipoCells && LowVoltageHomeActive) LowVoltageHomeActive--; |
2390 | holgerb | 1610 | } |
1611 | if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0) |
||
1612 | { |
||
1613 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
||
2541 | holgerb | 1614 | if(HoehenWert > 15*100) FromNC_AltitudeSpeed *= 2; // faster above 15m |
2390 | holgerb | 1615 | FromNC_AltitudeSetpoint = -20000; |
1616 | } |
||
1617 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2427 | holgerb | 1618 | // send SPI pending bytes |
1619 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
1620 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 1621 | // Höhenregelung |
1051 | killagreg | 1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 1623 | GasMischanteil *= STICK_GAIN; |
2427 | holgerb | 1624 | // if height control is activated |
2334 | holgerb | 1625 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
1309 | hbuss | 1626 | { |
1698 | holgerb | 1627 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | hbuss | 1628 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1638 | holgerb | 1629 | |
2309 | holgerb | 1630 | int HCGas, GasReduction = 0; |
1309 | hbuss | 1631 | static int HeightTrimming = 0; // rate for change of height setpoint |
2309 | holgerb | 1632 | static int HeightDeviation = 0, FilterHCGas = 0; |
1587 | killagreg | 1633 | static unsigned long HoverGasFilter = 0; |
1322 | hbuss | 1634 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1635 | // Expand the measurement |
||
1636 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1637 | if(!BaroExpandActive) |
||
1638 | { |
||
1639 | if(MessLuftdruck > 920) |
||
1640 | { // increase offset |
||
1330 | killagreg | 1641 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1322 | hbuss | 1642 | { |
1643 | ExpandBaro -= 1; |
||
1644 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
2367 | holgerb | 1645 | OCR0B = 255 - OCR0A; |
1322 | hbuss | 1646 | beeptime = 300; |
2497 | holgerb | 1647 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1648 | if(ACC_AltitudeControl) BaroExpandActive = 50; |
||
1649 | else |
||
1650 | #endif |
||
1651 | BaroExpandActive = 350; |
||
2367 | holgerb | 1652 | CalcExpandBaroStep(); |
1330 | killagreg | 1653 | } |
1654 | else |
||
1322 | hbuss | 1655 | { |
1656 | BaroAtLowerLimit = 1; |
||
1657 | } |
||
1658 | } |
||
1659 | // measurement of air pressure close to lower limit and |
||
1330 | killagreg | 1660 | else |
1322 | hbuss | 1661 | if(MessLuftdruck < 100) |
1662 | { // decrease offset |
||
1330 | killagreg | 1663 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | hbuss | 1664 | { |
1665 | ExpandBaro += 1; |
||
1666 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
2367 | holgerb | 1667 | OCR0B = 255 - OCR0A; |
1322 | hbuss | 1668 | beeptime = 300; |
2497 | holgerb | 1669 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1670 | if(ACC_AltitudeControl) BaroExpandActive = 50; |
||
1671 | else |
||
1672 | #endif |
||
1673 | BaroExpandActive = 350; |
||
2367 | holgerb | 1674 | CalcExpandBaroStep(); |
1330 | killagreg | 1675 | } |
1676 | else |
||
1322 | hbuss | 1677 | { |
1678 | BaroAtUpperLimit = 1; |
||
1679 | } |
||
1680 | } |
||
1330 | killagreg | 1681 | else |
1322 | hbuss | 1682 | { |
1683 | BaroAtUpperLimit = 0; |
||
1684 | BaroAtLowerLimit = 0; |
||
1685 | } |
||
1686 | } |
||
1687 | else // delay, because of expanding the Baro-Range |
||
1688 | { |
||
1689 | // now clear the D-values |
||
2316 | holgerb | 1690 | VarioMeter = 0; |
2497 | holgerb | 1691 | cli(); |
2309 | holgerb | 1692 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1693 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
2309 | holgerb | 1694 | else SummenHoehe = HoehenWert * SM_FILTER; |
1695 | #else |
||
1696 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1697 | #endif |
||
2497 | holgerb | 1698 | sei(); |
1322 | hbuss | 1699 | BaroExpandActive--; |
1700 | } |
||
1328 | hbuss | 1701 | // if height control is activated by an rc channel |
1916 | holgerb | 1702 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1328 | hbuss | 1703 | { // check if parameter is less than activation threshold |
1916 | holgerb | 1704 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1328 | hbuss | 1705 | { //height control not active |
1706 | if(!delay--) |
||
1707 | { |
||
2090 | holgerb | 1708 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1709 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
2090 | holgerb | 1710 | #endif |
1328 | hbuss | 1711 | HoehenReglerAktiv = 0; // disable height control |
1712 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1713 | delay = 1; |
||
1714 | } |
||
