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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
7
// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14
// + Verkauf von Luftbildaufnahmen, usw.
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
25
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 27
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
1051 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
1051 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
1051 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
831 hbuss 42
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
492 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 51
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 52
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 53
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
54
 
55
#include "main.h"
395 hbuss 56
#include "eeprom.c"
1320 hbuss 57
#include "mymath.h"
1 ingob 58
 
59
unsigned char h,m,s;
173 holgerb 60
volatile unsigned int I2CTimeout = 100;
1153 hbuss 61
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 62
int TrimNick, TrimRoll;
1051 killagreg 63
int AdNeutralGierBias;
927 hbuss 64
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
65
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
805 hbuss 66
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1 ingob 67
volatile float NeutralAccZ = 0;
68
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
693 hbuss 69
long IntegralNick = 0,IntegralNick2 = 0;
70
long IntegralRoll = 0,IntegralRoll2 = 0;
71
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
72
long Integral_Gier = 0;
73
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
74
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
75
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
76
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1 ingob 77
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 78
int  KompassValue = 0;
79
int  KompassStartwert = 0;
80
int  KompassRichtung = 0;
693 hbuss 81
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 82
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 83
unsigned char HoehenReglerAktiv = 0;
880 hbuss 84
unsigned char TrichterFlug = 0;
395 hbuss 85
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 86
long  ErsatzKompass;
87
int   ErsatzKompassInGrad; // Kompasswert in Grad
88
int   GierGyroFehler = 0;
1211 hbuss 89
char GyroFaktor,GyroFaktorGier;
90
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 91
int  DiffNick,DiffRoll;
1051 killagreg 92
int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
1 ingob 93
volatile unsigned char SenderOkay = 0;
1243 killagreg 94
volatile unsigned char SenderRSSI = 0;
595 hbuss 95
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 96
char MotorenEin = 0;
1246 killagreg 97
long HoehenWert = 0;
98
long SollHoehe = 0;
498 hbuss 99
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 100
//float Ki =  FAKTOR_I;
101
int Ki = 10300 / 33;
395 hbuss 102
unsigned char Looping_Nick = 0,Looping_Roll = 0;
103
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 104
 
105
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
106
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
107
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
108
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
109
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 110
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 111
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 112
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 113
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
114
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
115
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
116
unsigned char Parameter_UserParam1 = 0;
117
unsigned char Parameter_UserParam2 = 0;
118
unsigned char Parameter_UserParam3 = 0;
119
unsigned char Parameter_UserParam4 = 0;
499 hbuss 120
unsigned char Parameter_UserParam5 = 0;
121
unsigned char Parameter_UserParam6 = 0;
122
unsigned char Parameter_UserParam7 = 0;
123
unsigned char Parameter_UserParam8 = 0;
1 ingob 124
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 125
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 126
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 127
unsigned char Parameter_AchsKopplung1 = 90;
128
unsigned char Parameter_AchsKopplung2 = 65;
129
unsigned char Parameter_CouplingYawCorrection = 64;
130
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 131
unsigned char Parameter_DynamicStability = 100;
921 hbuss 132
unsigned char Parameter_J16Bitmask;             // for the J16 Output
133
unsigned char Parameter_J16Timing;              // for the J16 Output
134
unsigned char Parameter_J17Bitmask;             // for the J17 Output
135
unsigned char Parameter_J17Timing;              // for the J17 Output
136
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 137
unsigned char Parameter_NaviGpsGain;
138
unsigned char Parameter_NaviGpsP;
139
unsigned char Parameter_NaviGpsI;
140
unsigned char Parameter_NaviGpsD;
141
unsigned char Parameter_NaviGpsACC;
993 hbuss 142
unsigned char Parameter_NaviOperatingRadius;
143
unsigned char Parameter_NaviWindCorrection;
144
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 145
unsigned char Parameter_ExternalControl;
1 ingob 146
struct mk_param_struct EE_Parameter;
492 hbuss 147
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 148
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 149
unsigned int  modell_fliegt = 0;
1209 hbuss 150
volatile unsigned char MikroKopterFlags = 0;
1121 hbuss 151
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 152
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 153
unsigned char RequiredMotors = 4;
154
unsigned char Motor[MAX_MOTORS];
155
signed int tmp_motorwert[MAX_MOTORS];
1309 hbuss 156
#define LIMIT_MIN(value, min) {if(value < min) value = min;}
157
#define LIMIT_MAX(value, max) {if(value > max) value = max;}
158
#define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
1155 hbuss 159
 
1166 hbuss 160
int MotorSmoothing(int neu, int alt)
161
{
162
 int motor;
163
 if(neu > alt) motor = (1*(int)alt + neu) / 2;
164
 else   motor = neu - (alt - neu)*1;
165
//if(Poti2 < 20)  return(neu);
166
 return(motor);
167
}
168
 
1232 hbuss 169
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 170
{
1232 hbuss 171
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 172
 while(Anzahl--)
173
 {
1232 hbuss 174
  beeptime = dauer;
175
  while(beeptime);
176
  Delay_ms(dauer * 2);
1 ingob 177
 }
178
}
179
 
180
//############################################################################
181
//  Nullwerte ermitteln
182
void SetNeutral(void)
183
//############################################################################
184
{
1111 hbuss 185
 unsigned char i;
186
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1320 hbuss 187
    HEF4017R_ON;
1051 killagreg 188
        NeutralAccX = 0;
1 ingob 189
        NeutralAccY = 0;
190
        NeutralAccZ = 0;
1051 killagreg 191
    AdNeutralNick = 0;
192
        AdNeutralRoll = 0;
1 ingob 193
        AdNeutralGier = 0;
927 hbuss 194
    AdNeutralGierBias = 0;
395 hbuss 195
    Parameter_AchsKopplung1 = 0;
1120 hbuss 196
    Parameter_AchsKopplung2 = 0;
1036 hbuss 197
    ExpandBaro = 0;
1051 killagreg 198
    CalibrierMittelwert();
395 hbuss 199
    Delay_ms_Mess(100);
1 ingob 200
        CalibrierMittelwert();
201
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 202
     {
1 ingob 203
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
204
     }
1166 hbuss 205
#define NEUTRAL_FILTER 32
206
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 207
         {
208
          Delay_ms_Mess(10);
1216 killagreg 209
          gier_neutral += AdWertGier;
1166 hbuss 210
          nick_neutral += AdWertNick;
211
          roll_neutral += AdWertRoll;
1111 hbuss 212
         }
1173 hbuss 213
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
214
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
215
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 216
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 217
     StartNeutralRoll = AdNeutralRoll;
218
     StartNeutralNick = AdNeutralNick;
1051 killagreg 219
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 220
    {
1171 hbuss 221
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
222
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 223
          NeutralAccZ = Aktuell_az;
224
    }
1051 killagreg 225
    else
513 hbuss 226
    {
227
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
228
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
229
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
230
    }
1051 killagreg 231
 
