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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5
// + Copyright (c) 04.2007 Holger Buss
6
// + Nur für den privaten Gebrauch
7
// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
35
// +     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
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// +  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
1322 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
55
 
56
#include "main.h"
395 hbuss 57
#include "eeprom.c"
1320 hbuss 58
#include "mymath.h"
1330 killagreg 59
#include "isqrt.h"
1 ingob 60
 
1322 hbuss 61
unsigned char h,m,s,BaroExpandActive = 0;
173 holgerb 62
volatile unsigned int I2CTimeout = 100;
1153 hbuss 63
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 64
int TrimNick, TrimRoll;
1051 killagreg 65
int AdNeutralGierBias;
927 hbuss 66
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
67
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
805 hbuss 68
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1 ingob 69
volatile float NeutralAccZ = 0;
70
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
693 hbuss 71
long IntegralNick = 0,IntegralNick2 = 0;
72
long IntegralRoll = 0,IntegralRoll2 = 0;
73
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
74
long Integral_Gier = 0;
75
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
76
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
77
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
78
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1 ingob 79
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 80
int  KompassValue = 0;
81
int  KompassStartwert = 0;
82
int  KompassRichtung = 0;
693 hbuss 83
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 84
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 85
unsigned char HoehenReglerAktiv = 0;
880 hbuss 86
unsigned char TrichterFlug = 0;
395 hbuss 87
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 88
long  ErsatzKompass;
89
int   ErsatzKompassInGrad; // Kompasswert in Grad
90
int   GierGyroFehler = 0;
1211 hbuss 91
char GyroFaktor,GyroFaktorGier;
92
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 93
int  DiffNick,DiffRoll;
1051 killagreg 94
int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
1 ingob 95
volatile unsigned char SenderOkay = 0;
1243 killagreg 96
volatile unsigned char SenderRSSI = 0;
595 hbuss 97
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 98
char MotorenEin = 0;
1246 killagreg 99
long HoehenWert = 0;
100
long SollHoehe = 0;
498 hbuss 101
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 102
//float Ki =  FAKTOR_I;
103
int Ki = 10300 / 33;
395 hbuss 104
unsigned char Looping_Nick = 0,Looping_Roll = 0;
105
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 106
 
107
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
108
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
109
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
110
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
111
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 112
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 113
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 114
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 115
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 116
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
117
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 118
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
119
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
120
unsigned char Parameter_UserParam1 = 0;
121
unsigned char Parameter_UserParam2 = 0;
122
unsigned char Parameter_UserParam3 = 0;
123
unsigned char Parameter_UserParam4 = 0;
499 hbuss 124
unsigned char Parameter_UserParam5 = 0;
125
unsigned char Parameter_UserParam6 = 0;
126
unsigned char Parameter_UserParam7 = 0;
127
unsigned char Parameter_UserParam8 = 0;
1 ingob 128
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 129
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 130
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 131
unsigned char Parameter_AchsKopplung1 = 90;
132
unsigned char Parameter_AchsKopplung2 = 65;
133
unsigned char Parameter_CouplingYawCorrection = 64;
134
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 135
unsigned char Parameter_DynamicStability = 100;
921 hbuss 136
unsigned char Parameter_J16Bitmask;             // for the J16 Output
137
unsigned char Parameter_J16Timing;              // for the J16 Output
138
unsigned char Parameter_J17Bitmask;             // for the J17 Output
139
unsigned char Parameter_J17Timing;              // for the J17 Output
140
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 141
unsigned char Parameter_NaviGpsGain;
142
unsigned char Parameter_NaviGpsP;
143
unsigned char Parameter_NaviGpsI;
144
unsigned char Parameter_NaviGpsD;
145
unsigned char Parameter_NaviGpsACC;
993 hbuss 146
unsigned char Parameter_NaviOperatingRadius;
147
unsigned char Parameter_NaviWindCorrection;
148
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 149
unsigned char Parameter_ExternalControl;
1 ingob 150
struct mk_param_struct EE_Parameter;
492 hbuss 151
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 152
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 153
unsigned int  modell_fliegt = 0;
1209 hbuss 154
volatile unsigned char MikroKopterFlags = 0;
1121 hbuss 155
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 156
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 157
unsigned char RequiredMotors = 4;
158
unsigned char Motor[MAX_MOTORS];
159
signed int tmp_motorwert[MAX_MOTORS];
1328 hbuss 160
unsigned char LoadHandler = 0;
1309 hbuss 161
#define LIMIT_MIN(value, min) {if(value < min) value = min;}
162
#define LIMIT_MAX(value, max) {if(value > max) value = max;}
163
#define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
1155 hbuss 164
 