1715 | } |
||
1716 | else |
||
2090 | holgerb | 1717 | if(Parameter_HoehenSchalter > 70) |
1328 | hbuss | 1718 | { //height control is activated |
2090 | holgerb | 1719 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 1720 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
2090 | holgerb | 1721 | #endif |
2263 | holgerb | 1722 | delay = 200; |
1328 | hbuss | 1723 | HoehenReglerAktiv = 1; // enable height control |
1724 | } |
||
1051 | killagreg | 1725 | } |
1309 | hbuss | 1726 | else // no switchable height control |
1727 | { |
||
2496 | holgerb | 1728 | SollHoehe = (/*(int16_t) ExternHoehenValue + */(int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1309 | hbuss | 1729 | HoehenReglerAktiv = 1; |
1051 | killagreg | 1730 | } |
1320 | hbuss | 1731 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1330 | killagreg | 1732 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1733 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
2486 | holgerb | 1734 | tmp_int = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1735 | tmp_int = (tmp_int * Parameter_Hoehe_TiltCompensation) / 100; |
||
1736 | LIMIT_MAX(tmp_int, 60); // limit effective attitude angle |
||
1737 | CosAttitude = c_cos_8192(tmp_int); // cos of actual attitude |
||
1591 | holgerb | 1738 | VarioCharacter = ' '; |
1942 | holgerb | 1739 | AltitudeSetpointTrimming = 0; |
1765 | killagreg | 1740 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 1741 | { |
1742 | // Holger original version |
||
1743 | // start of height control algorithm |
||
1744 | // the height control is only an attenuation of the actual gas stick. |
||
1745 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1746 | // and the hover height will be allways larger than height setpoint. |
||
1861 | holgerb | 1747 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1916 | holgerb | 1748 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1314 | killagreg | 1749 | { // old version |
1309 | hbuss | 1750 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1751 | HeightTrimming = 0; |
||
1942 | holgerb | 1752 | AltitudeSetpointTrimming = 0; |
1773 | killagreg | 1753 | // set both flags to indicate no vario mode |
1754 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1309 | hbuss | 1755 | } |
1314 | killagreg | 1756 | else |
1309 | hbuss | 1757 | { |
1758 | // alternative height control |
||
1759 | // PD-Control with respect to hoover point |
||
1760 | // the thrust loss out of horizontal attitude is compensated |
||
1761 | // the setpoint will be fine adjusted with the gas stick position |
||
2390 | holgerb | 1762 | if(/*1 || */FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1309 | hbuss | 1763 | { // gas stick is above hoover point |
1587 | killagreg | 1764 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1309 | hbuss | 1765 | { |
1767 | killagreg | 1766 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1309 | hbuss | 1767 | { |
1767 | killagreg | 1768 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
2309 | holgerb | 1769 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1770 | } |
1966 | holgerb | 1771 | // Limit the maximum Altitude |
2381 | holgerb | 1772 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) |
1773 | { |
||
1774 | AltitudeSetpointTrimming = 0; |
||
1775 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1776 | if(!SpeakHoTT && HoehenWert/95 > Parameter_MaximumAltitude) SpeakHoTT = SPEAK_MAX_ALTITUD; |
||
1777 | #endif |
||
1778 | VarioCharacter = '='; |
||
1779 | } |
||
1966 | holgerb | 1780 | else |
1781 | { |
||
2381 | holgerb | 1782 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
1783 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1784 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
2390 | holgerb | 1785 | if(LowVoltageLandingActive) AltitudeSetpointTrimming /= 3; // only 33% rising |
1591 | holgerb | 1786 | VarioCharacter = '+'; |
1966 | holgerb | 1787 | } |
1865 | holgerb | 1788 | WaypointTrimming = 0; |
1309 | hbuss | 1789 | } // gas stick is below hoover point |
2390 | holgerb | 1790 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) // Minus |
1309 | hbuss | 1791 | { |
2471 | holgerb | 1792 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP || (HeightDeviation < -300)) |
1309 | hbuss | 1793 | { |
1767 | killagreg | 1794 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
2309 | holgerb | 1795 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1309 | hbuss | 1796 | } |
1767 | killagreg | 1797 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1942 | holgerb | 1798 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1591 | holgerb | 1799 | VarioCharacter = '-'; |