1 ingob 232
    MesswertNick = 0;
233
    MesswertRoll = 0;
234
    MesswertGier = 0;
1111 hbuss 235
    Delay_ms_Mess(100);
1174 hbuss 236
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
237
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 238
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
239
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
240
    Mess_IntegralNick2 = IntegralNick;
241
    Mess_IntegralRoll2 = IntegralRoll;
242
    Mess_Integral_Gier = 0;
1 ingob 243
    StartLuftdruck = Luftdruck;
1253 killagreg 244
    VarioMeter = 0;
1 ingob 245
    Mess_Integral_Hoch = 0;
246
    KompassStartwert = KompassValue;
247
    GPS_Neutral();
1051 killagreg 248
    beeptime = 50;
882 hbuss 249
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
250
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 251
    ExternHoehenValue = 0;
693 hbuss 252
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
253
    GierGyroFehler = 0;
723 hbuss 254
    SendVersionToNavi = 1;
921 hbuss 255
    LED_Init();
256
    MikroKopterFlags |= FLAG_CALIBRATE;
992 hbuss 257
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 258
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 259
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1172 hbuss 260
    Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;
261
    Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;
262
    Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;
263
    Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;
1171 hbuss 264
    SenderOkay = 100;
1320 hbuss 265
    if(ServoActive)
266
         {
267
                HEF4017R_ON;
268
                DDRD  |=0x80; // enable J7 -> Servo signal
269
     }
1 ingob 270
}
271
 
272
//############################################################################
395 hbuss 273
// Bearbeitet die Messwerte
1 ingob 274
void Mittelwert(void)
275
//############################################################################
1051 killagreg 276
{
1111 hbuss 277
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
278
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 279
        signed long winkel_nick, winkel_roll;
1171 hbuss 280
 
1111 hbuss 281
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
282
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 283
    MesswertNick = (signed int) AdWertNickFilter / 8;
284
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 285
    RohMesswertNick = MesswertNick;
286
    RohMesswertRoll = MesswertRoll;
1120 hbuss 287
//DebugOut.Analog[21] = MesswertNick;
288
//DebugOut.Analog[22] = MesswertRoll;
1121 hbuss 289
//DebugOut.Analog[22] = Mess_Integral_Gier;
1216 killagreg 290
//DebugOut.Analog[21] = MesswertNick;
291
//DebugOut.Analog[22] = MesswertRoll;
1166 hbuss 292
 
395 hbuss 293
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 294
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
295
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
296
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 297
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
298
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 299
    NaviAccNick    += AdWertAccNick;
300
    NaviAccRoll    += AdWertAccRoll;
301
    NaviCntAcc++;
1153 hbuss 302
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
303
 
1155 hbuss 304
//++++++++++++++++++++++++++++++++++++++++++++++++
305
// ADC einschalten
1171 hbuss 306
    ANALOG_ON;
1155 hbuss 307
        AdReady = 0;
308
//++++++++++++++++++++++++++++++++++++++++++++++++
309
 
1216 killagreg 310
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
311
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 312
        else winkel_roll = Mess_IntegralRoll;
313
 
1216 killagreg 314
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
315
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 316
        else winkel_nick = Mess_IntegralNick;
317
 
1120 hbuss 318
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 319
   Mess_Integral_Gier += MesswertGier;
320
   ErsatzKompass += MesswertGier;
395 hbuss 321
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
322
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
323
         {
1153 hbuss 324
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 325
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 326
            tmpl3 /= 4096L;
1153 hbuss 327
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 328
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 329
            tmpl4 /= 4096L;
1153 hbuss 330
            KopplungsteilNickRoll = tmpl3;
331
            KopplungsteilRollNick = tmpl4;
1111 hbuss 332
            tmpl4 -= tmpl3;
333
            ErsatzKompass += tmpl4;
1166 hbuss 334
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 335
 
1153 hbuss 336
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 337
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 338
            tmpl /= 4096L;
1153 hbuss 339
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 340
            tmpl2 *= Parameter_AchsKopplung1;
880 hbuss 341
            tmpl2 /= 4096L;
1225 hbuss 342
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 343
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 344
         }
1166 hbuss 345
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1111 hbuss 346
 
1166 hbuss 347
TrimRoll = tmpl - tmpl2 / 100L;
348
TrimNick = -tmpl2 + tmpl / 100L;
349
 
1111 hbuss 350
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
351
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
352
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 353
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 354
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
355
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 356
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 357
            {
882 hbuss 358
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 359
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 360
            }
395 hbuss 361
            if(Mess_IntegralRoll <-Umschlag180Roll)
362
            {
882 hbuss 363
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 364
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 365
            }
395 hbuss 366
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 367
            Mess_IntegralNick2 += MesswertNick + TrimNick;
368
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 369
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 370
             {
371
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
372
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 373
             }
374
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 375
            {
882 hbuss 376
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 377
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 378
            }
1111 hbuss 379
 
1 ingob 380
    Integral_Gier  = Mess_Integral_Gier;
381
    IntegralNick = Mess_IntegralNick;
382
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 383
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 384
    IntegralRoll2 = Mess_IntegralRoll2;
385
 
1166 hbuss 386
#define D_LIMIT 128
387
 
1171 hbuss 388
   MesswertNick = HiResNick / 8;
389
   MesswertRoll = HiResRoll / 8;
1166 hbuss 390
 
1167 hbuss 391
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
392
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
393
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
394
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
395
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
396
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
397
 
1216 killagreg 398
  if(Parameter_Gyro_D)
1111 hbuss 399
  {
1166 hbuss 400
   d2Nick = HiResNick - oldNick;
401
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 402
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
403
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 404
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
405
   d2Roll = HiResRoll - oldRoll;
406
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 407
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
408
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 409
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
410
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
411
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 412
  }
1111 hbuss 413
 
1166 hbuss 414
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
415
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
416
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
417
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 418
 
419
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
420
  {
421
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
422
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
423
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
424
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
425
  }
426
 