1166 hbuss 165
int MotorSmoothing(int neu, int alt)
166
{
167
 int motor;
168
 if(neu > alt) motor = (1*(int)alt + neu) / 2;
169
 else   motor = neu - (alt - neu)*1;
170
//if(Poti2 < 20)  return(neu);
171
 return(motor);
172
}
173
 
1232 hbuss 174
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 175
{
1232 hbuss 176
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 177
 while(Anzahl--)
178
 {
1232 hbuss 179
  beeptime = dauer;
180
  while(beeptime);
181
  Delay_ms(dauer * 2);
1 ingob 182
 }
183
}
184
 
185
//############################################################################
186
//  Nullwerte ermitteln
187
void SetNeutral(void)
188
//############################################################################
189
{
1111 hbuss 190
 unsigned char i;
191
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1320 hbuss 192
    HEF4017R_ON;
1051 killagreg 193
        NeutralAccX = 0;
1 ingob 194
        NeutralAccY = 0;
195
        NeutralAccZ = 0;
1051 killagreg 196
    AdNeutralNick = 0;
197
        AdNeutralRoll = 0;
1 ingob 198
        AdNeutralGier = 0;
927 hbuss 199
    AdNeutralGierBias = 0;
395 hbuss 200
    Parameter_AchsKopplung1 = 0;
1120 hbuss 201
    Parameter_AchsKopplung2 = 0;
1036 hbuss 202
    ExpandBaro = 0;
1051 killagreg 203
    CalibrierMittelwert();
395 hbuss 204
    Delay_ms_Mess(100);
1 ingob 205
        CalibrierMittelwert();
206
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 207
     {
1 ingob 208
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
209
     }
1166 hbuss 210
#define NEUTRAL_FILTER 32
211
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 212
         {
213
          Delay_ms_Mess(10);
1216 killagreg 214
          gier_neutral += AdWertGier;
1166 hbuss 215
          nick_neutral += AdWertNick;
216
          roll_neutral += AdWertRoll;
1111 hbuss 217
         }
1173 hbuss 218
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
219
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
220
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 221
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 222
     StartNeutralRoll = AdNeutralRoll;
223
     StartNeutralNick = AdNeutralNick;
1051 killagreg 224
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 225
    {
1171 hbuss 226
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
227
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 228
          NeutralAccZ = Aktuell_az;
229
    }
1051 killagreg 230
    else
513 hbuss 231
    {
232
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
233
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
234
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
235
    }
1051 killagreg 236
 
1 ingob 237
    MesswertNick = 0;
238
    MesswertRoll = 0;
239
    MesswertGier = 0;
1111 hbuss 240
    Delay_ms_Mess(100);
1174 hbuss 241
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
242
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 243
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
244
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
245
    Mess_IntegralNick2 = IntegralNick;
246
    Mess_IntegralRoll2 = IntegralRoll;
247
    Mess_Integral_Gier = 0;
1 ingob 248
    StartLuftdruck = Luftdruck;
1253 killagreg 249
    VarioMeter = 0;
1 ingob 250
    Mess_Integral_Hoch = 0;
251
    KompassStartwert = KompassValue;
252
    GPS_Neutral();
1051 killagreg 253
    beeptime = 50;
882 hbuss 254
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
255
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 256
    ExternHoehenValue = 0;
693 hbuss 257
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
258
    GierGyroFehler = 0;
723 hbuss 259
    SendVersionToNavi = 1;
921 hbuss 260
    LED_Init();
261
    MikroKopterFlags |= FLAG_CALIBRATE;
992 hbuss 262
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 263
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 264
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1172 hbuss 265
    Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;
266
    Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;
267
    Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;
268
    Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;
1171 hbuss 269
    SenderOkay = 100;
1320 hbuss 270
    if(ServoActive)
271
         {
272
                HEF4017R_ON;
273
                DDRD  |=0x80; // enable J7 -> Servo signal
274
     }
1 ingob 275
}
276
 
277
//############################################################################
395 hbuss 278
// Bearbeitet die Messwerte
1 ingob 279
void Mittelwert(void)
280
//############################################################################
1051 killagreg 281
{
1111 hbuss 282
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
283
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 284
        signed long winkel_nick, winkel_roll;
1171 hbuss 285
 
