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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 27 | // + Die Portierung oder Nutzung 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 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 |
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| 1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except 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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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 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" |
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| 1320 | hbuss | 57 | #include "mymath.h" |
| 1330 | killagreg | 58 | #include "isqrt.h" |
| 1 | ingob | 59 | |
| 1352 | hbuss | 60 | unsigned char h,m,s; |
| 61 | unsigned int BaroExpandActive = 0; |
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| 173 | holgerb | 62 | volatile unsigned int I2CTimeout = 100; |
| 1153 | hbuss | 63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 64 | int TrimNick, TrimRoll; |
| 927 | hbuss | 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 66 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
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| 805 | hbuss | 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1639 | holgerb | 68 | int NeutralAccZ = 0; |
| 1 | ingob | 69 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| 693 | hbuss | 70 | long IntegralNick = 0,IntegralNick2 = 0; |
| 71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 73 | long Integral_Gier = 0; |
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| 74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1 | ingob | 78 | volatile long Mess_Integral_Hoch = 0; |
| 1153 | hbuss | 79 | int KompassValue = 0; |
| 80 | int KompassStartwert = 0; |
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| 81 | int KompassRichtung = 0; |
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| 693 | hbuss | 82 | unsigned int KompassSignalSchlecht = 500; |
| 855 | hbuss | 83 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 84 | unsigned char HoehenReglerAktiv = 0; |
| 880 | hbuss | 85 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 86 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 87 | long ErsatzKompass; |
| 88 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 89 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 90 | char GyroFaktor,GyroFaktorGier; |
| 91 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 92 | int DiffNick,DiffRoll; |
| 1377 | hbuss | 93 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 1391 | killagreg | 94 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 1 | ingob | 95 | volatile unsigned char SenderOkay = 0; |
| 595 | hbuss | 96 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1 | ingob | 97 | char MotorenEin = 0; |
| 1622 | killagreg | 98 | unsigned char RequiredMotors = 0; |
| 1246 | killagreg | 99 | long HoehenWert = 0; |
| 100 | long SollHoehe = 0; |
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| 498 | hbuss | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 1153 | hbuss | 102 | //float Ki = FAKTOR_I; |
| 103 | int Ki = 10300 / 33; |
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| 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; |
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| 1 | ingob | 106 | |
| 107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 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 |
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| 1 | ingob | 118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 120 | unsigned char Parameter_UserParam1 = 0; |
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| 121 | unsigned char Parameter_UserParam2 = 0; |
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| 122 | unsigned char Parameter_UserParam3 = 0; |
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| 123 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 124 | unsigned char Parameter_UserParam5 = 0; |
| 125 | unsigned char Parameter_UserParam6 = 0; |
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| 126 | unsigned char Parameter_UserParam7 = 0; |
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| 127 | unsigned char Parameter_UserParam8 = 0; |
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| 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; |
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| 133 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 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 |
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| 138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 139 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 141 | unsigned char Parameter_NaviGpsGain; |
| 142 | unsigned char Parameter_NaviGpsP; |
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| 143 | unsigned char Parameter_NaviGpsI; |
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| 144 | unsigned char Parameter_NaviGpsD; |
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| 145 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 146 | unsigned char Parameter_NaviOperatingRadius; |
| 147 | unsigned char Parameter_NaviWindCorrection; |
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| 148 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 149 | unsigned char Parameter_ExternalControl; |
| 1403 | hbuss | 150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1622 | killagreg | 151 | |
| 492 | hbuss | 152 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 153 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 154 | unsigned int modell_fliegt = 0; |
| 1420 | killagreg | 155 | volatile unsigned char FCFlags = 0; |
| 1121 | hbuss | 156 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 157 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 158 | signed int tmp_motorwert[MAX_MOTORS]; |
| 1591 | holgerb | 159 | char VarioCharacter = ' '; |
| 160 | |||
| 1391 | killagreg | 161 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 162 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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| 163 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 164 | |
| 1622 | killagreg | 165 | |
| 1166 | hbuss | 166 | int MotorSmoothing(int neu, int alt) |
| 167 | { |
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| 168 | int motor; |
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| 169 | if(neu > alt) motor = (1*(int)alt + neu) / 2; |
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| 170 | else motor = neu - (alt - neu)*1; |
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| 171 | //if(Poti2 < 20) return(neu); |
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| 172 | return(motor); |
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| 173 | } |
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| 174 | |||
| 1639 | holgerb | 175 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 176 | // Debugwerte zuordnen |
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| 177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 178 | void CopyDebugValues(void) |
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| 179 | { |
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| 180 | |||
| 181 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 182 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 183 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 184 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 185 | DebugOut.Analog[4] = MesswertGier; |
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| 186 | DebugOut.Analog[5] = HoehenWert/5; |
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| 187 | DebugOut.Analog[6] = AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
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| 188 | DebugOut.Analog[8] = KompassValue; |
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| 189 | DebugOut.Analog[9] = UBat; |
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| 190 | DebugOut.Analog[10] = SenderOkay; |
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| 191 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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| 192 | DebugOut.Analog[16] = NeutralAccZ; |
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| 193 | DebugOut.Analog[18] = TransmitBlConfig; |
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| 194 | //DebugOut.Analog[16] = Motor[0].Temperature; |
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| 195 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
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| 196 | // DebugOut.Analog[18] = VarioMeter; |
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| 197 | // DebugOut.Analog[19] = WinkelOut.CalcState; |
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| 198 | DebugOut.Analog[20] = ServoNickValue; |
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| 199 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 200 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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| 201 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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| 202 | // DebugOut.Analog[24] = MesswertNick/2; |
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| 203 | // DebugOut.Analog[25] = MesswertRoll/2; |
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| 204 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
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| 205 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
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| 206 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