1 ingob 427
    if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
428
    if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
429
    if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
430
    if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
431
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
432
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
433
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
434
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
435
}
436
 
437
//############################################################################
438
// Messwerte beim Ermitteln der Nullage
439
void CalibrierMittelwert(void)
440
//############################################################################
1051 killagreg 441
{
1021 hbuss 442
    if(PlatinenVersion == 13) SucheGyroOffset();
1 ingob 443
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
444
        ANALOG_OFF;
395 hbuss 445
        MesswertNick = AdWertNick;
446
        MesswertRoll = AdWertRoll;
447
        MesswertGier = AdWertGier;
448
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
449
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
450
        Mittelwert_AccHoch = (long)AdWertAccHoch;
451
   // ADC einschalten
1051 killagreg 452
    ANALOG_ON;
1 ingob 453
    if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
454
    if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
455
    if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
456
    if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
457
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
458
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
459
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
460
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
395 hbuss 461
 
462
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
720 ingob 463
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 464
}
465
 
466
//############################################################################
467
// Senden der Motorwerte per I2C-Bus
468
void SendMotorData(void)
469
//############################################################################
1051 killagreg 470
{
1209 hbuss 471
 unsigned char i;
921 hbuss 472
    if(!MotorenEin)
1 ingob 473
        {
1212 hbuss 474
         MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
1216 killagreg 475
                 for(i=0;i<MAX_MOTORS;i++)
476
                  {
477
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1212 hbuss 478
                   Motor[i] = MotorTest[i];
1216 killagreg 479
                  }
1212 hbuss 480
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 481
        }
1212 hbuss 482
        else MikroKopterFlags |= FLAG_MOTOR_RUN;
1111 hbuss 483
 
1212 hbuss 484
    DebugOut.Analog[12] = Motor[0];
485
    DebugOut.Analog[13] = Motor[1];
486
    DebugOut.Analog[14] = Motor[3];
487
    DebugOut.Analog[15] = Motor[2];
1 ingob 488
 
489
    //Start I2C Interrupt Mode
490
    twi_state = 0;
491
    motor = 0;
1051 killagreg 492
    i2c_start();
1 ingob 493
}
494
 
495
 
496
 
497
//############################################################################
498
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 499
void ParameterZuordnung(void)
1 ingob 500
//############################################################################
501
{
921 hbuss 502
 #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
503
 #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; }
1 ingob 504
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255);
921 hbuss 505
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
506
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
1 ingob 507
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255);
1283 hbuss 508
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255);
1 ingob 509
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255);
921 hbuss 510
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
1 ingob 511
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255);
1120 hbuss 512
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255);
1051 killagreg 513
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
514
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
515
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
516
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
517
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
518
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
519
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
520
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
521
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
1 ingob 522
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
1232 hbuss 523
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255);
173 holgerb 524
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
395 hbuss 525
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1,0,255);
1120 hbuss 526
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2,0,255);
527
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);
528
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
499 hbuss 529
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255);
921 hbuss 530
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
531
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
532
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255);
1153 hbuss 533
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 534
 MAX_GAS = EE_Parameter.Gas_Max;
535
 MIN_GAS = EE_Parameter.Gas_Min;
536
}
537
 
538
 
819 hbuss 539
 
1 ingob 540
//############################################################################
541
//
542
void MotorRegler(void)
543
//############################################################################
544
{
1309 hbuss 545
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int;
1 ingob 546
         int GierMischanteil,GasMischanteil;
547
     static long SummeNick=0,SummeRoll=0;
548
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 549
     static long IntegralFehlerNick = 0;
550
     static long IntegralFehlerRoll = 0;
1 ingob 551
         static unsigned int RcLostTimer;
552
         static unsigned char delay_neutral = 0;
553
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
554
     static char TimerWerteausgabe = 0;
555
     static char NeueKompassRichtungMerken = 0;
395 hbuss 556
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 557
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 558
         unsigned char i;
1051 killagreg 559
        Mittelwert();
560
 
1 ingob 561
    GRN_ON;
1051 killagreg 562
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 563
// Gaswert ermitteln
1051 killagreg 564
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
565
        GasMischanteil = StickGas;
831 hbuss 566
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1316 hbuss 567
 
1051 killagreg 568
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 569
// Empfang schlecht
1051 killagreg 570
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 571
   if(SenderOkay < 100)
572
        {
1051 killagreg 573
        if(RcLostTimer) RcLostTimer--;
574
        else
1 ingob 575
         {
576
          MotorenEin = 0;
1254 killagreg 577
          MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1051 killagreg 578
         }
1 ingob 579
        ROT_ON;
693 hbuss 580
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 581
            {
582
            GasMischanteil = EE_Parameter.NotGas;
1254 killagreg 583
            MikroKopterFlags |= FLAG_NOTLANDUNG;
744 hbuss 584
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 585
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 586
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
587
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
588
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 589
            }
1 ingob 590
         else MotorenEin = 0;
591
        }
1051 killagreg 592
        else
593
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 594
// Emfang gut
1051 killagreg 595
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 596
        if(SenderOkay > 140)
597
            {
1254 killagreg 598
                        MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1 ingob 599
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 600
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 601
                {
602
                if(modell_fliegt < 0xffff) modell_fliegt++;
603
                }
871 hbuss 604
            if((modell_fliegt < 256))
1 ingob 605
                {
606
                SummeNick = 0;
607
                SummeRoll = 0;
1051 killagreg 608
                if(modell_fliegt == 250)
918 hbuss 609
                 {
1051 killagreg 610
                  NeueKompassRichtungMerken = 1;
918 hbuss 611
                  sollGier = 0;
1051 killagreg 612
                  Mess_Integral_Gier = 0;
927 hbuss 613
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 614
                 }
921 hbuss 615
                } else MikroKopterFlags |= FLAG_FLY;
1051 killagreg 616
 