1111 hbuss 286
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
287
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 288
    MesswertNick = (signed int) AdWertNickFilter / 8;
289
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 290
    RohMesswertNick = MesswertNick;
291
    RohMesswertRoll = 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);
1322 hbuss 513
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P,10,255);
514
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I,0,255);
1051 killagreg 515
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
516
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
517
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
518
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
519
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
520
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
521
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
522
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
523
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
1 ingob 524
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
1232 hbuss 525
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255);
173 holgerb 526
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
395 hbuss 527
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1,0,255);
1120 hbuss 528
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2,0,255);
529
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);
530
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
499 hbuss 531
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255);
921 hbuss 532
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
533
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
534
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255);
1153 hbuss 535
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 536
 MAX_GAS = EE_Parameter.Gas_Max;
537
 MIN_GAS = EE_Parameter.Gas_Min;
538
}
539
 
540
 
541
//############################################################################
542
//
543
void MotorRegler(void)
544
//############################################################################
545
{
1330 killagreg 546
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 547
         int GierMischanteil,GasMischanteil;
548
     static long SummeNick=0,SummeRoll=0;
549
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 550
     static long IntegralFehlerNick = 0;
551
     static long IntegralFehlerRoll = 0;
1 ingob 552
         static unsigned int RcLostTimer;
553
         static unsigned char delay_neutral = 0;
554
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
555
     static char TimerWerteausgabe = 0;
556
     static char NeueKompassRichtungMerken = 0;
395 hbuss 557
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 558
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 559
         unsigned char i;
1328 hbuss 560
    if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast
1051 killagreg 561
        Mittelwert();
1 ingob 562
    GRN_ON;
1051 killagreg 563
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 564
// Gaswert ermitteln
1051 killagreg 565
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
566
        GasMischanteil = StickGas;
831 hbuss 567
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 568
 
1051 killagreg 569
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 570
// Empfang schlecht
1051 killagreg 571
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 572
   if(SenderOkay < 100)
573
        {
1051 killagreg 574
        if(RcLostTimer) RcLostTimer--;
575
        else
1 ingob 576
         {
577
          MotorenEin = 0;
1254 killagreg 578
          MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1051 killagreg 579
         }
1 ingob 580
        ROT_ON;
693 hbuss 581
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 582
            {
583
            GasMischanteil = EE_Parameter.NotGas;
1254 killagreg 584
            MikroKopterFlags |= FLAG_NOTLANDUNG;
744 hbuss 585
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 586
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 587
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
588
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
589
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 590
            }
1 ingob 591
         else MotorenEin = 0;
592
        }
1051 killagreg 593
        else
594
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 595
// Emfang gut
1051 killagreg 596
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 597
        if(SenderOkay > 140)
598
            {
1254 killagreg 599
                        MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1 ingob 600
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 601
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 602
                {
603
                if(modell_fliegt < 0xffff) modell_fliegt++;
604
                }
871 hbuss 605
            if((modell_fliegt < 256))
1 ingob 606
                {
607
                SummeNick = 0;
608
                SummeRoll = 0;
1051 killagreg 609
                if(modell_fliegt == 250)
918 hbuss 610
                 {
1051 killagreg 611
                  NeueKompassRichtungMerken = 1;
918 hbuss 612
                  sollGier = 0;
1051 killagreg 613
                  Mess_Integral_Gier = 0;
927 hbuss 614
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 615
                 }
921 hbuss 616
                } else MikroKopterFlags |= FLAG_FLY;
1051 killagreg 617
 