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| 207 | //DebugOut.Analog[28] = I2CError; |
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| 208 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
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| 209 | DebugOut.Analog[30] = GPS_Nick; |
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| 210 | DebugOut.Analog[31] = GPS_Roll; |
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| 211 | } |
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| 212 | |||
| 213 | |||
| 214 | |||
| 1232 | hbuss | 215 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 216 | { |
| 1232 | hbuss | 217 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 218 | while(Anzahl--) |
| 219 | { |
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| 1232 | hbuss | 220 | beeptime = dauer; |
| 221 | while(beeptime); |
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| 222 | Delay_ms(dauer * 2); |
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| 1 | ingob | 223 | } |
| 224 | } |
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| 225 | |||
| 226 | //############################################################################ |
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| 1622 | killagreg | 227 | // Messwerte beim Ermitteln der Nullage |
| 228 | void CalibrierMittelwert(void) |
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| 229 | //############################################################################ |
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| 230 | { |
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| 231 | unsigned char i; |
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| 232 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 233 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 234 | ANALOG_OFF; |
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| 235 | MesswertNick = AdWertNick; |
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| 236 | MesswertRoll = AdWertRoll; |
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| 237 | MesswertGier = AdWertGier; |
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| 238 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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| 239 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 240 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
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| 241 | // ADC einschalten |
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| 242 | ANALOG_ON; |
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| 243 | for(i=0;i<8;i++) |
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| 244 | { |
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| 245 | int tmp; |
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| 246 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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| 247 | LIMIT_MIN_MAX(tmp, 0, 255); |
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| 248 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 249 | } |
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| 250 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 251 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 252 | } |
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| 253 | |||
| 254 | //############################################################################ |
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| 1 | ingob | 255 | // Nullwerte ermitteln |
| 1622 | killagreg | 256 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 257 | //############################################################################ |
| 258 | { |
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| 1622 | killagreg | 259 | unsigned char i; |
| 260 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 261 | |||
| 1320 | hbuss | 262 | HEF4017R_ON; |
| 1051 | killagreg | 263 | NeutralAccX = 0; |
| 1 | ingob | 264 | NeutralAccY = 0; |
| 265 | NeutralAccZ = 0; |
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| 1622 | killagreg | 266 | |
| 1051 | killagreg | 267 | AdNeutralNick = 0; |
| 268 | AdNeutralRoll = 0; |
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| 1 | ingob | 269 | AdNeutralGier = 0; |
| 1622 | killagreg | 270 | |
| 395 | hbuss | 271 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 272 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 273 | |
| 1036 | hbuss | 274 | ExpandBaro = 0; |
| 1622 | killagreg | 275 | |
| 1639 | holgerb | 276 | TransmitBlConfig = 1; |
| 277 | motorread = 0; |
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| 278 | |||
| 1051 | killagreg | 279 | CalibrierMittelwert(); |
| 395 | hbuss | 280 | Delay_ms_Mess(100); |
| 1622 | killagreg | 281 | |
| 1 | ingob | 282 | CalibrierMittelwert(); |
| 1622 | killagreg | 283 | |
| 1 | ingob | 284 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 285 | { |
| 1 | ingob | 286 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 287 | } |
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| 1166 | hbuss | 288 | #define NEUTRAL_FILTER 32 |
| 289 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 290 | { |
| 291 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 292 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 293 | nick_neutral += AdWertNick; |
| 294 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 295 | } |
| 1173 | hbuss | 296 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 297 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 298 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 299 | |
| 401 | hbuss | 300 | StartNeutralRoll = AdNeutralRoll; |
| 301 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 302 | |
| 303 | if(AccAdjustment) |
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| 304 | { |
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| 305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 307 | NeutralAccZ = Aktuell_az; |
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| 308 | |||
| 309 | // Save ACC neutral settings to eeprom |
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| 1639 | holgerb | 310 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 311 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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| 1622 | killagreg | 312 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 313 | } |
| 1051 | killagreg | 314 | else |
| 513 | hbuss | 315 | { |
| 1622 | killagreg | 316 | // restore from eeprom |
| 317 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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| 318 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 319 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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| 320 | // strange settings? |
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| 1638 | holgerb | 321 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 322 | { |
| 323 | printf("\n\rACC not calibrated!\r\n"); |
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| 324 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 325 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 326 | NeutralAccZ = Aktuell_az; |
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| 327 | } |
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| 513 | hbuss | 328 | } |
| 1051 | killagreg | 329 | |
| 1 | ingob | 330 | MesswertNick = 0; |
| 331 | MesswertRoll = 0; |
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| 332 | MesswertGier = 0; |
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| 1111 | hbuss | 333 | Delay_ms_Mess(100); |
| 1174 | hbuss | 334 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| 335 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
||
| 1173 | hbuss | 336 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 337 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 338 | Mess_IntegralNick2 = IntegralNick; |
||
| 339 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 340 | Mess_Integral_Gier = 0; |
||
| 1 | ingob | 341 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 342 | VarioMeter = 0; |
| 1 | ingob | 343 | Mess_Integral_Hoch = 0; |
| 344 | KompassStartwert = KompassValue; |
||
| 345 | GPS_Neutral(); |
||
| 1051 | killagreg | 346 | beeptime = 50; |
| 882 | hbuss | 347 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 348 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 349 | ExternHoehenValue = 0; |
| 693 | hbuss | 350 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 351 | GierGyroFehler = 0; |
||
| 723 | hbuss | 352 | SendVersionToNavi = 1; |
| 921 | hbuss | 353 | LED_Init(); |
| 1420 | killagreg | 354 | FCFlags |= FCFLAG_CALIBRATE; |
| 992 | hbuss | 355 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 356 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 357 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 358 | |
| 359 | for(i=0;i<8;i++) |
||
| 1377 | hbuss | 360 | { |
| 361 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 362 | } |
||
| 1171 | hbuss | 363 | SenderOkay = 100; |
| 1320 | hbuss | 364 | if(ServoActive) |
| 365 | { |
||
| 366 | HEF4017R_ON; |
||
| 367 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 368 | } |
||
| 1 | ingob | 369 | } |
| 370 | |||
| 371 | //############################################################################ |
||
| 395 | hbuss | 372 | // Bearbeitet die Messwerte |
| 1 | ingob | 373 | void Mittelwert(void) |
| 374 | //############################################################################ |
||
| 1051 | killagreg | 375 | { |
| 1111 | hbuss | 376 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 377 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 378 | signed long winkel_nick, winkel_roll; |