595 hbuss 617
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 618
                {
1051 killagreg 619
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 620
// auf Nullwerte kalibrieren
1051 killagreg 621
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 622
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
623
                    {
624
                    if(++delay_neutral > 200)  // nicht sofort
625
                        {
626
                        GRN_OFF;
627
                        MotorenEin = 0;
628
                        delay_neutral = 0;
629
                        modell_fliegt = 0;
630
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
631
                        {
304 ingob 632
                         unsigned char setting=1;
1 ingob 633
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
634
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
635
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
636
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
637
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 638
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 639
                        }
820 hbuss 640
//                        else
1051 killagreg 641
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
642
                          {
819 hbuss 643
                           WinkelOut.CalcState = 1;
644
                           beeptime = 1000;
645
                          }
646
                          else
1 ingob 647
                          {
819 hbuss 648
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
649
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
650
                            {
1 ingob 651
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 652
                            }
1320 hbuss 653
                                                   ServoActive = 0;
819 hbuss 654
                           SetNeutral();
1232 hbuss 655
                                                   ServoActive = 1;
656
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
657
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 658
                         }
1051 killagreg 659
                        }
1 ingob 660
                    }
1051 killagreg 661
                 else
513 hbuss 662
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
663
                    {
664
                    if(++delay_neutral > 200)  // nicht sofort
665
                        {
666
                        GRN_OFF;
667
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
668
                        MotorenEin = 0;
669
                        delay_neutral = 0;
670
                        modell_fliegt = 0;
671
                        SetNeutral();
672
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
673
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
674
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
675
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
676
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
677
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 678
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 679
                        }
513 hbuss 680
                    }
1 ingob 681
                 else delay_neutral = 0;
682
                }
1051 killagreg 683
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 684
// Gas ist unten
1051 killagreg 685
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 686
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 687
                {
688
                // Starten
689
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
690
                    {
1051 killagreg 691
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 692
// Einschalten
1051 killagreg 693
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 694
                    if(++delay_einschalten > 200)
695
                        {
696
                        delay_einschalten = 200;
697
                        modell_fliegt = 1;
698
                        MotorenEin = 1;
699
                        sollGier = 0;
1051 killagreg 700
                        Mess_Integral_Gier = 0;
1 ingob 701
                        Mess_Integral_Gier2 = 0;
1173 hbuss 702
                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
703
                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
1 ingob 704
                        Mess_IntegralNick2 = IntegralNick;
705
                        Mess_IntegralRoll2 = IntegralRoll;
706
                        SummeNick = 0;
707
                        SummeRoll = 0;
921 hbuss 708
                        MikroKopterFlags |= FLAG_START;
1051 killagreg 709
                        }
710
                    }
1 ingob 711
                    else delay_einschalten = 0;
712
                //Auf Neutralwerte setzen
1051 killagreg 713
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 714
// Auschalten
1051 killagreg 715
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 716
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
717
                    {
718
                    if(++delay_ausschalten > 200)  // nicht sofort
719
                        {
1298 hbuss 720
                         MotorenEin = 0;
721
                         delay_ausschalten = 200;
722
                         modell_fliegt = 0;
1051 killagreg 723
                        }
1 ingob 724
                    }
725
                else delay_ausschalten = 0;
726
                }
727
            }
728
 
1051 killagreg 729
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 730
// neue Werte von der Funke
1051 killagreg 731
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 732
 
1254 killagreg 733
 if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG))
1 ingob 734
  {
604 hbuss 735
        static int stick_nick,stick_roll;
1 ingob 736
    ParameterZuordnung();
1051 killagreg 737
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 738
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
805 hbuss 739
    StickNick = stick_nick - (GPS_Nick + GPS_Nick2);
604 hbuss 740
 
723 hbuss 741
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
742
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
805 hbuss 743
    StickRoll = stick_roll - (GPS_Roll + GPS_Roll2);
723 hbuss 744
 
1 ingob 745
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 746
        if(StickGier > 2) StickGier -= 2;       else
747
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
748
 
1316 hbuss 749
        StickGas  = (StickGas + PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120) / 2;
750
 
1153 hbuss 751
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
752
    IntegralFaktor = Parameter_Gyro_I;
1211 hbuss 753
    GyroFaktorGier     = (Parameter_Gyro_P + 10.0);
754
    IntegralFaktorGier = Parameter_Gyro_I;
1 ingob 755
 
595 hbuss 756
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
757
//+ Analoge Steuerung per Seriell
758
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 759
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 760
    {
761
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
762
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
763
         StickGier += ExternControl.Gier;
764
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
765
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
766
    }
855 hbuss 767
    if(StickGas < 0) StickGas = 0;
1316 hbuss 768
 
1 ingob 769
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
770
    if(GyroFaktor < 0) GyroFaktor = 0;
771
    if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 772
 
1051 killagreg 773
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 774
     {
1051 killagreg 775
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 776
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 777
     }
928 hbuss 778
     else MaxStickNick--;
1051 killagreg 779
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 780
     {
1051 killagreg 781
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 782
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 783
     }
928 hbuss 784
     else MaxStickRoll--;
1254 killagreg 785
    if(MikroKopterFlags & FLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 786
 
1051 killagreg 787
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 788
// Looping?
1051 killagreg 789
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 790
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 791
  else
792
   {
395 hbuss 793
     {
1051 killagreg 794
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
795
     }
796
   }
993 hbuss 797
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 798
   else
395 hbuss 799
   {
800
   if(Looping_Rechts) // Hysterese
801
     {
802
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
803
     }
1051 killagreg 804
   }
173 holgerb 805
 
993 hbuss 806
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 807
  else
808
   {
395 hbuss 809
    if(Looping_Oben)  // Hysterese
810
     {
1051 killagreg 811
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
812
     }
813
   }
993 hbuss 814
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 815
   else
395 hbuss 816
   {
817
    if(Looping_Unten) // Hysterese
818
     {
819
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
820
     }
1051 killagreg 821
   }
395 hbuss 822
 
823
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 824
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 825
  } // Ende neue Funken-Werte
826
 
827
  if(Looping_Roll || Looping_Nick)
828
   {
173 holgerb 829
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 830
        TrichterFlug = 1;
173 holgerb 831
   }
832
 
1051 killagreg 833
 
834
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
835
// Bei Empfangsausfall im Flug
836
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1254 killagreg 837
   if(MikroKopterFlags & FLAG_NOTLANDUNG)
1 ingob 838
    {
839
     StickGier = 0;
840
     StickNick = 0;
841
     StickRoll = 0;
1211 hbuss 842
     GyroFaktor     = 90;
843
     IntegralFaktor = 120;
844
     GyroFaktorGier     = 90;
845
     IntegralFaktorGier = 120;
173 holgerb 846
     Looping_Roll = 0;
847
     Looping_Nick = 0;
1051 killagreg 848
    }
395 hbuss 849
 
850
 
1051 killagreg 851
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 852
// Integrale auf ACC-Signal abgleichen
1051 killagreg 853
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 854
#define ABGLEICH_ANZAHL 256L
855
 
