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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 5
// + Copyright (c) Holger Buss, Ingo Busker
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1 ingob 7
// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14
// + Verkauf von Luftbildaufnahmen, usw.
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
25
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
35
// +     from this software without specific prior written permission.
1051 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
1051 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
1051 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
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
45
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
49
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
1322 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
51
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
55
 
56
#include "main.h"
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;
1153 hbuss 62
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 63
int TrimNick, TrimRoll;
927 hbuss 64
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
1643 holgerb 65
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch;
66
unsigned int NeutralAccX=0, NeutralAccY=0;
805 hbuss 67
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1639 holgerb 68
int NeutralAccZ = 0;
1683 killagreg 69
unsigned char ControlHeading = 0;// in 2°
693 hbuss 70
long IntegralNick = 0,IntegralNick2 = 0;
71
long IntegralRoll = 0,IntegralRoll2 = 0;
72
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
73
long Integral_Gier = 0;
74
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
75
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
76
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
77
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1685 holgerb 78
long SummeNick=0,SummeRoll=0;
1 ingob 79
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 80
int  KompassValue = 0;
81
int  KompassStartwert = 0;
82
int  KompassRichtung = 0;
693 hbuss 83
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 84
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 85
unsigned char HoehenReglerAktiv = 0;
880 hbuss 86
unsigned char TrichterFlug = 0;
395 hbuss 87
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 88
long  ErsatzKompass;
89
int   ErsatzKompassInGrad; // Kompasswert in Grad
90
int   GierGyroFehler = 0;
1211 hbuss 91
char GyroFaktor,GyroFaktorGier;
92
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 93
int  DiffNick,DiffRoll;
1377 hbuss 94
//int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391 killagreg 95
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1 ingob 96
volatile unsigned char SenderOkay = 0;
595 hbuss 97
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 98
char MotorenEin = 0;
1246 killagreg 99
long HoehenWert = 0;
100
long SollHoehe = 0;
498 hbuss 101
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 102
//float Ki =  FAKTOR_I;
1676 holgerb 103
int Ki = 10300 / 33;
395 hbuss 104
unsigned char Looping_Nick = 0,Looping_Roll = 0;
105
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 106
 
107
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
108
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
109
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
110
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
111
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 112
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 113
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 114
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 115
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 116
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
117
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 118
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
119
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
120
unsigned char Parameter_UserParam1 = 0;
121
unsigned char Parameter_UserParam2 = 0;
122
unsigned char Parameter_UserParam3 = 0;
123
unsigned char Parameter_UserParam4 = 0;
499 hbuss 124
unsigned char Parameter_UserParam5 = 0;
125
unsigned char Parameter_UserParam6 = 0;
126
unsigned char Parameter_UserParam7 = 0;
127
unsigned char Parameter_UserParam8 = 0;
1 ingob 128
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 129
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 130
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 131
unsigned char Parameter_AchsKopplung1 = 90;
132
unsigned char Parameter_AchsKopplung2 = 65;
133
unsigned char Parameter_CouplingYawCorrection = 64;
134
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 135
unsigned char Parameter_DynamicStability = 100;
921 hbuss 136
unsigned char Parameter_J16Bitmask;             // for the J16 Output
137
unsigned char Parameter_J16Timing;              // for the J16 Output
138
unsigned char Parameter_J17Bitmask;             // for the J17 Output
139
unsigned char Parameter_J17Timing;              // for the J17 Output
140
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 141
unsigned char Parameter_NaviGpsGain;
142
unsigned char Parameter_NaviGpsP;
143
unsigned char Parameter_NaviGpsI;
144
unsigned char Parameter_NaviGpsD;
145
unsigned char Parameter_NaviGpsACC;
993 hbuss 146
unsigned char Parameter_NaviOperatingRadius;
147
unsigned char Parameter_NaviWindCorrection;
148
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 149
unsigned char Parameter_ExternalControl;
1403 hbuss 150
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
1668 holgerb 151
unsigned char CareFree = 0;
1622 killagreg 152
 
492 hbuss 153
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 154
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 155
unsigned int  modell_fliegt = 0;
1420 killagreg 156
volatile unsigned char FCFlags = 0;
1121 hbuss 157
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 158
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 159
signed int tmp_motorwert[MAX_MOTORS];
1591 holgerb 160
char VarioCharacter = ' ';
161
 
1391 killagreg 162
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
163
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
164
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
1155 hbuss 165
 