| 1377 | hbuss | 379 | unsigned char i; |
| 1111 | hbuss | 380 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 381 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 382 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
| 1153 | hbuss | 383 | RohMesswertNick = MesswertNick; |
| 384 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 385 | |
| 395 | hbuss | 386 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 387 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 388 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
||
| 389 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
||
| 395 | hbuss | 390 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 391 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 392 | NaviAccNick += AdWertAccNick; |
| 393 | NaviAccRoll += AdWertAccRoll; |
||
| 394 | NaviCntAcc++; |
||
| 1153 | hbuss | 395 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 396 | |||
| 1155 | hbuss | 397 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 398 | // ADC einschalten |
||
| 1171 | hbuss | 399 | ANALOG_ON; |
| 1155 | hbuss | 400 | AdReady = 0; |
| 401 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 402 | |||
| 1216 | killagreg | 403 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 404 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 405 | else winkel_roll = Mess_IntegralRoll; |
| 406 | |||
| 1216 | killagreg | 407 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 408 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 409 | else winkel_nick = Mess_IntegralNick; |
| 410 | |||
| 1120 | hbuss | 411 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 412 | Mess_Integral_Gier += MesswertGier; |
| 413 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 414 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 415 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 416 | { |
||
| 1153 | hbuss | 417 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 418 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 419 | tmpl3 /= 4096L; |
| 1153 | hbuss | 420 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 421 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 422 | tmpl4 /= 4096L; |
| 1153 | hbuss | 423 | KopplungsteilNickRoll = tmpl3; |
| 424 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 425 | tmpl4 -= tmpl3; |
| 426 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 427 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 428 | |
| 1153 | hbuss | 429 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 430 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 431 | tmpl /= 4096L; |
| 1153 | hbuss | 432 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 433 | tmpl2 *= Parameter_AchsKopplung1; |
| 880 | hbuss | 434 | tmpl2 /= 4096L; |
| 1225 | hbuss | 435 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 436 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 437 | } |
| 1166 | hbuss | 438 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1111 | hbuss | 439 | |
| 1166 | hbuss | 440 | TrimRoll = tmpl - tmpl2 / 100L; |
| 441 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 442 | |||
| 1111 | hbuss | 443 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 444 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 445 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 446 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 447 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 448 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 449 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 450 | { |
| 882 | hbuss | 451 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 452 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 453 | } |
| 395 | hbuss | 454 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 455 | { |
||
| 882 | hbuss | 456 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 457 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 458 | } |
| 395 | hbuss | 459 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 460 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 461 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 462 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 463 | { |
| 464 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 465 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 466 | } |
| 467 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 468 | { |
| 882 | hbuss | 469 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 470 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 471 | } |
| 1111 | hbuss | 472 | |
| 1 | ingob | 473 | Integral_Gier = Mess_Integral_Gier; |
| 474 | IntegralNick = Mess_IntegralNick; |
||
| 475 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 476 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 477 | IntegralRoll2 = Mess_IntegralRoll2; |
| 478 | |||
| 1166 | hbuss | 479 | #define D_LIMIT 128 |
| 480 | |||
| 1171 | hbuss | 481 | MesswertNick = HiResNick / 8; |
| 482 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 483 | |
| 1167 | hbuss | 484 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 485 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 486 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 487 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 488 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 489 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 490 | |||
| 1216 | killagreg | 491 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 492 | { |
| 1166 | hbuss | 493 | d2Nick = HiResNick - oldNick; |
| 494 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 495 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 496 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 497 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 498 | d2Roll = HiResRoll - oldRoll; |
||
| 499 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 500 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 501 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 502 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 503 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 504 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 505 | } |
| 1111 | hbuss | 506 | |
| 1166 | hbuss | 507 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 508 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 509 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 510 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 511 | |
| 512 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 513 | { |
||
| 514 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 515 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 516 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 517 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 518 | } |
||
| 1377 | hbuss | 519 | for(i=0;i<8;i++) |
| 520 | { |
||
| 521 | int tmp; |
||
| 522 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 523 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
| 1406 | hbuss | 524 | if(tmp != Poti[i]) |
| 525 | { |
||
| 526 | Poti[i] += (tmp - Poti[i]) / 8; |
||
| 1413 | killagreg | 527 | if(Poti[i] > tmp) Poti[i]--; |
| 1406 | hbuss | 528 | else Poti[i]++; |
| 1413 | killagreg | 529 | } |
| 1377 | hbuss | 530 | } |
| 1 | ingob | 531 | } |
| 532 | |||
| 533 | //############################################################################ |
||
| 534 | // Senden der Motorwerte per I2C-Bus |
||
| 535 | void SendMotorData(void) |
||
| 536 | //############################################################################ |
||
| 1051 | killagreg | 537 | { |
| 1209 | hbuss | 538 | unsigned char i; |
| 921 | hbuss | 539 | if(!MotorenEin) |
| 1 | ingob | 540 | { |
| 1420 | killagreg | 541 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
| 1216 | killagreg | 542 | for(i=0;i<MAX_MOTORS;i++) |
| 543 | { |
||
| 544 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 545 | Motor[i].SetPoint = MotorTest[i]; |
| 546 | Motor[i].SetPointLowerBits = 0; |
||
| 547 | /* |
||
| 548 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
| 549 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 550 | */ |
||
| 1216 | killagreg | 551 | } |
| 1212 | hbuss | 552 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 553 | } |
| 1420 | killagreg | 554 | else FCFlags |= FCFLAG_MOTOR_RUN; |
| 1111 | hbuss | 555 | |
| 1479 | killagreg | 556 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 557 | DebugOut.Analog[13] = Motor[1].SetPoint; |
||
| 1521 | killagreg | 558 | DebugOut.Analog[14] = Motor[2].SetPoint; |
| 559 | DebugOut.Analog[15] = Motor[3].SetPoint; |
||
| 1 | ingob | 560 | |
| 561 | //Start I2C Interrupt Mode |
||
| 562 | twi_state = 0; |
||
| 563 | motor = 0; |
||
| 1639 | holgerb | 564 | I2C_Start(); |
| 1 | ingob | 565 | } |
| 566 | |||
| 567 | |||
| 568 | |||
| 569 | //############################################################################ |
||
| 570 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 571 | void ParameterZuordnung(void) |
| 1 | ingob | 572 | //############################################################################ |
| 573 | { |
||
| 1391 | killagreg | 574 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| 575 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
| 576 | |||
| 921 | hbuss | 577 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 578 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 579 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 580 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 581 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 1403 | hbuss | 582 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 583 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 584 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1377 | hbuss | 585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1403 | hbuss | 586 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1377 | hbuss | 587 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| 588 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