856
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
857
 MittelIntegralRoll  += IntegralRoll;
858
 MittelIntegralNick2 += IntegralNick2;
859
 MittelIntegralRoll2 += IntegralRoll2;
860
 
861
 if(Looping_Nick || Looping_Roll)
862
  {
863
    IntegralAccNick = 0;
864
    IntegralAccRoll = 0;
865
    MittelIntegralNick = 0;
866
    MittelIntegralRoll = 0;
867
    MittelIntegralNick2 = 0;
868
    MittelIntegralRoll2 = 0;
869
    Mess_IntegralNick2 = Mess_IntegralNick;
870
    Mess_IntegralRoll2 = Mess_IntegralRoll;
871
    ZaehlMessungen = 0;
498 hbuss 872
    LageKorrekturNick = 0;
873
    LageKorrekturRoll = 0;
395 hbuss 874
  }
875
 
1051 killagreg 876
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 877
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 878
  {
879
   long tmp_long, tmp_long2;
1171 hbuss 880
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 881
     {
882
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 883
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
884
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
885
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 886
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
887
      {
888
      tmp_long  /= 2;
889
      tmp_long2 /= 2;
890
      }
891
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
892
      {
893
      tmp_long  /= 3;
894
      tmp_long2 /= 3;
895
      }
896
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
897
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
898
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
899
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
900
     }
1051 killagreg 901
     else
992 hbuss 902
     {
903
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 904
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 905
      tmp_long /= 16;
906
      tmp_long2 /= 16;
907
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
908
      {
909
      tmp_long  /= 3;
910
      tmp_long2 /= 3;
1216 killagreg 911
      }
912
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 913
      {
914
      tmp_long  /= 3;
915
      tmp_long2 /= 3;
916
      }
1155 hbuss 917
 
918
#define AUSGLEICH  32
992 hbuss 919
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
920
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
921
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
922
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
923
     }
1166 hbuss 924
 
925
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 926
   Mess_IntegralNick -= tmp_long;
927
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 928
  }
1051 killagreg 929
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 930
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
931
 {
932
  static int cnt = 0;
933
  static char last_n_p,last_n_n,last_r_p,last_r_n;
934
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 935
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 936
  {
395 hbuss 937
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
938
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
939
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
940
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
941
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 942
#define MAX_I 0//(Poti2/10)
395 hbuss 943
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
944
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
945
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 946
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
947
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 948
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 949
 
950
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 951
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 952
 
992 hbuss 953
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 954
    {
955
     LageKorrekturNick /= 2;
720 ingob 956
     LageKorrekturRoll /= 2;
614 hbuss 957
    }
498 hbuss 958
 
1051 killagreg 959
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 960
// Gyro-Drift ermitteln
1051 killagreg 961
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 962
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
963
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 964
    tmp_long  = IntegralNick2 - IntegralNick;
965
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 966
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
967
 
968
    IntegralFehlerNick = tmp_long;
969
    IntegralFehlerRoll = tmp_long2;
970
    Mess_IntegralNick2 -= IntegralFehlerNick;
971
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
972
 
973
//    IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2;
974
//    IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2;
1111 hbuss 975
  if(EE_Parameter.Driftkomp)
976
   {
927 hbuss 977
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
978
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 979
   }
1153 hbuss 980
//DebugOut.Analog[22] = MittelIntegralRoll / 26;
921 hbuss 981
//DebugOut.Analog[24] = GierGyroFehler;
693 hbuss 982
    GierGyroFehler = 0;
720 ingob 983
 
984
 
985
/*DebugOut.Analog[17] = IntegralAccNick / 26;
395 hbuss 986
DebugOut.Analog[18] = IntegralAccRoll / 26;
987
DebugOut.Analog[19] = IntegralFehlerNick;// / 26;
988
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26;
720 ingob 989
*/
990
//DebugOut.Analog[21] = MittelIntegralNick / 26;
991
//MittelIntegralRoll = MittelIntegralRoll;
469 hbuss 992
//DebugOut.Analog[28] = ausgleichNick;
720 ingob 993
/*
395 hbuss 994
DebugOut.Analog[29] = ausgleichRoll;
498 hbuss 995
DebugOut.Analog[30] = LageKorrekturRoll * 10;
720 ingob 996
*/
395 hbuss 997
 
1243 killagreg 998
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
999
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 1000
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 1001
#define BEWEGUNGS_LIMIT 20000
395 hbuss 1002
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1003
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1004
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1005
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1006
        {
1051 killagreg 1007
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1008
         {
1051 killagreg 1009
           if(last_n_p)
395 hbuss 1010
           {
1173 hbuss 1011
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1012
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1013
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1014
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1015
           }
395 hbuss 1016
           else last_n_p = 1;
1017
         } else  last_n_p = 0;
1051 killagreg 1018
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1019
         {
1020
           if(last_n_n)
1051 killagreg 1021
            {
1173 hbuss 1022
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1023
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1024
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1025
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1026
            }
395 hbuss 1027
           else last_n_n = 1;
1028
         } else  last_n_n = 0;
1051 killagreg 1029
        }
1030
        else
847 hbuss 1031
        {
1032
         cnt = 0;
921 hbuss 1033
         KompassSignalSchlecht = 1000;
1051 killagreg 1034
        }
499 hbuss 1035
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1036
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1037
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1038
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1039
 
395 hbuss 1040
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1041
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1042
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1043
        ausgleichRoll = 0;
1173 hbuss 1044
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1045
        {
1051 killagreg 1046
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1047
         {
1051 killagreg 1048
           if(last_r_p)
395 hbuss 1049
           {
1173 hbuss 1050
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1051
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1052
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1053
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1054
           }
395 hbuss 1055
           else last_r_p = 1;
1056
         } else  last_r_p = 0;
1051 killagreg 1057
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1058
         {
1051 killagreg 1059
           if(last_r_n)
395 hbuss 1060
           {
1173 hbuss 1061
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1062
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1063
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1064
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1065
           }
1066
           else last_r_n = 1;
1067
         } else  last_r_n = 0;
1051 killagreg 1068
        } else
492 hbuss 1069
        {
1070
         cnt = 0;
921 hbuss 1071
         KompassSignalSchlecht = 1000;
1051 killagreg 1072
        }
499 hbuss 1073
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1074
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1075
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1076
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1077
  }
1051 killagreg 1078
  else
498 hbuss 1079
  {
1080
   LageKorrekturRoll = 0;
1081
   LageKorrekturNick = 0;
880 hbuss 1082
   TrichterFlug = 0;
498 hbuss 1083
  }
1051 killagreg 1084
 