1865 | holgerb | 1800 | WaypointTrimming = 0; |
1309 | hbuss | 1801 | } |
1587 | killagreg | 1802 | else // Gas Stick in Hover Range |
1309 | hbuss | 1803 | { |
1855 | holgerb | 1804 | VarioCharacter = '='; |
1857 | holgerb | 1805 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1855 | holgerb | 1806 | { |
1807 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1942 | holgerb | 1808 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1809 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1810 | WaypointTrimming = 10; |
1811 | VarioCharacter = '^'; |
||
1865 | holgerb | 1812 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1813 | { |
||
1814 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
2309 | holgerb | 1815 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1816 | } |
1855 | holgerb | 1817 | } |
1818 | else |
||
1857 | holgerb | 1819 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1855 | holgerb | 1820 | { |
1821 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1942 | holgerb | 1822 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1823 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1857 | holgerb | 1824 | WaypointTrimming = -10; |
1825 | VarioCharacter = 'v'; |
||
1865 | holgerb | 1826 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1827 | { |
||
1828 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
2309 | holgerb | 1829 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1865 | holgerb | 1830 | } |
1855 | holgerb | 1831 | } |
1832 | else |
||
1767 | killagreg | 1833 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1309 | hbuss | 1834 | { |
2309 | holgerb | 1835 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1933 | holgerb | 1836 | else WaypointTrimming = 0; |
1767 | killagreg | 1837 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1309 | hbuss | 1838 | HeightTrimming = 0; |
1916 | holgerb | 1839 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1698 | holgerb | 1840 | if(!StartTrigger && HoehenWert > 50) |
1841 | { |
||
1842 | StartTrigger = 1; |
||
1765 | killagreg | 1843 | } |
1309 | hbuss | 1844 | } |
1845 | } |
||
1846 | // Trim height set point |
||
1942 | holgerb | 1847 | HeightTrimming += AltitudeSetpointTrimming; |
1848 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1309 | hbuss | 1849 | { |
1857 | holgerb | 1850 | if(WaypointTrimming) |
1851 | { |
||
1852 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1853 | else SollHoehe += WaypointTrimming; |
||
1854 | } |
||
1855 | else |
||
1966 | holgerb | 1856 | { |
1857 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1858 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1859 | } |
||
1309 | hbuss | 1860 | HeightTrimming = 0; |
2471 | holgerb | 1861 | LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
2486 | holgerb | 1862 | LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1024), (HoehenWertF+1500)); // max. 15m Unterschied |
1916 | holgerb | 1863 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1320 | hbuss | 1864 | //update hoover gas stick value when setpoint is shifted |
2427 | holgerb | 1865 | if(FromNC_AltitudeSpeed == 0) CalcStickGasHover(); |
1866 | /* |
||
1857 | holgerb | 1867 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1332 | hbuss | 1868 | { |
1587 | killagreg | 1869 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
2427 | holgerb | 1870 | StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
1587 | killagreg | 1871 | if(StickGasHover < 70) StickGasHover = 70; |
2427 | holgerb | 1872 | else if(StickGasHover > 175) StickGasHover = 175; |
1332 | hbuss | 1873 | } |
2427 | holgerb | 1874 | */ |
1309 | hbuss | 1875 | } |
2309 | holgerb | 1876 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1420 | killagreg | 1877 | } //if FCFlags & MKFCFLAG_FLY |
1330 | killagreg | 1878 | else |
1879 | { |
||
2466 | holgerb | 1880 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2462 | holgerb | 1881 | ACC_AltitudeFusion(1); // init the ACC and Altitude fusion |
2466 | holgerb | 1882 | #endif |
2471 | holgerb | 1883 | SollHoehe = HoehenWertF - 2000; |
1884 | |||
1587 | killagreg | 1885 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
2427 | holgerb | 1886 | else StickGasHover = 127; |
1698 | holgerb | 1887 | HoverGas = GasMischanteil; |
1972 | holgerb | 1888 | VarioCharacter = '.'; |
1320 | hbuss | 1889 | } |
1590 | killagreg | 1890 | HCGas = HoverGas; // take hover gas (neutral point) |
1891 | } |
||
2309 | holgerb | 1892 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1283 | hbuss | 1893 | { |
2316 | holgerb | 1894 | if(!ACC_AltitudeControl) |
1895 | { |
||