| 589 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
| 590 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
| 591 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
| 592 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
| 593 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
| 594 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
| 595 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
| 596 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
| 597 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
| 598 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
| 599 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
| 600 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
| 601 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
| 602 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
| 603 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
| 604 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
| 605 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
| 606 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1); |
||
| 607 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2); |
||
| 608 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
||
| 609 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 610 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 611 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1153 | hbuss | 612 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 613 | MAX_GAS = EE_Parameter.Gas_Max; |
| 614 | MIN_GAS = EE_Parameter.Gas_Min; |
||
| 615 | } |
||
| 616 | |||
| 617 | //############################################################################ |
||
| 618 | // |
||
| 619 | void MotorRegler(void) |
||
| 620 | //############################################################################ |
||
| 621 | { |
||
| 1330 | killagreg | 622 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 623 | int GierMischanteil,GasMischanteil; |
| 624 | static long SummeNick=0,SummeRoll=0; |
||
| 625 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 626 | static long IntegralFehlerNick = 0; |
| 627 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 628 | static unsigned int RcLostTimer; |
| 629 | static unsigned char delay_neutral = 0; |
||
| 630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 631 | static unsigned char calibration_done = 0; |
| 1 | ingob | 632 | static char TimerWerteausgabe = 0; |
| 633 | static char NeueKompassRichtungMerken = 0; |
||
| 395 | hbuss | 634 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 635 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 636 | unsigned char i; |
| 1051 | killagreg | 637 | Mittelwert(); |
| 1 | ingob | 638 | GRN_ON; |
| 1051 | killagreg | 639 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 640 | // Gaswert ermitteln |
| 1051 | killagreg | 641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 642 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 643 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 644 | |
| 1051 | killagreg | 645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 646 | // Empfang schlecht |
| 1051 | killagreg | 647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 648 | if(SenderOkay < 100) |
| 649 | { |
||
| 1051 | killagreg | 650 | if(RcLostTimer) RcLostTimer--; |
| 651 | else |
||
| 1 | ingob | 652 | { |
| 653 | MotorenEin = 0; |
||
| 1420 | killagreg | 654 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1051 | killagreg | 655 | } |
| 1 | ingob | 656 | ROT_ON; |
| 693 | hbuss | 657 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 658 | { |
| 659 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1420 | killagreg | 660 | FCFlags |= FCFLAG_NOTLANDUNG; |
| 744 | hbuss | 661 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 662 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 663 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 664 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 665 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 666 | } |
| 1 | ingob | 667 | else MotorenEin = 0; |
| 668 | } |
||
| 1051 | killagreg | 669 | else |
| 670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 671 | // Emfang gut |
| 1051 | killagreg | 672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 673 | if(SenderOkay > 140) |
| 674 | { |
||
| 1420 | killagreg | 675 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1 | ingob | 676 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 677 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 678 | { |
| 679 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 680 | } |
||
| 871 | hbuss | 681 | if((modell_fliegt < 256)) |
| 1 | ingob | 682 | { |
| 683 | SummeNick = 0; |
||
| 684 | SummeRoll = 0; |
||
| 1051 | killagreg | 685 | if(modell_fliegt == 250) |
| 918 | hbuss | 686 | { |
| 1051 | killagreg | 687 | NeueKompassRichtungMerken = 1; |
| 918 | hbuss | 688 | sollGier = 0; |
| 1051 | killagreg | 689 | Mess_Integral_Gier = 0; |
| 927 | hbuss | 690 | // Mess_Integral_Gier2 = 0; |
| 1051 | killagreg | 691 | } |
| 1420 | killagreg | 692 | } else FCFlags |= FCFLAG_FLY; |
| 1051 | killagreg | 693 | |
| 595 | hbuss | 694 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 695 | { |
| 1051 | killagreg | 696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 697 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 698 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 699 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 700 | { |
||
| 701 | if(++delay_neutral > 200) // nicht sofort |
||
| 702 | { |
||
| 703 | GRN_OFF; |
||
| 704 | MotorenEin = 0; |
||
| 705 | delay_neutral = 0; |
||
| 706 | modell_fliegt = 0; |
||
| 707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 708 | { |
||
| 304 | ingob | 709 | unsigned char setting=1; |
| 1 | ingob | 710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 711 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 712 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 713 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 714 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 715 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 716 | } |
| 820 | hbuss | 717 | // else |
| 1051 | killagreg | 718 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 719 | { |
||
| 819 | hbuss | 720 | WinkelOut.CalcState = 1; |
| 721 | beeptime = 1000; |
||
| 722 | } |
||
| 723 | else |
||
| 1 | ingob | 724 | { |
| 1622 | killagreg | 725 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 726 | LipoDetection(0); |
| 1626 | killagreg | 727 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 819 | hbuss | 728 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 729 | { |
||
| 1 | ingob | 730 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 731 | } |
| 1330 | killagreg | 732 | ServoActive = 0; |
| 1622 | killagreg | 733 | SetNeutral(0); |
| 734 | calibration_done = 1; |
||
| 1232 | hbuss | 735 | ServoActive = 1; |
| 736 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 737 | Piep(GetActiveParamSet(),120); |
| 819 | hbuss | 738 | } |
| 1051 | killagreg | 739 | } |
| 1 | ingob | 740 | } |
| 1051 | killagreg | 741 | else |
| 513 | hbuss | 742 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 743 | { |
||
| 744 | if(++delay_neutral > 200) // nicht sofort |
||
| 745 | { |
||
| 746 | GRN_OFF; |
||
| 747 | MotorenEin = 0; |
||
| 748 | delay_neutral = 0; |
||
| 749 | modell_fliegt = 0; |
||
| 1622 | killagreg | 750 | SetNeutral(1); |
| 751 | calibration_done = 1; |
||
| 752 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 753 | } |
| 513 | hbuss | 754 | } |
| 1 | ingob | 755 | else delay_neutral = 0; |
| 756 | } |
||
| 1051 | killagreg | 757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 758 | // Gas ist unten |
| 1051 | killagreg | 759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 760 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 761 | { |
| 1521 | killagreg | 762 | // Motoren Starten |
| 763 | if(!MotorenEin) |
||
| 764 | { |
||
| 765 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 766 | { |
||
| 1051 | killagreg | 767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 768 | // Einschalten |
| 1051 | killagreg | 769 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 770 | if(++delay_einschalten > 200) |
| 771 | { |
||
| 772 | delay_einschalten = 0; |
||
| 1622 | killagreg | 773 | if(calibration_done) |
| 774 | { |
||
| 775 | modell_fliegt = 1; |
||
| 776 | MotorenEin = 1; |
||
| 777 | sollGier = 0; |
||
| 778 | Mess_Integral_Gier = 0; |
||
| 779 | Mess_Integral_Gier2 = 0; |
||
| 780 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 781 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 782 | Mess_IntegralNick2 = IntegralNick; |
||
| 783 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 784 | SummeNick = 0; |
||
| 785 | SummeRoll = 0; |
||
| 786 | FCFlags |= FCFLAG_START; |
||
| 787 | } |
||
| 788 | else |
||
| 789 | { |
||
| 790 | beeptime = 1500; // indicate missing calibration |
||
| 791 | } |
||
| 1521 | killagreg | 792 | } |
| 793 | } |
||
| 794 | else delay_einschalten = 0; |
||
| 795 | } |
||
| 1051 | killagreg | 796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 797 | // Auschalten |
| 1051 | killagreg | 798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 799 | else // only if motors are running |
| 800 | { |
||
| 801 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 802 | { |
||
| 803 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 804 | { |
||
| 805 | MotorenEin = 0; |
||
| 806 | delay_ausschalten = 0; |
||