498 hbuss 1085
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1086
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1087
   MittelIntegralNick_Alt = MittelIntegralNick;
1088
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1089
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1090
    IntegralAccNick = 0;
1091
    IntegralAccRoll = 0;
1092
    IntegralAccZ = 0;
1093
    MittelIntegralNick = 0;
1094
    MittelIntegralRoll = 0;
1095
    MittelIntegralNick2 = 0;
1096
    MittelIntegralRoll2 = 0;
1097
    ZaehlMessungen = 0;
1173 hbuss 1098
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1099
 
1173 hbuss 1100
 
1051 killagreg 1101
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1102
//  Gieren
1051 killagreg 1103
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1104
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1105
    if(abs(StickGier) > 15) // war 35
1 ingob 1106
     {
921 hbuss 1107
      KompassSignalSchlecht = 1000;
1051 killagreg 1108
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1109
       {
1110
         NeueKompassRichtungMerken = 1;
824 hbuss 1111
        };
1 ingob 1112
     }
395 hbuss 1113
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1114
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1115
    sollGier = tmp_int;
1051 killagreg 1116
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1117
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1118
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1119
 
1120
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1121
//  Kompass
1051 killagreg 1122
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1123
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1124
 
1051 killagreg 1125
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1126
     {
819 hbuss 1127
       int w,v,r,fehler,korrektur;
1 ingob 1128
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1129
       v = abs(IntegralRoll /512);
1130
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1131
       korrektur = w / 8 + 1;
921 hbuss 1132
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1133
       if(abs(MesswertGier) > 128)
1036 hbuss 1134
            {
1135
                 fehler = 0;
1051 killagreg 1136
                }
921 hbuss 1137
       if(!KompassSignalSchlecht && w < 25)
1138
        {
1139
        GierGyroFehler += fehler;
1051 killagreg 1140
        if(NeueKompassRichtungMerken)
1141
         {
921 hbuss 1142
          beeptime = 200;
847 hbuss 1143
//         KompassStartwert = KompassValue;
1171 hbuss 1144
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1145
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1146
          NeueKompassRichtungMerken = 0;
1147
         }
1 ingob 1148
        }
824 hbuss 1149
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1150
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1151
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1152
       if(w >= 0)
1 ingob 1153
        {
1051 killagreg 1154
          if(!KompassSignalSchlecht)
693 hbuss 1155
          {
1051 killagreg 1156
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1157
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1158
//           r = KompassRichtung;
819 hbuss 1159
           v = (r * w) / v;  // nach Kompass ausrichten
1160
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1161
           if(v > w) v = w; // Begrenzen
1051 killagreg 1162
           else
693 hbuss 1163
           if(v < -w) v = -w;
1164
           Mess_Integral_Gier += v;
1051 killagreg 1165
          }
693 hbuss 1166
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1167
        }
921 hbuss 1168
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1169
     }
1170
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1171
 
1051 killagreg 1172
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1173
//  Debugwerte zuordnen
1051 killagreg 1174
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1175
  if(!TimerWerteausgabe--)
1176
   {
395 hbuss 1177
    TimerWerteausgabe = 24;
805 hbuss 1178
 
1171 hbuss 1179
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1180
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1181
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1182
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1183
    DebugOut.Analog[4] = MesswertGier;
1314 killagreg 1184
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1185
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1186
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1187
    DebugOut.Analog[9] = UBat;
1283 hbuss 1188
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1189
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1190
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1191
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1192
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1193
    DebugOut.Analog[19] = WinkelOut.CalcState;
854 hbuss 1194
    DebugOut.Analog[20] = ServoValue;
1283 hbuss 1195
    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1196
//    DebugOut.Analog[24] = MesswertNick/2;
1197
//    DebugOut.Analog[25] = MesswertRoll/2;
1173 hbuss 1198
    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1199
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1200
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1215 hbuss 1201
    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1202
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1203
    DebugOut.Analog[31] = GPS_Roll;
1204
 
805 hbuss 1205
 
1206
//    DebugOut.Analog[19] -= DebugOut.Analog[19]/128;
1207
//    if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++;
1208
 
173 holgerb 1209
/*    DebugOut.Analog[16] = motor_rx[0];
1210
    DebugOut.Analog[17] = motor_rx[1];
1211
    DebugOut.Analog[18] = motor_rx[2];
1212
    DebugOut.Analog[19] = motor_rx[3];
1213
    DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1214
    DebugOut.Analog[20] /= 14;
1215
    DebugOut.Analog[21] = motor_rx[4];
1216
    DebugOut.Analog[22] = motor_rx[5];
1217
    DebugOut.Analog[23] = motor_rx[6];
1218
    DebugOut.Analog[24] = motor_rx[7];
1219
    DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
1220
*/
1221
//    DebugOut.Analog[9] = MesswertNick;
1 ingob 1222
//    DebugOut.Analog[9] = SollHoehe;
1223
//    DebugOut.Analog[10] = Mess_Integral_Gier / 128;
1224
//    DebugOut.Analog[11] = KompassStartwert;
1051 killagreg 1225
//    DebugOut.Analog[10] = Parameter_Gyro_I;
1226
//    DebugOut.Analog[10] = EE_Parameter.Gyro_I;
1227
//    DebugOut.Analog[9] = KompassRichtung;
1 ingob 1228
//    DebugOut.Analog[10] = GasMischanteil;
1229
//    DebugOut.Analog[3] = HoeheD * 32;
1230
//    DebugOut.Analog[4] = hoehenregler;
1231
  }
1232
 
1051 killagreg 1233
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1234
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1235
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1236
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1237
 
1171 hbuss 1238
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1239
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1240
 
1167 hbuss 1241
#define TRIM_MAX 200
1166 hbuss 1242
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1243
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1244
 
1166 hbuss 1245
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1246
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1247
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1248
 
1 ingob 1249
    // Maximalwerte abfangen
1153 hbuss 1250
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1251
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1252
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1253
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1254
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1255
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1256
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1257
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1258
 
1051 killagreg 1259
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1260
// Höhenregelung
1261
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1262
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1278 hbuss 1263
  if(UBat > BattLowVoltageWarning) GasMischanteil = (GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1264
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1265
 