1590 | killagreg | 1896 | // from this point the Heigth Control Algorithm is identical for both versions |
1897 | if(BaroExpandActive) // baro range expanding active |
||
1898 | { |
||
1899 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1900 | HeightDeviation = 0; |
||
1901 | } // EOF // baro range expanding active |
||
1902 | else // valid data from air pressure sensor |
||
1903 | { |
||
1904 | // ------------------------- P-Part ---------------------------- |
||
2309 | holgerb | 1905 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1590 | killagreg | 1906 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1907 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1695 | holgerb | 1908 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1698 | holgerb | 1909 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1910 | GasReduction = tmp_long; |
||
1590 | killagreg | 1911 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1912 | tmp_int = VarioMeter / 8; |
||
1765 | killagreg | 1913 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1705 | holgerb | 1914 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1915 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1767 | killagreg | 1916 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1765 | killagreg | 1917 | else |
1916 | holgerb | 1918 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1698 | holgerb | 1919 | GasReduction += tmp_int; |
1590 | killagreg | 1920 | } // EOF no baro range expanding |
1309 | hbuss | 1921 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1698 | holgerb | 1922 | if(Parameter_Hoehe_ACC_Wirkung) |
1923 | { |
||
1924 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1925 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1926 | GasReduction += tmp_long; |
||
1765 | killagreg | 1927 | } |
2486 | holgerb | 1928 | /* // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1588 | killagreg | 1929 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1930 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1698 | holgerb | 1931 | GasReduction += tmp_int; |
2486 | holgerb | 1932 | */ |
1701 | holgerb | 1933 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
2309 | holgerb | 1934 | |
1701 | holgerb | 1935 | // ------------------------ ---------------------------------- |
1936 | HCGas -= GasReduction; |
||
1309 | hbuss | 1937 | // limit deviation from hoover point within the target region |
1942 | holgerb | 1938 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1309 | hbuss | 1939 | { |
1765 | killagreg | 1940 | unsigned int tmp; |
1705 | holgerb | 1941 | tmp = abs(HeightDeviation); |
1942 | if(tmp <= 60) |
||
1943 | { |
||
1944 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1945 | } |
||
1946 | else |
||
1765 | killagreg | 1947 | { |
1705 | holgerb | 1948 | tmp = (tmp - 60) / 32; |
1692 | holgerb | 1949 | if(tmp > 15) tmp = 15; |
1705 | holgerb | 1950 | if(HeightDeviation > 0) |
1693 | holgerb | 1951 | { |
1705 | holgerb | 1952 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1953 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1693 | holgerb | 1954 | } |
1705 | holgerb | 1955 | else |
1956 | { |
||
1957 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1958 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1959 | } |
||
1960 | } |
||
1309 | hbuss | 1961 | } |
1322 | hbuss | 1962 | // strech control output by inverse attitude projection 1/cos |
1963 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1330 | killagreg | 1964 | tmp_long2 = (int32_t)HCGas; |
1965 | tmp_long2 *= 8192L; |
||
1966 | tmp_long2 /= CosAttitude; |
||
1967 | HCGas = (int16_t)tmp_long2; |
||
1309 | hbuss | 1968 | // update height control gas averaging |
1969 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1970 | // limit height control gas pd-control output |
||
1971 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1972 | // set GasMischanteil to HeightControlGasFilter |
||
1916 | holgerb | 1973 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1587 | killagreg | 1974 | { // old version |
1975 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1719 | holgerb | 1976 | GasMischanteil = FilterHCGas; |
1765 | killagreg | 1977 | } |
1719 | holgerb | 1978 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
2316 | holgerb | 1979 | } |
2320 | holgerb | 1980 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2316 | holgerb | 1981 | else // ACC-Altitude control |
1982 | { |
||
2309 | holgerb | 1983 | // from this point the Heigth Control Algorithm is identical for both versions |
1984 | if(BaroExpandActive) // baro range expanding active |
||
1985 | { |
||