| 807 | modell_fliegt = 0; |
||
| 808 | } |
||
| 809 | } |
||
| 810 | else delay_ausschalten = 0; |
||
| 811 | } |
||
| 1 | ingob | 812 | } |
| 813 | } |
||
| 1051 | killagreg | 814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 815 | // neue Werte von der Funke |
| 1051 | killagreg | 816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 817 | |
| 1420 | killagreg | 818 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
| 1 | ingob | 819 | { |
| 604 | hbuss | 820 | static int stick_nick,stick_roll; |
| 1 | ingob | 821 | ParameterZuordnung(); |
| 1051 | killagreg | 822 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 823 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 805 | hbuss | 824 | StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| 604 | hbuss | 825 | |
| 723 | hbuss | 826 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 827 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 805 | hbuss | 828 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| 723 | hbuss | 829 | |
| 1 | ingob | 830 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 831 | if(StickGier > 2) StickGier -= 2; else |
| 832 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 833 | |||
| 1350 | hbuss | 834 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1330 | killagreg | 835 | |
| 1153 | hbuss | 836 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 837 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 838 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 839 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 840 | |
| 595 | hbuss | 841 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 842 | //+ Analoge Steuerung per Seriell |
||
| 843 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 844 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 845 | { |
| 846 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 847 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 848 | StickGier += ExternControl.Gier; |
||
| 849 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 850 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 851 | } |
||
| 855 | hbuss | 852 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 853 | |
| 1 | ingob | 854 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 1330 | killagreg | 855 | //if(GyroFaktor < 0) GyroFaktor = 0; |
| 856 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 723 | hbuss | 857 | |
| 1051 | killagreg | 858 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 859 | { |
| 1051 | killagreg | 860 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 861 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 862 | } |
| 928 | hbuss | 863 | else MaxStickNick--; |
| 1051 | killagreg | 864 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 865 | { |
| 1051 | killagreg | 866 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 867 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 868 | } |
| 928 | hbuss | 869 | else MaxStickRoll--; |
| 1420 | killagreg | 870 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 871 | |
| 1051 | killagreg | 872 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 873 | // Looping? |
| 1051 | killagreg | 874 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 875 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 876 | else |
| 877 | { |
||
| 395 | hbuss | 878 | { |
| 1051 | killagreg | 879 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 880 | } |
||
| 881 | } |
||
| 993 | hbuss | 882 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 883 | else |
| 395 | hbuss | 884 | { |
| 885 | if(Looping_Rechts) // Hysterese |
||
| 886 | { |
||
| 887 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 888 | } |
||
| 1051 | killagreg | 889 | } |
| 173 | holgerb | 890 | |
| 993 | hbuss | 891 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 892 | else |
| 893 | { |
||
| 395 | hbuss | 894 | if(Looping_Oben) // Hysterese |
| 895 | { |
||
| 1051 | killagreg | 896 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 897 | } |
||
| 898 | } |
||
| 993 | hbuss | 899 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 900 | else |
| 395 | hbuss | 901 | { |
| 902 | if(Looping_Unten) // Hysterese |
||
| 903 | { |
||
| 904 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 905 | } |
||
| 1051 | killagreg | 906 | } |
| 395 | hbuss | 907 | |
| 908 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 909 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 910 | } // Ende neue Funken-Werte |
| 911 | |||
| 912 | if(Looping_Roll || Looping_Nick) |
||
| 913 | { |
||
| 173 | holgerb | 914 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 915 | TrichterFlug = 1; |
| 173 | holgerb | 916 | } |
| 917 | |||
| 1051 | killagreg | 918 | |
| 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 920 | // Bei Empfangsausfall im Flug |
||
| 921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1420 | killagreg | 922 | if(FCFlags & FCFLAG_NOTLANDUNG) |
| 1 | ingob | 923 | { |
| 924 | StickGier = 0; |
||
| 925 | StickNick = 0; |
||
| 926 | StickRoll = 0; |
||
| 1211 | hbuss | 927 | GyroFaktor = 90; |
| 928 | IntegralFaktor = 120; |
||
| 929 | GyroFaktorGier = 90; |
||
| 930 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 931 | Looping_Roll = 0; |
| 932 | Looping_Nick = 0; |
||
| 1051 | killagreg | 933 | } |
| 395 | hbuss | 934 | |
| 935 | |||
| 1051 | killagreg | 936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 937 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 938 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 939 | #define ABGLEICH_ANZAHL 256L |
| 940 | |||
| 941 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 942 | MittelIntegralRoll += IntegralRoll; |
||
| 943 | MittelIntegralNick2 += IntegralNick2; |
||
| 944 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 945 | |||
| 946 | if(Looping_Nick || Looping_Roll) |
||
| 947 | { |
||
| 948 | IntegralAccNick = 0; |
||
| 949 | IntegralAccRoll = 0; |
||
| 950 | MittelIntegralNick = 0; |
||
| 951 | MittelIntegralRoll = 0; |
||
| 952 | MittelIntegralNick2 = 0; |
||
| 953 | MittelIntegralRoll2 = 0; |
||
| 954 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 955 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 956 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 957 | LageKorrekturNick = 0; |
| 958 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 959 | } |
| 960 | |||
| 1051 | killagreg | 961 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 962 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 963 | { |
| 964 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 965 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 966 | { |
| 967 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 968 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 969 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 970 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 971 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 972 | { |
||
| 973 | tmp_long /= 2; |
||
| 974 | tmp_long2 /= 2; |
||
| 975 | } |
||
| 976 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 977 | { |
||
| 978 | tmp_long /= 3; |
||
| 979 | tmp_long2 /= 3; |
||
| 980 | } |
||
| 981 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 982 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 983 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 984 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 985 | } |
||
| 1051 | killagreg | 986 | else |
| 992 | hbuss | 987 | { |
| 988 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 989 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 990 | tmp_long /= 16; |
| 991 | tmp_long2 /= 16; |
||
| 992 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 993 | { |
||
| 994 | tmp_long /= 3; |
||
| 995 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 996 | } |
| 997 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 998 | { |
| 999 | tmp_long /= 3; |
||
| 1000 | tmp_long2 /= 3; |
||
| 1001 | } |
||
| 1155 | hbuss | 1002 | |
| 1003 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 1004 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1005 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1006 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1007 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 1008 | } |
||
| 1166 | hbuss | 1009 | |
| 1010 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 1111 | hbuss | 1011 | Mess_IntegralNick -= tmp_long; |
| 1012 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1013 | } |
| 1051 | killagreg | 1014 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1015 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1016 | { |
||
| 1017 | static int cnt = 0; |
||
| 1018 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1019 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 1020 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 1021 | { |
| 395 | hbuss | 1022 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1023 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1024 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1025 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1026 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 492 | hbuss | 1027 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 1028 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1029 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1030 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1031 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1032 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1033 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1034 | |
| 1035 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1036 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1037 | |