595 hbuss 618
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 619
                {
1051 killagreg 620
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 621
// auf Nullwerte kalibrieren
1051 killagreg 622
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 623
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
624
                    {
625
                    if(++delay_neutral > 200)  // nicht sofort
626
                        {
627
                        GRN_OFF;
628
                        MotorenEin = 0;
629
                        delay_neutral = 0;
630
                        modell_fliegt = 0;
631
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
632
                        {
304 ingob 633
                         unsigned char setting=1;
1 ingob 634
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
635
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
636
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
637
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
638
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 639
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 640
                        }
820 hbuss 641
//                        else
1051 killagreg 642
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
643
                          {
819 hbuss 644
                           WinkelOut.CalcState = 1;
645
                           beeptime = 1000;
646
                          }
647
                          else
1 ingob 648
                          {
819 hbuss 649
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
650
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
651
                            {
1 ingob 652
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 653
                            }
1330 killagreg 654
                                                   ServoActive = 0;
819 hbuss 655
                           SetNeutral();
1232 hbuss 656
                                                   ServoActive = 1;
657
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
658
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 659
                         }
1051 killagreg 660
                        }
1 ingob 661
                    }
1051 killagreg 662
                 else
513 hbuss 663
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
664
                    {
665
                    if(++delay_neutral > 200)  // nicht sofort
666
                        {
667
                        GRN_OFF;
668
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
669
                        MotorenEin = 0;
670
                        delay_neutral = 0;
671
                        modell_fliegt = 0;
672
                        SetNeutral();
673
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
674
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
675
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
676
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
677
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
678
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 679
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 680
                        }
513 hbuss 681
                    }
1 ingob 682
                 else delay_neutral = 0;
683
                }
1051 killagreg 684
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 685
// Gas ist unten
1051 killagreg 686
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 687
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 688
                {
689
                // Starten
690
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
691
                    {
1051 killagreg 692
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 693
// Einschalten
1051 killagreg 694
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 695
                    if(++delay_einschalten > 200)
696
                        {
697
                        delay_einschalten = 200;
698
                        modell_fliegt = 1;
699
                        MotorenEin = 1;
700
                        sollGier = 0;
1051 killagreg 701
                        Mess_Integral_Gier = 0;
1 ingob 702
                        Mess_Integral_Gier2 = 0;
1173 hbuss 703
                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
704
                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
1 ingob 705
                        Mess_IntegralNick2 = IntegralNick;
706
                        Mess_IntegralRoll2 = IntegralRoll;
707
                        SummeNick = 0;
708
                        SummeRoll = 0;
921 hbuss 709
                        MikroKopterFlags |= FLAG_START;
1051 killagreg 710
                        }
711
                    }
1 ingob 712
                    else delay_einschalten = 0;
713
                //Auf Neutralwerte setzen
1051 killagreg 714
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 715
// Auschalten
1051 killagreg 716
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 717
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
718
                    {
719
                    if(++delay_ausschalten > 200)  // nicht sofort
720
                        {
1298 hbuss 721
                         MotorenEin = 0;
722
                         delay_ausschalten = 200;
723
                         modell_fliegt = 0;
1051 killagreg 724
                        }
1 ingob 725
                    }
726
                else delay_ausschalten = 0;
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;
1330 killagreg 750
 
1153 hbuss 751
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
752
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 753
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
754
    IntegralFaktorGier = Parameter_Gyro_Gier_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;
1330 killagreg 768
 
1 ingob 769
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
1330 killagreg 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
 
1111 hbuss 973
  if(EE_Parameter.Driftkomp)
974
   {
927 hbuss 975
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
976
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 977
   }
693 hbuss 978
    GierGyroFehler = 0;
720 ingob 979
 
980
 
1243 killagreg 981
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
982
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 983
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 984
#define BEWEGUNGS_LIMIT 20000
395 hbuss 985
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
986
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 987
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 988
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 989
        {
1051 killagreg 990
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 991
         {
1051 killagreg 992
           if(last_n_p)
395 hbuss 993
           {
1173 hbuss 994
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 995
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 996
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 997
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 998
           }
395 hbuss 999
           else last_n_p = 1;
1000
         } else  last_n_p = 0;
1051 killagreg 1001
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1002
         {
1003
           if(last_n_n)
1051 killagreg 1004
            {
1173 hbuss 1005
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1006
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1007
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1008
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1009
            }
395 hbuss 1010
           else last_n_n = 1;
1011
         } else  last_n_n = 0;
1051 killagreg 1012
        }
1013
        else
847 hbuss 1014
        {
1015
         cnt = 0;
921 hbuss 1016
         KompassSignalSchlecht = 1000;
1051 killagreg 1017
        }
499 hbuss 1018
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1019
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1020
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1021
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1022
 
395 hbuss 1023
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1024
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1025
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1026
        ausgleichRoll = 0;
1173 hbuss 1027
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1028
        {
1051 killagreg 1029
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1030
         {
1051 killagreg 1031
           if(last_r_p)
395 hbuss 1032
           {
1173 hbuss 1033
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1034
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1035
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1036
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1037
           }
395 hbuss 1038
           else last_r_p = 1;
1039
         } else  last_r_p = 0;
1051 killagreg 1040
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1041
         {
1051 killagreg 1042
           if(last_r_n)
395 hbuss 1043
           {
1173 hbuss 1044
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1045
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1046
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1047
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1048
           }
1049
           else last_r_n = 1;
1050
         } else  last_r_n = 0;
1051 killagreg 1051
        } else
492 hbuss 1052
        {
1053
         cnt = 0;
921 hbuss 1054
         KompassSignalSchlecht = 1000;
1051 killagreg 1055
        }
499 hbuss 1056
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1057
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1058
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1059
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1060
  }
1051 killagreg 1061
  else
498 hbuss 1062
  {
1063
   LageKorrekturRoll = 0;
1064
   LageKorrekturNick = 0;
880 hbuss 1065
   TrichterFlug = 0;
498 hbuss 1066
  }
1051 killagreg 1067
 