1266
        // if height control is activated
1 ingob 1267
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung
1309 hbuss 1268
        {
1269
                #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1270
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8 ms averaging
1271
                #define OPA_OFFSET_STEP 10
1272
                int HCGas, HeightDeviation;
1273
                static int HeightTrimming = 0;  // rate for change of height setpoint
1274
                static int FilterHCGas = 0;
1320 hbuss 1275
                static int StickGasHoover = 110, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023;
1309 hbuss 1276
                static unsigned long HooverGasFilter = 0;
1277
                static unsigned char delay = 100;
1320 hbuss 1278
            int CosAttitude;    // for projection of hoover gas
1309 hbuss 1279
                long tmp_long3;
1320 hbuss 1280
//        const unsigned char GAS_TAB[31] = {128,128,128,129,129,130,131,132,133,135,136,138,140,142,145,148,151,154,158,162,167,172,178,184,191,199,208,218,229,241,255};
1309 hbuss 1281
                // get the current hooverpoint
1282
                DebugOut.Analog[25] = HooverGas;
1283
                DebugOut.Analog[18] = VarioMeter;
1284
 
1285
                // if height control is activated by an rc channel
1286
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1287
                {       // check if parameter is less than activation threshold
1288
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1289
                        {   //height control not active
1290
                                if(!delay--)
1291
                                {
1292
                                        // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1293
                                        if( (MessLuftdruck > 1000) && (OCR0A < (255 - OPA_OFFSET_STEP)) )
1294
                                        {   // increase offset
1295
                                                ExpandBaro -= 1;
1296
                                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1297
                                                beeptime = 300;
1298
                                        delay = 250;
1299
                                        }
1300
                                        // measurement of air pressure close to lower limit and
1301
                                        else if( (MessLuftdruck < 100) && (OCR0A > OPA_OFFSET_STEP) )
1302
                                        {   // decrease offset
1303
                                                ExpandBaro += 1;
1304
                                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1305
                                                beeptime = 300;
1306
                                        delay = 250;
1307
                                        }
1308
                                        else
1309
                                        {
1310
                                                SollHoehe = HoehenWert;  // update SetPoint with current reading
1311
                                                HoehenReglerAktiv = 0; // disable height control
1312
                                                delay = 1;
1313
                                        }
1314
                                }
1315
                        }
1316
                        else
1317
                        {       //height control is activated
1318
                                HoehenReglerAktiv = 1; // enable height control
1319
                                delay = 200;
1320
                        }
1051 killagreg 1321
                }
1309 hbuss 1322
                else // no switchable height control
1323
                {
1324
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1325
                        HoehenReglerAktiv = 1;
1051 killagreg 1326
                }
1320 hbuss 1327
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1328
                tmp_long  = IntegralNick/GIER_GRAD_FAKTOR;  // nick angle in deg
1329
                tmp_long  *= tmp_long;
1330
                tmp_long2 = IntegralRoll/GIER_GRAD_FAKTOR;  // roll angle in deg
1331
                tmp_long2 *= tmp_long2;
1 ingob 1332
 
1320 hbuss 1333
                CosAttitude = (int16_t)c_sqrt(tmp_long + tmp_long2); // phytagoras gives effective attitude angle in deg
1334
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1335
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1336
 
1309 hbuss 1337
                if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1338
                {
1339
                        #define HEIGHT_TRIM_UP          0x01
1340
                        #define HEIGHT_TRIM_DOWN        0x02
1341
                        static unsigned char HeightTrimmingFlag = 0x00;
1342
 
1320 hbuss 1343
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15 
1309 hbuss 1344
                // Holger original version
1345
                // start of height control algorithm
1346
                // the height control is only an attenuation of the actual gas stick.
1347
                // I.e. it will work only if the gas stick is higher than the hover gas
1348
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1349
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1350
              {  // old version
1309 hbuss 1351
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1352
                        HeightTrimming = 0;
1353
          }
1314 killagreg 1354
                  else
1309 hbuss 1355
                  {
1356
                // alternative height control
1357
                // PD-Control with respect to hoover point
1358
                // the thrust loss out of horizontal attitude is compensated
1359
                // the setpoint will be fine adjusted with the gas stick position
1360
                        if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying
1361
                        {   // gas stick is above hoover point
1320 hbuss 1362
                                if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) )
1309 hbuss 1363
                                {
1364
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1365
                                        {
1366
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1367
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1368
                                        }
1369
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1320 hbuss 1370
                                        HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1371
                                } // gas stick is below hoover point
1320 hbuss 1372
                                else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) )
1309 hbuss 1373
                                {
1374
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1375
                                        {
1376
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1377
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1378
                                        }
1379
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1320 hbuss 1380
                                        HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1381
                                }
1382
                                else // Gas Stick in Hoover Range
1383
                                {
1384
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN))
1385
                                        {
1386
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN);
1387
                                                HeightTrimming = 0;
1388
                                                SollHoehe = HoehenWert; // update setpoint to current height
1389
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1390
                                        }
1391
                                }
1392
                                // Trim height set point
1393
                                if(abs(HeightTrimming) > 512)
1394
                                {
1395
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1396
                                        HeightTrimming = 0;
1397
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1398
                                        //update hoover gas stick value when setpoint is shifted
1399
                                        StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1400
                                        StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;              
1401
                    if(StickGasHoover < 70) StickGasHoover = 70; else
1402
                    if(StickGasHoover > 150) StickGasHoover = 150;
1309 hbuss 1403
                                }
1404
                        } //if MikroKopterFlags & MKFLAG_FLY
1320 hbuss 1405
                        else  
1406
                        {
1407
                         SollHoehe = HoehenWert - 200;
1408
                         StickGasHoover = 110;
1409
                         }
1309 hbuss 1410
                        HCGas = HooverGas;      // take hoover gas (neutral point)
1411
          }
1314 killagreg 1412
 
1413
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1414
                 {
1309 hbuss 1415
            // ------------------------- P-Part ----------------------------
1312 hbuss 1416
            HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high
1309 hbuss 1417
                        tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part
1418
                        HCGas -= tmp_int;
1419
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1420
                        tmp_int = VarioMeter / 8;
1421
                        if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction
1422
                        if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4;
1423
                        else            tmp_int = VarioMeter - (tmp_int * tmp_int) / 4;
1424
                        tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter
1425
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1426
                        HCGas -= tmp_int;
1427
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1428
                        tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
1429
                        DebugOut.Analog[23] = -tmp_int;
1430
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1431
                        HCGas -= tmp_int;
1279 hbuss 1432
 