| 992 | hbuss | 1038 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1039 | { |
| 1040 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1041 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1042 | } |
| 498 | hbuss | 1043 | |
| 1051 | killagreg | 1044 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1045 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1046 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1047 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1048 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1049 | tmp_long = IntegralNick2 - IntegralNick; |
| 1050 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1051 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 1052 | |||
| 1053 | IntegralFehlerNick = tmp_long; |
||
| 1054 | IntegralFehlerRoll = tmp_long2; |
||
| 1055 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1056 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1057 | |||
| 1111 | hbuss | 1058 | if(EE_Parameter.Driftkomp) |
| 1059 | { |
||
| 1622 | killagreg | 1060 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1061 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1062 | } |
| 693 | hbuss | 1063 | GierGyroFehler = 0; |
| 720 | ingob | 1064 | |
| 1065 | |||
| 1243 | killagreg | 1066 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1067 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1068 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1069 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1070 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1071 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1072 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1073 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1074 | { |
| 1051 | killagreg | 1075 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1076 | { |
| 1051 | killagreg | 1077 | if(last_n_p) |
| 395 | hbuss | 1078 | { |
| 1173 | hbuss | 1079 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1080 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1081 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1082 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1083 | } |
| 395 | hbuss | 1084 | else last_n_p = 1; |
| 1085 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1086 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1087 | { |
| 1088 | if(last_n_n) |
||
| 1051 | killagreg | 1089 | { |
| 1173 | hbuss | 1090 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1091 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1092 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1093 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1094 | } |
| 395 | hbuss | 1095 | else last_n_n = 1; |
| 1096 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1097 | } |
| 1098 | else |
||
| 847 | hbuss | 1099 | { |
| 1100 | cnt = 0; |
||
| 921 | hbuss | 1101 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1102 | } |
| 499 | hbuss | 1103 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1104 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1105 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1106 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1107 | |
| 395 | hbuss | 1108 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 492 | hbuss | 1109 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| 1225 | hbuss | 1110 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 498 | hbuss | 1111 | ausgleichRoll = 0; |
| 1173 | hbuss | 1112 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1113 | { |
| 1051 | killagreg | 1114 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1115 | { |
| 1051 | killagreg | 1116 | if(last_r_p) |
| 395 | hbuss | 1117 | { |
| 1173 | hbuss | 1118 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1119 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1120 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1121 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1122 | } |
| 395 | hbuss | 1123 | else last_r_p = 1; |
| 1124 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1125 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1126 | { |
| 1051 | killagreg | 1127 | if(last_r_n) |
| 395 | hbuss | 1128 | { |
| 1173 | hbuss | 1129 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1130 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1131 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1132 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1133 | } |
| 1134 | else last_r_n = 1; |
||
| 1135 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1136 | } else |
| 492 | hbuss | 1137 | { |
| 1138 | cnt = 0; |
||
| 921 | hbuss | 1139 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1140 | } |
| 499 | hbuss | 1141 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1142 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1143 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1144 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1145 | } |
| 1051 | killagreg | 1146 | else |
| 498 | hbuss | 1147 | { |
| 1148 | LageKorrekturRoll = 0; |
||
| 1149 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1150 | TrichterFlug = 0; |
| 498 | hbuss | 1151 | } |
| 1051 | killagreg | 1152 | |
| 498 | hbuss | 1153 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1154 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1155 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1156 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1157 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1158 | IntegralAccNick = 0; |
| 1159 | IntegralAccRoll = 0; |
||
| 1160 | IntegralAccZ = 0; |
||
| 1161 | MittelIntegralNick = 0; |
||
| 1162 | MittelIntegralRoll = 0; |
||
| 1163 | MittelIntegralNick2 = 0; |
||
| 1164 | MittelIntegralRoll2 = 0; |
||
| 1165 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1166 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1167 | |
| 1051 | killagreg | 1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1169 | // Gieren |
| 1051 | killagreg | 1170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 1171 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| 1051 | killagreg | 1172 | if(abs(StickGier) > 15) // war 35 |
| 1 | ingob | 1173 | { |
| 921 | hbuss | 1174 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1175 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1176 | { |
||
| 1177 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1178 | }; |
| 1 | ingob | 1179 | } |
| 395 | hbuss | 1180 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1181 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1182 | sollGier = tmp_int; |
| 1051 | killagreg | 1183 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1184 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1185 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1186 | |
| 1187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1188 | // Kompass |
| 1051 | killagreg | 1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1175 | hbuss | 1190 | //DebugOut.Analog[16] = KompassSignalSchlecht; |
| 819 | hbuss | 1191 | |
| 1051 | killagreg | 1192 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1 | ingob | 1193 | { |
| 819 | hbuss | 1194 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1195 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1196 | v = abs(IntegralRoll /512); |
||
| 1197 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 824 | hbuss | 1198 | korrektur = w / 8 + 1; |
| 921 | hbuss | 1199 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1171 | hbuss | 1200 | if(abs(MesswertGier) > 128) |
| 1036 | hbuss | 1201 | { |
| 1202 | fehler = 0; |
||
| 1051 | killagreg | 1203 | } |
| 921 | hbuss | 1204 | if(!KompassSignalSchlecht && w < 25) |
| 1205 | { |
||
| 1206 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1207 | if(NeueKompassRichtungMerken) |
| 1208 | { |
||
| 1352 | hbuss | 1209 | // beeptime = 200; |
| 847 | hbuss | 1210 | // KompassStartwert = KompassValue; |
| 1171 | hbuss | 1211 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1212 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1213 | NeueKompassRichtungMerken = 0; |
||
| 1214 | } |
||
| 1 | ingob | 1215 | } |
| 824 | hbuss | 1216 | ErsatzKompass += (fehler * 8) / korrektur; |
| 921 | hbuss | 1217 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1218 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1219 | if(w >= 0) |
| 1 | ingob | 1220 | { |
| 1051 | killagreg | 1221 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1222 | { |
| 1051 | killagreg | 1223 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1224 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 1225 | // r = KompassRichtung; |
||
| 819 | hbuss | 1226 | v = (r * w) / v; // nach Kompass ausrichten |
| 1227 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1228 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1229 | else |
| 693 | hbuss | 1230 | if(v < -w) v = -w; |
| 1231 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1232 | } |
| 693 | hbuss | 1233 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1234 | } |
| 921 | hbuss | 1235 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1236 | } |
| 1 | ingob | 1237 | |
| 1051 | killagreg | 1238 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1239 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1240 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1241 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1242 | |
| 1171 | hbuss | 1243 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1244 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1245 | |
| 1167 | hbuss | 1246 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1247 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1248 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1249 | |