498 hbuss 1068
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1069
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1070
   MittelIntegralNick_Alt = MittelIntegralNick;
1071
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1072
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1073
    IntegralAccNick = 0;
1074
    IntegralAccRoll = 0;
1075
    IntegralAccZ = 0;
1076
    MittelIntegralNick = 0;
1077
    MittelIntegralRoll = 0;
1078
    MittelIntegralNick2 = 0;
1079
    MittelIntegralRoll2 = 0;
1080
    ZaehlMessungen = 0;
1173 hbuss 1081
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1082
 
1173 hbuss 1083
 
1051 killagreg 1084
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1085
//  Gieren
1051 killagreg 1086
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1087
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1088
    if(abs(StickGier) > 15) // war 35
1 ingob 1089
     {
921 hbuss 1090
      KompassSignalSchlecht = 1000;
1051 killagreg 1091
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1092
       {
1093
         NeueKompassRichtungMerken = 1;
824 hbuss 1094
        };
1 ingob 1095
     }
395 hbuss 1096
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1097
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1098
    sollGier = tmp_int;
1051 killagreg 1099
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1100
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1101
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1102
 
1103
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1104
//  Kompass
1051 killagreg 1105
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1106
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1107
 
1051 killagreg 1108
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1109
     {
819 hbuss 1110
       int w,v,r,fehler,korrektur;
1 ingob 1111
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1112
       v = abs(IntegralRoll /512);
1113
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1114
       korrektur = w / 8 + 1;
921 hbuss 1115
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1116
       if(abs(MesswertGier) > 128)
1036 hbuss 1117
            {
1118
                 fehler = 0;
1051 killagreg 1119
                }
921 hbuss 1120
       if(!KompassSignalSchlecht && w < 25)
1121
        {
1122
        GierGyroFehler += fehler;
1051 killagreg 1123
        if(NeueKompassRichtungMerken)
1124
         {
921 hbuss 1125
          beeptime = 200;
847 hbuss 1126
//         KompassStartwert = KompassValue;
1171 hbuss 1127
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1128
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1129
          NeueKompassRichtungMerken = 0;
1130
         }
1 ingob 1131
        }
824 hbuss 1132
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1133
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1134
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1135
       if(w >= 0)
1 ingob 1136
        {
1051 killagreg 1137
          if(!KompassSignalSchlecht)
693 hbuss 1138
          {
1051 killagreg 1139
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1140
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1141
//           r = KompassRichtung;
819 hbuss 1142
           v = (r * w) / v;  // nach Kompass ausrichten
1143
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1144
           if(v > w) v = w; // Begrenzen
1051 killagreg 1145
           else
693 hbuss 1146
           if(v < -w) v = -w;
1147
           Mess_Integral_Gier += v;
1051 killagreg 1148
          }
693 hbuss 1149
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1150
        }
921 hbuss 1151
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1152
     }
1153
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1154
 
1051 killagreg 1155
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1156
//  Debugwerte zuordnen
1051 killagreg 1157
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1158
  if(!TimerWerteausgabe--)
1159
   {
395 hbuss 1160
    TimerWerteausgabe = 24;
805 hbuss 1161
 
1171 hbuss 1162
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1163
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1164
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1165
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1166
    DebugOut.Analog[4] = MesswertGier;
1314 killagreg 1167
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1168
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1169
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1170
    DebugOut.Analog[9] = UBat;
1283 hbuss 1171
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1172
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1173
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1174
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1175
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1176
    DebugOut.Analog[19] = WinkelOut.CalcState;
1328 hbuss 1177
    DebugOut.Analog[20] = ServoNickValue;
1322 hbuss 1178
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1179
//    DebugOut.Analog[24] = MesswertNick/2;
1180
//    DebugOut.Analog[25] = MesswertRoll/2;
1322 hbuss 1181
//    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1182
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1183
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1322 hbuss 1184
    //DebugOut.Analog[28] = I2CError;
1215 hbuss 1185
    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1186
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1187
    DebugOut.Analog[31] = GPS_Roll;
1 ingob 1188
  }
1189
 
1051 killagreg 1190
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1191
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1192
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1193
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1194
 
1171 hbuss 1195
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1196
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1197
 
1167 hbuss 1198
#define TRIM_MAX 200
1166 hbuss 1199
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1200
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1201
 
1166 hbuss 1202
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1203
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1204
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1205
 