1986 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1987 | HeightDeviation = 0; |
||
1988 | } // EOF // baro range expanding active |
||
1989 | else // valid data from air pressure sensor |
||
1990 | { |
||
1991 | // ------------------------- P-Part ---------------------------- |
||
1992 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
||
1993 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1994 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1995 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
||
1996 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
||
1997 | GasReduction = tmp_long; |
||
1998 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
||
2316 | holgerb | 1999 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
2309 | holgerb | 2000 | // ------------------------- D-Part: Vario Meter ---------------------------- |
2001 | if(WaypointTrimming) { |
||
2002 | Variance = AltitudeSetpointTrimming * 8; |
||
2003 | } else { |
||
2004 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
||
2005 | } |
||
2006 | tmp_long -= (long)Variance; |
||
2007 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
||
2008 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
||
2009 | GasReduction += tmp_long; |
||
2010 | } // EOF no baro range expanding |
||
2011 | HCGas -= GasReduction; |
||
2012 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
||
2013 | // strech control output by inverse attitude projection 1/cos |
||
2014 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
2015 | tmp_long2 = (int32_t)HCGas; |
||
2016 | tmp_long2 *= 8192L; |
||
2017 | tmp_long2 /= CosAttitude; |
||
2018 | HCGas = (int16_t)tmp_long2; |
||
2019 | // update height control gas averaging |
||
2020 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
2021 | // limit height control gas pd-control output |
||
2471 | holgerb | 2022 | int min; |
2023 | if(GasIsZeroCnt > 400 || (FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)) min = EE_Parameter.Gas_Min; else min = EE_Parameter.Hoehe_MinGas; |
||
2024 | LIMIT_MIN_MAX(FilterHCGas, min * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN) |
||
2309 | holgerb | 2025 | // set GasMischanteil to HeightControlGasFilter |
2026 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
2027 | { // old version |
||
2028 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
2029 | GasMischanteil = FilterHCGas; |
||
2030 | } |
||
2316 | holgerb | 2031 | else GasMischanteil = FilterHCGas; |
2032 | } // end of ACC-Altitude control |
||
2320 | holgerb | 2033 | #endif |
1314 | killagreg | 2034 | } |
1309 | hbuss | 2035 | }// EOF height control active |
1320 | hbuss | 2036 | else // HC not active |
2037 | { |
||
2038 | //update hoover gas stick value when HC is not active |
||
2427 | holgerb | 2039 | CalcStickGasHover(); |
2040 | /* if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
1587 | killagreg | 2041 | { |
2042 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
2427 | holgerb | 2043 | StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
1322 | hbuss | 2044 | } |
1587 | killagreg | 2045 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
2427 | holgerb | 2046 | LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down |
2047 | */ |
||
1328 | hbuss | 2048 | FilterHCGas = GasMischanteil; |
1773 | killagreg | 2049 | // set both flags to indicate no vario mode |
2050 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1861 | holgerb | 2051 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1330 | killagreg | 2052 | } |
1587 | killagreg | 2053 | // Hover gas estimation by averaging gas control output on small z-velocities |
1309 | hbuss | 2054 | // this is done only if height contol option is selected in global config and aircraft is flying |
1765 | killagreg | 2055 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1309 | hbuss | 2056 | { |
2316 | holgerb | 2057 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
2318 | holgerb | 2058 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
1698 | holgerb | 2059 | if(StartTrigger == 1) StartTrigger = 2; |
1330 | killagreg | 2060 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
2061 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
2062 | tmp_long2 /= 8192; |
||
1309 | hbuss | 2063 | // average vertical projected thrust |
1698 | holgerb | 2064 | if(modell_fliegt < 4000) // the first 8 seconds |
2065 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
2066 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
2067 | HoverGasFilter += 16L * tmp_long2; |
||
1309 | hbuss | 2068 | } |
1698 | holgerb | 2069 | if(modell_fliegt < 8000) // the first 16 seconds |
2070 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