| 1166 | hbuss | 1250 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1251 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1252 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1253 | |
| 1 | ingob | 1254 | // Maximalwerte abfangen |
| 1153 | hbuss | 1255 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1256 | #define MAX_SENSOR (4096*4) |
||
| 1216 | killagreg | 1257 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1258 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1259 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1260 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1261 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1262 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1263 | |||
| 1051 | killagreg | 1264 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1265 | // Höhenregelung |
| 1266 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1268 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1269 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1270 | // if height control is activated |
| 1322 | hbuss | 1271 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1272 | { |
| 1590 | killagreg | 1273 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
| 1332 | hbuss | 1274 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1275 | |
| 1276 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1277 | #define OPA_OFFSET_STEP 15 |
||
| 1278 | #else |
||
| 1279 | #define OPA_OFFSET_STEP 10 |
||
| 1280 | #endif |
||
| 1587 | killagreg | 1281 | int HCGas, HeightDeviation = 0; |
| 1309 | hbuss | 1282 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1283 | static int FilterHCGas = 0; |
||
| 1587 | killagreg | 1284 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
| 1285 | static unsigned long HoverGasFilter = 0; |
||
| 1322 | hbuss | 1286 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1320 | hbuss | 1287 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1288 | |
| 1309 | hbuss | 1289 | // get the current hooverpoint |
| 1587 | killagreg | 1290 | DebugOut.Analog[21] = HoverGas; |
| 1638 | holgerb | 1291 | |
| 1322 | hbuss | 1292 | // Expand the measurement |
| 1293 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1294 | if(!BaroExpandActive) |
||
| 1295 | { |
||
| 1296 | if(MessLuftdruck > 920) |
||
| 1297 | { // increase offset |
||
| 1330 | killagreg | 1298 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1299 | { |
| 1300 | ExpandBaro -= 1; |
||
| 1301 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1302 | beeptime = 300; |
||
| 1352 | hbuss | 1303 | BaroExpandActive = 350; |
| 1330 | killagreg | 1304 | } |
| 1305 | else |
||
| 1322 | hbuss | 1306 | { |
| 1307 | BaroAtLowerLimit = 1; |
||
| 1308 | } |
||
| 1309 | } |
||
| 1310 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1311 | else |
| 1322 | hbuss | 1312 | if(MessLuftdruck < 100) |
| 1313 | { // decrease offset |
||
| 1330 | killagreg | 1314 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1315 | { |
| 1316 | ExpandBaro += 1; |
||
| 1317 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1318 | beeptime = 300; |
||
| 1352 | hbuss | 1319 | BaroExpandActive = 350; |
| 1330 | killagreg | 1320 | } |
| 1321 | else |
||
| 1322 | hbuss | 1322 | { |
| 1323 | BaroAtUpperLimit = 1; |
||
| 1324 | } |
||
| 1325 | } |
||
| 1330 | killagreg | 1326 | else |
| 1322 | hbuss | 1327 | { |
| 1328 | BaroAtUpperLimit = 0; |
||
| 1329 | BaroAtLowerLimit = 0; |
||
| 1330 | } |
||
| 1331 | } |
||
| 1332 | else // delay, because of expanding the Baro-Range |
||
| 1333 | { |
||
| 1334 | // now clear the D-values |
||
| 1335 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1336 | VarioMeter = 0; |
||
| 1337 | BaroExpandActive--; |
||
| 1338 | } |
||
| 1328 | hbuss | 1339 | |
| 1340 | // if height control is activated by an rc channel |
||
| 1341 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1342 | { // check if parameter is less than activation threshold |
||
| 1343 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1344 | { //height control not active |
||
| 1345 | if(!delay--) |
||
| 1346 | { |
||
| 1347 | HoehenReglerAktiv = 0; // disable height control |
||
| 1348 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1349 | delay = 1; |
||
| 1350 | } |
||
| 1351 | } |
||
| 1352 | else |
||
| 1353 | { //height control is activated |
||
| 1354 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1355 | delay = 200; |
| 1328 | hbuss | 1356 | } |
| 1051 | killagreg | 1357 | } |
| 1309 | hbuss | 1358 | else // no switchable height control |
| 1359 | { |
||
| 1360 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1361 | HoehenReglerAktiv = 1; |
||
| 1051 | killagreg | 1362 | } |
| 1322 | hbuss | 1363 | |
| 1320 | hbuss | 1364 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1365 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1366 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1367 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1368 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1369 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1370 | VarioCharacter = ' '; |
| 1420 | killagreg | 1371 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1372 | { |
| 1373 | #define HEIGHT_TRIM_UP 0x01 |
||
| 1374 | #define HEIGHT_TRIM_DOWN 0x02 |
||
| 1375 | static unsigned char HeightTrimmingFlag = 0x00; |
||
| 1376 | |||
| 1330 | killagreg | 1377 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1378 | // Holger original version |
| 1379 | // start of height control algorithm |
||
| 1380 | // the height control is only an attenuation of the actual gas stick. |
||
| 1381 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1382 | // and the hover height will be allways larger than height setpoint. |
||
| 1314 | killagreg | 1383 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1384 | { // old version |
||
| 1309 | hbuss | 1385 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1386 | HeightTrimming = 0; |
||
| 1387 | } |
||
| 1314 | killagreg | 1388 | else |
| 1309 | hbuss | 1389 | { |
| 1390 | // alternative height control |
||
| 1391 | // PD-Control with respect to hoover point |
||
| 1392 | // the thrust loss out of horizontal attitude is compensated |
||
| 1393 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1420 | killagreg | 1394 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1395 | { // gas stick is above hoover point |
| 1587 | killagreg | 1396 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1397 | { |
| 1398 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
| 1399 | { |
||
| 1400 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
| 1401 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1402 | } |
||
| 1403 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
| 1587 | killagreg | 1404 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1405 | VarioCharacter = '+'; |
| 1309 | hbuss | 1406 | } // gas stick is below hoover point |
| 1587 | killagreg | 1407 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1408 | { |
| 1409 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
| 1410 | { |
||
| 1411 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
| 1412 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1413 | } |
||
| 1414 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
| 1587 | killagreg | 1415 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1416 | VarioCharacter = '-'; |
| 1309 | hbuss | 1417 | } |
| 1587 | killagreg | 1418 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1419 | { |
| 1352 | hbuss | 1420 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| 1309 | hbuss | 1421 | { |
| 1352 | hbuss | 1422 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| 1309 | hbuss | 1423 | HeightTrimming = 0; |
| 1424 | SollHoehe = HoehenWert; // update setpoint to current height |
||
| 1425 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1426 | } |
||
| 1591 | holgerb | 1427 | VarioCharacter = '='; |
| 1309 | hbuss | 1428 | } |
| 1429 | // Trim height set point |
||
| 1334 | killagreg | 1430 | if(abs(HeightTrimming) > 512) |
| 1309 | hbuss | 1431 | { |
| 1332 | hbuss | 1432 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1309 | hbuss | 1433 | HeightTrimming = 0; |
| 1587 | killagreg | 1434 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1309 | hbuss | 1435 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
| 1320 | hbuss | 1436 | //update hoover gas stick value when setpoint is shifted |
| 1332 | hbuss | 1437 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1438 | { |
||
| 1587 | killagreg | 1439 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1440 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1441 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1442 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1443 | } |
| 1309 | hbuss | 1444 | } |
| 1352 | hbuss | 1445 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1446 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1447 | else |
| 1448 | { |
||
| 1322 | hbuss | 1449 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1450 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1451 | else StickGasHover = 120; |
||
| 1320 | hbuss | 1452 | } |
| 1590 | killagreg | 1453 | HCGas = HoverGas; // take hover gas (neutral point) |
| 1454 | } |
||
| 1314 | killagreg | 1455 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1283 | hbuss | 1456 | { |
| 1590 | killagreg | 1457 | // from this point the Heigth Control Algorithm is identical for both versions |
| 1458 | if(BaroExpandActive) // baro range expanding active |
||
| 1459 | { |
||
| 1460 | HCGas = HoverGas; // hover while expanding baro adc range |
||
| 1461 | HeightDeviation = 0; |
||
| 1462 | } // EOF // baro range expanding active |
||
| 1463 | else // valid data from air pressure sensor |
||
| 1464 | { |