1 ingob 1206
    // Maximalwerte abfangen
1153 hbuss 1207
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1208
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1209
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1210
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1211
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1212
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1213
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1214
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1215
 
1051 killagreg 1216
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1217
// Höhenregelung
1218
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1219
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1278 hbuss 1220
  if(UBat > BattLowVoltageWarning) GasMischanteil = (GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1221
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1222
 
1223
        // if height control is activated
1328 hbuss 1224
J4High;
1322 hbuss 1225
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1226
        {
1328 hbuss 1227
//              #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1228
                #define HOOVER_GAS_AVERAGE 1024L                // 1024 * 10ms = 10s averaging
1229
                #define HC_GAS_AVERAGE 2                        // 2 * 10ms= 20ms averaging
1309 hbuss 1230
                #define OPA_OFFSET_STEP 10
1231
                int HCGas, HeightDeviation;
1232
                static int HeightTrimming = 0;  // rate for change of height setpoint
1233
                static int FilterHCGas = 0;
1328 hbuss 1234
                static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023, LastHCGas = 0;
1309 hbuss 1235
                static unsigned long HooverGasFilter = 0;
1322 hbuss 1236
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1237
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1238
 
1309 hbuss 1239
                // get the current hooverpoint
1328 hbuss 1240
    if(LoadHandler == 1)
1241
     {
1322 hbuss 1242
                DebugOut.Analog[21] = HooverGas;
1309 hbuss 1243
                DebugOut.Analog[18] = VarioMeter;
1244
 
1322 hbuss 1245
        // Expand the measurement
1246
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1247
          if(!BaroExpandActive)
1248
                   {
1249
                        if(MessLuftdruck > 920)
1250
                        {   // increase offset
1330 killagreg 1251
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1252
                           {
1253
                                ExpandBaro -= 1;
1254
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1255
                                beeptime = 300;
1328 hbuss 1256
                                BaroExpandActive = 50;
1330 killagreg 1257
                           }
1258
                           else
1322 hbuss 1259
                           {
1260
                            BaroAtLowerLimit = 1;
1261
               }
1262
                        }
1263
                        // measurement of air pressure close to lower limit and
1330 killagreg 1264
                        else
1322 hbuss 1265
                        if(MessLuftdruck < 100)
1266
                        {   // decrease offset
1330 killagreg 1267
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1268
                           {
1269
                                ExpandBaro += 1;
1270
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1271
                                beeptime = 300;
1328 hbuss 1272
                                BaroExpandActive = 50;
1330 killagreg 1273
                           }
1274
                           else
1322 hbuss 1275
                           {
1276
                            BaroAtUpperLimit = 1;
1277
               }
1278
                        }
1330 killagreg 1279
                        else
1322 hbuss 1280
                        {
1281
                            BaroAtUpperLimit = 0;
1282
                                BaroAtLowerLimit = 0;
1283
                        }
1284
                   }
1285
                   else // delay, because of expanding the Baro-Range
1286
                   {
1287
                    // now clear the D-values
1288
                          SummenHoehe = HoehenWert * SM_FILTER;
1289
                          VarioMeter = 0;
1290
                          BaroExpandActive--;
1291
                   }
1328 hbuss 1292
 
1293
                // if height control is activated by an rc channel
1294
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1295
                {       // check if parameter is less than activation threshold
1296
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1297
                        {   //height control not active
1298
                                if(!delay--)
1299
                                {
1300
                                        HoehenReglerAktiv = 0; // disable height control
1301
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1302
                                        delay = 1;
1303
                                }
1304
                        }
1305
                        else
1306
                        {       //height control is activated
1307
                                HoehenReglerAktiv = 1; // enable height control
1308
                                delay = 40;
1309
                        }
1051 killagreg 1310
                }
1309 hbuss 1311
                else // no switchable height control
1312
                {
1313
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1314
                        HoehenReglerAktiv = 1;
1051 killagreg 1315
                }
1322 hbuss 1316
 
1320 hbuss 1317
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1318
J4Low;
1319
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1320
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1321
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1328 hbuss 1322
DebugOut.Analog[16] = CosAttitude;
1320 hbuss 1323
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1324
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1328 hbuss 1325
J4High;
1309 hbuss 1326
                if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1327
                {
1328
                        #define HEIGHT_TRIM_UP          0x01
1329
                        #define HEIGHT_TRIM_DOWN        0x02
1330
                        static unsigned char HeightTrimmingFlag = 0x00;
1331
 