1590 | killagreg | 2071 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1587 | killagreg | 2072 | HoverGasFilter += 4L * tmp_long2; |
1309 | hbuss | 2073 | } |
1698 | holgerb | 2074 | else //later |
2316 | holgerb | 2075 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1309 | hbuss | 2076 | { |
1590 | killagreg | 2077 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | killagreg | 2078 | HoverGasFilter += tmp_long2; |
1309 | hbuss | 2079 | } |
1590 | killagreg | 2080 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1309 | hbuss | 2081 | if(EE_Parameter.Hoehe_HoverBand) |
2082 | { |
||
2083 | int16_t band; |
||
1587 | killagreg | 2084 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
2085 | HoverGasMin = HoverGas - band; |
||
2086 | HoverGasMax = HoverGas + band; |
||
1309 | hbuss | 2087 | } |
2088 | else |
||
2089 | { // no limit |
||
1587 | killagreg | 2090 | HoverGasMin = 0; |
2091 | HoverGasMax = 1023; |
||
1309 | hbuss | 2092 | } |
1765 | killagreg | 2093 | } |
2094 | else |
||
1698 | holgerb | 2095 | { |
2096 | StartTrigger = 0; |
||
2097 | HoverGasFilter = 0; |
||
2098 | HoverGas = 0; |
||
1765 | killagreg | 2099 | } |
1916 | holgerb | 2100 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1773 | killagreg | 2101 | else |
2102 | { |
||
2103 | // set undefined state to indicate vario off |
||
2104 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
2105 | } // EOF no height control |
||
2106 | |||
2309 | holgerb | 2107 | // Limits the maximum gas in case of "Out of Range emergency landing" |
2009 | holgerb | 2108 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
2109 | { |
||
2028 | holgerb | 2110 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2309 | holgerb | 2111 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2009 | holgerb | 2112 | beeptime = 15000; |
2113 | BeepMuster = 0x0E00; |
||
2114 | } |
||
2028 | holgerb | 2115 | // limit gas to parameter setting |
1320 | hbuss | 2116 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
855 | hbuss | 2117 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1111 | hbuss | 2118 | |
1051 | killagreg | 2119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | hbuss | 2120 | // all BL-Ctrl connected? |
2121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2529 | holgerb | 2122 | #ifndef REDUNDANT_FC_SLAVE |
2418 | holgerb | 2123 | if(MissingMotor || Capacity.MinOfMaxPWM < 254 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1931 | holgerb | 2124 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1320 | hbuss | 2125 | { |
2126 | modell_fliegt = 1; |
||
1675 | holgerb | 2127 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
2382 | holgerb | 2128 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2129 | if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR; |
||
2130 | #endif |
||
1320 | hbuss | 2131 | } |
2529 | holgerb | 2132 | #endif |
2407 | holgerb | 2133 | |
2427 | holgerb | 2134 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2135 | // send SPI pending bytes |
||
2407 | holgerb | 2136 | if(BytegapSPI == 0) SPI_TransmitByte(); |
1320 | hbuss | 2137 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2138 | // + Mischer und PI-Regler |
1051 | killagreg | 2139 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2491 | holgerb | 2140 | DebugOut.Analog[7] = GasMischanteil; // achtung: Muss auf [7] bleiben wegen SPI.C |
1051 | killagreg | 2141 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2142 | // Gier-Anteil |
1051 | killagreg | 2143 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | hbuss | 2144 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
2145 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
693 | hbuss | 2146 | if(GasMischanteil > MIN_GIERGAS) |
2147 | { |
||
1051 | killagreg | 2148 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
2149 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
693 | hbuss | 2150 | } |
1051 | killagreg | 2151 | else |
693 | hbuss | 2152 | { |
1051 | killagreg | 2153 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
2154 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
693 | hbuss | 2155 | } |
855 | hbuss | 2156 | tmp_int = MAX_GAS*STICK_GAIN; |
1051 | killagreg | 2157 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
855 | hbuss | 2158 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
513 | hbuss | 2159 | |
1051 | killagreg | 2160 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2161 | // Nick-Achse |
1051 | killagreg | 2162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | hbuss | 2163 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1153 | hbuss | 2164 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1051 | killagreg | 2165 | else SummeNick += DiffNick; // I-Anteil bei HH |