1309 hbuss 1433
                        // limit deviation from hoover point within the target region
1314 killagreg 1434
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1435
                        {
1436
                                LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point
1437
                        }
1276 hbuss 1438
 
1309 hbuss 1439
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1440
                        tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L;
1441
                        DebugOut.Analog[24] = -tmp_int;
1442
                        HCGas -= tmp_int;
1443
                        // strech control output by inverse attitude projection
1444
// + 1/cos(angle)  ++++++++++++++++++++++++++
1320 hbuss 1445
                                // strech control output by inverse attitude projection 1/cos
1446
                        tmp_long3 = (int32_t)HCGas;
1447
                        tmp_long3 *= 8192L;
1448
                        tmp_long3 /= CosAttitude;
1449
                        HCGas = (int16_t)tmp_long3;
1450
/*
1309 hbuss 1451
            tmp_long3 = labs(IntegralNick) + labs(IntegralRoll);
1452
            tmp_long3 /= 1500;//1024 * 2;
1453
            if(tmp_long3 > 29) tmp_long3 = 29;
1454
            HCGas = ((long) HCGas * GAS_TAB[tmp_long3]) / 128L;
1320 hbuss 1455
*/
1309 hbuss 1456
                        // update height control gas averaging
1457
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1458
                        // limit height control gas pd-control output
1459
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1460
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1461
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1462
                         {  // old version
1309 hbuss 1463
                if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas
1314 killagreg 1464
                         }
1309 hbuss 1465
                        GasMischanteil = FilterHCGas;
1314 killagreg 1466
                  }
1309 hbuss 1467
                }// EOF height control active
1320 hbuss 1468
                else // HC not active
1469
                {
1470
                        //update hoover gas stick value when HC is not active
1471
                        StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1472
                        StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1473
                }              
1283 hbuss 1474
 
1309 hbuss 1475
                // Hoover gas estimation by averaging gas control output on small z-velocities
1476
                // this is done only if height contol option is selected in global config and aircraft is flying
1477
                if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1478
                {
1479
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1480
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1481
                        {
1320 hbuss 1482
/*                      tmp_long3 = (long)GasMischanteil; // take current thrust
1309 hbuss 1483
            tmp_long3 = labs(IntegralNick) + labs(IntegralRoll);
1484
            tmp_long3 /= 1500;//1024 * 2;
1485
            if(tmp_long3 > 29) tmp_long3 = 29;
1486
            tmp_long3 = ((long) GasMischanteil * 128L) / (long) GAS_TAB[tmp_long3];
1320 hbuss 1487
*/
1488
                                tmp_long3 = (int32_t)GasMischanteil; // take current thrust
1489
                                tmp_long3 *= CosAttitude;            // apply attitude projection
1490
                                tmp_long3 /= 8192;
1491
 
1309 hbuss 1492
                                // average vertical projected thrust
1493
                                if(modell_fliegt < 2000) // the first 4 seconds
1494
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1495
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1496
                                        HooverGasFilter += 8L * tmp_long3;
1497
                                }
1498
                                else if(modell_fliegt < 4000) // the first 8 seconds
1499
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1500
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1501
                                        HooverGasFilter += 4L * tmp_long3;
1502
                                }
1503
                                else if(modell_fliegt < 8000) // the first 16 seconds
1504
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1505
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1506
                                        HooverGasFilter += 2L * tmp_long3;
1507
                                }
1508
                                else //later
1509
                                {
1510
                                        HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE;
1511
                                        HooverGasFilter += tmp_long3;
1512
                                }
1513
                                HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE);
1514
                                if(EE_Parameter.Hoehe_HoverBand)
1515
                                {
1516
                                        int16_t band;
1517
                                        band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1518
                                        HooverGasMin = HooverGas - band;
1519
                                        HooverGasMax = HooverGas + band;
1520
                                }
1521
                                else
1522
                                {       // no limit
1523
                                        HooverGasMin = 0;
1524
                                        HooverGasMax = 1023;
1525
                                }
1526
                        }
1527
                }
1528
DebugOut.Analog[25] = HooverGas;
1529
DebugOut.Analog[26] = HooverGasMax;
1530
DebugOut.Analog[28] = HooverGasMin;
1279 hbuss 1531
 
1309 hbuss 1532
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1533
 
1534
        // limit gas to parameter setting
1320 hbuss 1535
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1536
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1537
 
1051 killagreg 1538
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1539
// all BL-Ctrl connected?
1540
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1541
  if(MissingMotor)
1542
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1543
   {
1544
    modell_fliegt = 1;
1545
        GasMischanteil = MIN_GAS;
1546
   }
1547
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1548
// + Mischer und PI-Regler
1051 killagreg 1549
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1550
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1551
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1552
// Gier-Anteil
1051 killagreg 1553
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
188 holgerb 1554
#define MUL_G  1.0
855 hbuss 1555
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
604 hbuss 1556
// GierMischanteil = 0;
855 hbuss 1557
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1558
   if(GasMischanteil > MIN_GIERGAS)
1559
    {
1051 killagreg 1560
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1561
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1562
    }
1051 killagreg 1563
    else
693 hbuss 1564
    {
1051 killagreg 1565
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1566
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1567
    }
855 hbuss 1568
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1569
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1570
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1571
 
1051 killagreg 1572
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1573
// Nick-Achse
1051 killagreg 1574
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1575
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1576
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1577
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1578
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1579
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1580
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1581
    // Motor Vorn
499 hbuss 1582
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1583
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1584
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1585
 
1153 hbuss 1586
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1587
// Roll-Achse
1588
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1589
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1590
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1591
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1592
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1593
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1594
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1595
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1596
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1597
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1598
 
1599
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1600
// Universal Mixer
1155 hbuss 1601
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1602
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1603
 {
1604
  signed int tmp_int;
1605
  if(Mixer.Motor[i][0] > 0)
1606
   {
1607
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1608
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1609
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1610
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1611
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1612
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1613
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1216 killagreg 1614
    Motor[i] = tmp_int;
1209 hbuss 1615
   }
1616
   else Motor[i] = 0;
1617
 }
1167 hbuss 1618
/*
1153 hbuss 1619
if(Poti1 > 20)  Motor1 = 0;
1620
if(Poti1 > 90)  Motor6 = 0;
1621
if(Poti1 > 140) Motor2 = 0;
1175 hbuss 1622
//if(Poti1 > 200) Motor7 = 0;
1167 hbuss 1623
*/
1111 hbuss 1624
}