1330 killagreg 1332
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1333
                // Holger original version
1334
                // start of height control algorithm
1335
                // the height control is only an attenuation of the actual gas stick.
1336
                // I.e. it will work only if the gas stick is higher than the hover gas
1337
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1338
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1339
              {  // old version
1309 hbuss 1340
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1341
                        HeightTrimming = 0;
1342
          }
1314 killagreg 1343
                  else
1309 hbuss 1344
                  {
1345
                // alternative height control
1346
                // PD-Control with respect to hoover point
1347
                // the thrust loss out of horizontal attitude is compensated
1348
                // the setpoint will be fine adjusted with the gas stick position
1349
                        if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying
1350
                        {   // gas stick is above hoover point
1322 hbuss 1351
                                if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1352
                                {
1353
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1354
                                        {
1355
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1356
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1357
                                        }
1358
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1320 hbuss 1359
                                        HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1360
                                } // gas stick is below hoover point
1322 hbuss 1361
                                else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1362
                                {
1363
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1364
                                        {
1365
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1366
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1367
                                        }
1368
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1320 hbuss 1369
                                        HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1370
                                }
1371
                                else // Gas Stick in Hoover Range
1372
                                {
1373
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN))
1374
                                        {
1375
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN);
1376
                                                HeightTrimming = 0;
1377
                                                SollHoehe = HoehenWert; // update setpoint to current height
1378
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1379
                                        }
1380
                                }
1381
                                // Trim height set point
1328 hbuss 1382
                                if(abs(HeightTrimming) > 256)
1309 hbuss 1383
                                {
1328 hbuss 1384
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(512 / 2); // move setpoint
1309 hbuss 1385
                                        HeightTrimming = 0;
1386
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1387
                                        //update hoover gas stick value when setpoint is shifted
1322 hbuss 1388
//                                      StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1330 killagreg 1389
//                                      StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1390
//                  if(StickGasHoover < 70) StickGasHoover = 70;
1391
//                  else if(StickGasHoover > 150) StickGasHoover = 150;
1309 hbuss 1392
                                }
1393
                        } //if MikroKopterFlags & MKFLAG_FLY
1330 killagreg 1394
                        else
1395
                        {
1322 hbuss 1396
                         SollHoehe = HoehenWert - 400;
1328 hbuss 1397
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1398
                         else StickGasHoover = 120;
1320 hbuss 1399
                         }
1309 hbuss 1400
                        HCGas = HooverGas;      // take hoover gas (neutral point)
1401
          }
1314 killagreg 1402
 
1403
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1404
                 {
1309 hbuss 1405
            // ------------------------- P-Part ----------------------------
1312 hbuss 1406
            HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high
1309 hbuss 1407
                        tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part
1408
                        HCGas -= tmp_int;
1409
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1410
                        tmp_int = VarioMeter / 8;
1411
                        if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction
1412
                        if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4;
1413
                        else            tmp_int = VarioMeter - (tmp_int * tmp_int) / 4;
1414
                        tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter
1415
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1416
                        HCGas -= tmp_int;
1417
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1418
                        tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
1419
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1420
                        HCGas -= tmp_int;
1330 killagreg 1421
 
1309 hbuss 1422
                        // limit deviation from hoover point within the target region
1314 killagreg 1423
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1424
                        {
1425
                                LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point
1426
                        }
1276 hbuss 1427
 
1322 hbuss 1428
            if(BaroExpandActive) HCGas = HooverGas;
1309 hbuss 1429
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1430
                        tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L;
1322 hbuss 1431
            LIMIT_MIN_MAX(tmp_int, -127, 255);
1309 hbuss 1432
                        HCGas -= tmp_int;
1330 killagreg 1433
 
1322 hbuss 1434
                        // strech control output by inverse attitude projection 1/cos
1435
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1436
                        tmp_long2 = (int32_t)HCGas;
1437
                        tmp_long2 *= 8192L;
1438
                        tmp_long2 /= CosAttitude;
1439
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1440
                        // update height control gas averaging
1441
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1442
                        // limit height control gas pd-control output
1443
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1444
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1445
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1446
                         {  // old version
1309 hbuss 1447
                if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas
1314 killagreg 1448
                         }
1309 hbuss 1449
                        GasMischanteil = FilterHCGas;
1314 killagreg 1450
                  }
1309 hbuss 1451
                }// EOF height control active
1320 hbuss 1452
                else // HC not active
1453
                {
1454
                        //update hoover gas stick value when HC is not active
1322 hbuss 1455
           if(!EE_Parameter.Hoehe_StickNeutralPoint)
1456
                    {
1457
                         StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1458
                         StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1459
                        }
1460
                        else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1330 killagreg 1461
            if(StickGasHoover < 70) StickGasHoover = 70;
1462
            else if(StickGasHoover > 150) StickGasHoover = 150;
1328 hbuss 1463
                        FilterHCGas = GasMischanteil;
1330 killagreg 1464
                }
1283 hbuss 1465
 