855 | hbuss | 2166 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
2167 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2168 | |
2169 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
2170 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
2171 | pd_ergebnis_nick += SummeNick / Ki; |
||
2172 | |||
1676 | holgerb | 2173 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2174 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
2175 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
173 | holgerb | 2176 | |
1153 | hbuss | 2177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2178 | // Roll-Achse |
||
2179 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2180 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
2181 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
2182 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
2183 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
2184 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
1791 | holgerb | 2185 | |
2186 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
2187 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
2188 | pd_ergebnis_roll += SummeRoll / Ki; |
||
2189 | |||
1676 | holgerb | 2190 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1153 | hbuss | 2191 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2192 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
2193 | |||
2194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2427 | holgerb | 2195 | // send SPI pending bytes |
2196 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
2197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1209 | hbuss | 2198 | // Universal Mixer |
1155 | hbuss | 2199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | killagreg | 2200 | for(i=0; i<MAX_MOTORS; i++) |
2201 | { |
||
2202 | signed int tmp_int; |
||
2203 | if(Mixer.Motor[i][0] > 0) |
||
2204 | { |
||
1652 | holgerb | 2205 | // Gas |
1676 | holgerb | 2206 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1652 | holgerb | 2207 | // Nick |
2208 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
2209 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
2210 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
2211 | // Roll |
||
2212 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
2213 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
2214 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
2215 | // Gier |
||
1676 | holgerb | 2216 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2217 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
2218 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
2427 | holgerb | 2219 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 2220 | tmp_int = (tmp_motorwert[i] + tmp_int) / 2; |
2221 | #else |
||
2386 | holgerb | 2222 | if(Motor[i].Version & MOTOR_STATE_FAST_MODE || tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen |
1913 | holgerb | 2223 | else |
2402 | holgerb | 2224 | { // BL-Ctrl 1.0 or 2.0 |
2386 | holgerb | 2225 | if(EE_Parameter.MotorSmooth == 0) |
1913 | holgerb | 2226 | { |
1931 | holgerb | 2227 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1913 | holgerb | 2228 | } |
2229 | else // 1 means tmp_int = tmp_int; |
||
2443 | holgerb | 2230 | if(EE_Parameter.MotorSmooth > 1) |
1913 | holgerb | 2231 | { |
2386 | holgerb | 2232 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
2233 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth); |
||
1913 | holgerb | 2234 | } |
2235 | } |
||
2418 | holgerb | 2236 | #endif |
1760 | holgerb | 2237 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1676 | holgerb | 2238 | Motor[i].SetPoint = tmp_int / 4; |
1677 | killagreg | 2239 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1652 | holgerb | 2240 | tmp_motorwert[i] = tmp_int; |
1642 | killagreg | 2241 | } |
2242 | else |
||
2243 | { |
||
2244 | Motor[i].SetPoint = 0; |
||
2245 | Motor[i].SetPointLowerBits = 0; |
||
2246 | } |
||
2247 | } |
||
2529 | holgerb | 2248 | #if (defined(REDUNDANT_FC_MASTER) || defined(REDUNDANT_FC_SLAVE)) |
2249 | if(Parameter_UserParam6 > 230) // Motor1-Test |
||
2250 | { |
||
2251 | Motor[0].SetPoint = 0; |
||
2252 | FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST; |
||
2253 | } |
||
2254 | else |
||
2255 | if(Parameter_UserParam7 <= 150) // I2C-Test |
||
2256 | { |
||
2257 | FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_TEST; |
||
2258 | } |
||
2427 | holgerb | 2259 | #endif |
1111 | hbuss | 2260 | } |
2090 | holgerb | 2261 | //DebugOut.Analog[16] |