||
| 1465 | // ------------------------- P-Part ---------------------------- |
||
| 1466 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
| 1467 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
| 1468 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
| 1469 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
||
| 1470 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
||
| 1471 | HCGas -= tmp_long; |
||
| 1472 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
| 1473 | tmp_int = VarioMeter / 8; |
||
| 1474 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
||
| 1475 | tmp_int2 = tmp_int; |
||
| 1476 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
||
| 1477 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
||
| 1478 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
||
| 1479 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
||
| 1480 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1481 | HCGas -= tmp_int; |
||
| 1482 | } // EOF no baro range expanding |
||
| 1309 | hbuss | 1483 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1587 | killagreg | 1484 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| 1485 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1486 | HCGas -= tmp_long; |
||
| 1487 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
| 1588 | killagreg | 1488 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 1489 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1309 | hbuss | 1490 | HCGas -= tmp_int; |
| 1587 | killagreg | 1491 | |
| 1309 | hbuss | 1492 | // limit deviation from hoover point within the target region |
| 1587 | killagreg | 1493 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1494 | { |
| 1587 | killagreg | 1495 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| 1309 | hbuss | 1496 | } |
| 1276 | hbuss | 1497 | |
| 1322 | hbuss | 1498 | // strech control output by inverse attitude projection 1/cos |
| 1499 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1500 | tmp_long2 = (int32_t)HCGas; |
| 1501 | tmp_long2 *= 8192L; |
||
| 1502 | tmp_long2 /= CosAttitude; |
||
| 1503 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1504 | // update height control gas averaging |
| 1505 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1506 | // limit height control gas pd-control output |
||
| 1507 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1508 | // set GasMischanteil to HeightControlGasFilter |
||
| 1314 | killagreg | 1509 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1510 | { // old version |
| 1511 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1512 | } |
||
| 1309 | hbuss | 1513 | GasMischanteil = FilterHCGas; |
| 1314 | killagreg | 1514 | } |
| 1309 | hbuss | 1515 | }// EOF height control active |
| 1320 | hbuss | 1516 | else // HC not active |
| 1517 | { |
||
| 1518 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1519 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1520 | { |
||
| 1521 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1522 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1523 | } |
| 1587 | killagreg | 1524 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1525 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1526 | FilterHCGas = GasMischanteil; |
| 1330 | killagreg | 1527 | } |
| 1283 | hbuss | 1528 | |
| 1587 | killagreg | 1529 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1530 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1420 | killagreg | 1531 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1532 | { |
| 1590 | killagreg | 1533 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1309 | hbuss | 1534 | if(abs(VarioMeter) < 100) // only on small vertical speed |
| 1535 | { |
||
| 1330 | killagreg | 1536 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1537 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1538 | tmp_long2 /= 8192; |
||
| 1539 | |||
| 1309 | hbuss | 1540 | // average vertical projected thrust |
| 1541 | if(modell_fliegt < 2000) // the first 4 seconds |
||
| 1542 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
| 1590 | killagreg | 1543 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
| 1587 | killagreg | 1544 | HoverGasFilter += 8L * tmp_long2; |
| 1309 | hbuss | 1545 | } |
| 1546 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
| 1547 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1590 | killagreg | 1548 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1549 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1550 | } |
| 1551 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
| 1552 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1553 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
| 1587 | killagreg | 1554 | HoverGasFilter += 2L * tmp_long2; |
| 1309 | hbuss | 1555 | } |
| 1556 | else //later |
||
| 1557 | { |
||
| 1590 | killagreg | 1558 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1559 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1560 | } |
| 1590 | killagreg | 1561 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1562 | if(EE_Parameter.Hoehe_HoverBand) |
| 1563 | { |
||
| 1564 | int16_t band; |
||
| 1587 | killagreg | 1565 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1566 | HoverGasMin = HoverGas - band; |
||
| 1567 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1568 | } |
| 1569 | else |
||
| 1570 | { // no limit |
||
| 1587 | killagreg | 1571 | HoverGasMin = 0; |
| 1572 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1573 | } |
| 1574 | } |
||
| 1575 | } |
||
| 1576 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
||
| 1577 | |||
| 1578 | // limit gas to parameter setting |
||
| 1320 | hbuss | 1579 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1580 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1581 | |
| 1051 | killagreg | 1582 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1583 | // all BL-Ctrl connected? |
| 1584 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1585 | if(MissingMotor) |
| 1320 | hbuss | 1586 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1587 | { |
||
| 1588 | modell_fliegt = 1; |
||
| 1589 | GasMischanteil = MIN_GAS; |
||
| 1590 | } |
||
| 1591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1592 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1594 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1595 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1596 | // Gier-Anteil |
| 1051 | killagreg | 1597 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1598 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1599 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1600 | if(GasMischanteil > MIN_GIERGAS) |
| 1601 | { |
||
| 1051 | killagreg | 1602 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1603 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1604 | } |
| 1051 | killagreg | 1605 | else |
| 693 | hbuss | 1606 | { |
| 1051 | killagreg | 1607 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1608 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1609 | } |
| 855 | hbuss | 1610 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1611 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1612 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1613 | |
| 1051 | killagreg | 1614 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1615 | // Nick-Achse |
| 1051 | killagreg | 1616 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1617 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1618 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1619 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1620 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1621 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1153 | hbuss | 1622 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1623 | // Motor Vorn |
| 499 | hbuss | 1624 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1625 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1626 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1627 | |
| 1153 | hbuss | 1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1629 | // Roll-Achse |
||
| 1630 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1631 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1632 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1633 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1634 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1635 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1636 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
| 1637 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 1638 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 1639 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1640 | |||
| 1641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1642 | // Universal Mixer |
| 1155 | hbuss | 1643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 1644 | for(i=0; i<MAX_MOTORS; i++) |
| 1209 | hbuss | 1645 | { |
| 1646 | signed int tmp_int; |
||
| 1647 | if(Mixer.Motor[i][0] > 0) |
||
| 1648 | { |
||
| 1649 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
| 1650 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1651 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1652 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1653 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
||
| 1638 | holgerb | 1654 | tmp_int = tmp_motorwert[i] / 4; |
| 1655 | Motor[i].SetPointLowerBits = tmp_motorwert[i] % 4; |
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| 1622 | killagreg | 1656 | LIMIT_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1479 | killagreg | 1657 | Motor[i].SetPoint = tmp_int; |
| 1209 | hbuss | 1658 | } |
| 1479 | killagreg | 1659 | else Motor[i].SetPoint = 0; |
| 1209 | hbuss | 1660 | } |
| 1111 | hbuss | 1661 | } |