1309 hbuss 1466
                // Hoover gas estimation by averaging gas control output on small z-velocities
1467
                // this is done only if height contol option is selected in global config and aircraft is flying
1468
                if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1469
                {
1470
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1471
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1472
                        {
1330 killagreg 1473
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1474
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1475
                                tmp_long2 /= 8192;
1476
 
1309 hbuss 1477
                                // average vertical projected thrust
1478
                                if(modell_fliegt < 2000) // the first 4 seconds
1479
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1480
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1330 killagreg 1481
                                        HooverGasFilter += 8L * tmp_long2;
1309 hbuss 1482
                                }
1483
                                else if(modell_fliegt < 4000) // the first 8 seconds
1484
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1485
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1330 killagreg 1486
                                        HooverGasFilter += 4L * tmp_long2;
1309 hbuss 1487
                                }
1488
                                else if(modell_fliegt < 8000) // the first 16 seconds
1489
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1490
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1330 killagreg 1491
                                        HooverGasFilter += 2L * tmp_long2;
1309 hbuss 1492
                                }
1493
                                else //later
1494
                                {
1495
                                        HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE;
1330 killagreg 1496
                                        HooverGasFilter += tmp_long2;
1309 hbuss 1497
                                }
1498
                                HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE);
1499
                                if(EE_Parameter.Hoehe_HoverBand)
1500
                                {
1501
                                        int16_t band;
1502
                                        band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1503
                                        HooverGasMin = HooverGas - band;
1504
                                        HooverGasMax = HooverGas + band;
1505
                                }
1506
                                else
1507
                                {       // no limit
1508
                                        HooverGasMin = 0;
1509
                                        HooverGasMax = 1023;
1510
                                }
1511
                        }
1512
                }
1328 hbuss 1513
       LastHCGas = GasMischanteil;
1330 killagreg 1514
          }
1515
          else
1328 hbuss 1516
           {
1517
            GasMischanteil = LastHCGas;
1330 killagreg 1518
           }
1322 hbuss 1519
//DebugOut.Analog[26] = HooverGasMax;
1309 hbuss 1520
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1328 hbuss 1521
J4Low;
1309 hbuss 1522
 
1523
        // limit gas to parameter setting
1320 hbuss 1524
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1525
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1526
 
1051 killagreg 1527
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1528
// all BL-Ctrl connected?
1529
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1330 killagreg 1530
  if(MissingMotor)
1320 hbuss 1531
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1532
   {
1533
    modell_fliegt = 1;
1534
        GasMischanteil = MIN_GAS;
1535
   }
1536
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1537
// + Mischer und PI-Regler
1051 killagreg 1538
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1539
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1540
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1541
// Gier-Anteil
1051 killagreg 1542
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1543
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1544
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1545
   if(GasMischanteil > MIN_GIERGAS)
1546
    {
1051 killagreg 1547
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1548
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1549
    }
1051 killagreg 1550
    else
693 hbuss 1551
    {
1051 killagreg 1552
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1553
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1554
    }
855 hbuss 1555
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1556
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1557
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1558
 
1051 killagreg 1559
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1560
// Nick-Achse
1051 killagreg 1561
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1562
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1563
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1564
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1565
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1566
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1567
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1568
    // Motor Vorn
499 hbuss 1569
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1570
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1571
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1572
 
1153 hbuss 1573
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1574
// Roll-Achse
1575
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1576
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1577
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1578
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1579
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1580
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1581
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1582
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1583
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1584
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1585
 
1586
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1587
// Universal Mixer
1155 hbuss 1588
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1589
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1590
 {
1591
  signed int tmp_int;
1592
  if(Mixer.Motor[i][0] > 0)
1593
   {
1594
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1595
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1596
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1597
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1598
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1599
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1600
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1216 killagreg 1601
    Motor[i] = tmp_int;
1209 hbuss 1602
   }
1603
   else Motor[i] = 0;
1604
 }
1167 hbuss 1605
/*
1153 hbuss 1606
if(Poti1 > 20)  Motor1 = 0;
1607
if(Poti1 > 90)  Motor6 = 0;
1608
if(Poti1 > 140) Motor2 = 0;
1175 hbuss 1609
//if(Poti1 > 200) Motor7 = 0;
1167 hbuss 1610
*/
1111 hbuss 1611
}