1622 killagreg 166
 
1639 holgerb 167
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
168
//  Debugwerte zuordnen
169
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
170
void CopyDebugValues(void)
171
{
172
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
173
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
174
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
175
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1660 holgerb 176
    DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
1639 holgerb 177
    DebugOut.Analog[5] = HoehenWert/5;
1643 holgerb 178
    DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1639 holgerb 179
    DebugOut.Analog[8] = KompassValue;
180
    DebugOut.Analog[9] = UBat;
181
    DebugOut.Analog[10] = SenderOkay;
182
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
183
    DebugOut.Analog[20] = ServoNickValue;
184
    DebugOut.Analog[22] = Capacity.ActualCurrent;
185
    DebugOut.Analog[23] = Capacity.UsedCapacity;
186
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
187
//    DebugOut.Analog[24] = MesswertNick/2;
188
//    DebugOut.Analog[25] = MesswertRoll/2;
189
//    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
190
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
191
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
192
    //DebugOut.Analog[28] = I2CError;
1682 holgerb 193
//    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
194
        DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
1639 holgerb 195
    DebugOut.Analog[30] = GPS_Nick;
196
    DebugOut.Analog[31] = GPS_Roll;
197
}
198
 
1232 hbuss 199
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 200
{
1232 hbuss 201
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 202
 while(Anzahl--)
203
 {
1232 hbuss 204
  beeptime = dauer;
205
  while(beeptime);
206
  Delay_ms(dauer * 2);
1 ingob 207
 }
208
}
209
 
210
//############################################################################
1622 killagreg 211
// Messwerte beim Ermitteln der Nullage
212
void CalibrierMittelwert(void)
213
//############################################################################
214
{
215
    unsigned char i;
216
    if(PlatinenVersion == 13) SucheGyroOffset();
217
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
218
        ANALOG_OFF;
219
        MesswertNick = AdWertNick;
220
        MesswertRoll = AdWertRoll;
221
        MesswertGier = AdWertGier;
222
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
223
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
224
        Mittelwert_AccHoch = (long)AdWertAccHoch;
225
   // ADC einschalten
226
    ANALOG_ON;
227
   for(i=0;i<8;i++)
228
    {
229
     int tmp;
230
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
231
         LIMIT_MIN_MAX(tmp, 0, 255);
232
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
233
        }
234
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
235
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
236
}
237
 
238
//############################################################################
1 ingob 239
//  Nullwerte ermitteln
1622 killagreg 240
void SetNeutral(unsigned char AccAdjustment)
1 ingob 241
//############################################################################
242
{
1622 killagreg 243
        unsigned char i;
244
        unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
245
 
1320 hbuss 246
    HEF4017R_ON;
1051 killagreg 247
        NeutralAccX = 0;
1 ingob 248
        NeutralAccY = 0;
249
        NeutralAccZ = 0;
1622 killagreg 250
 
1051 killagreg 251
    AdNeutralNick = 0;
252
        AdNeutralRoll = 0;
1 ingob 253
        AdNeutralGier = 0;
1622 killagreg 254
 
395 hbuss 255
    Parameter_AchsKopplung1 = 0;
1120 hbuss 256
    Parameter_AchsKopplung2 = 0;
1622 killagreg 257
 
1036 hbuss 258
    ExpandBaro = 0;
1622 killagreg 259
 
1051 killagreg 260
    CalibrierMittelwert();
395 hbuss 261
    Delay_ms_Mess(100);
1622 killagreg 262
 
1 ingob 263
        CalibrierMittelwert();
1622 killagreg 264
 
1 ingob 265
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 266
     {
1 ingob 267
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
268
     }
1166 hbuss 269
#define NEUTRAL_FILTER 32
270
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 271
         {
272
          Delay_ms_Mess(10);
1216 killagreg 273
          gier_neutral += AdWertGier;
1166 hbuss 274
          nick_neutral += AdWertNick;
275
          roll_neutral += AdWertRoll;
1111 hbuss 276
         }
1173 hbuss 277
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
278
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
279
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1622 killagreg 280
 
401 hbuss 281
     StartNeutralRoll = AdNeutralRoll;
282
     StartNeutralNick = AdNeutralNick;
1622 killagreg 283
 
284
     if(AccAdjustment)
285
     {
286
            NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
287
            NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
288
            NeutralAccZ = Aktuell_az;
289
 
290
                // Save ACC neutral settings to eeprom
1639 holgerb 291
                SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
292
                SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
1622 killagreg 293
                SetParamWord(PID_ACC_TOP,  (uint16_t)NeutralAccZ);
513 hbuss 294
    }
1051 killagreg 295
    else
513 hbuss 296
    {
1622 killagreg 297
                // restore from eeprom
298
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
299
                NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
300
                NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP);
301
                // strange settings?
1638 holgerb 302
                if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024))
1622 killagreg 303
                {
304
                        printf("\n\rACC not calibrated!\r\n");
305
                        NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
306
                        NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
307
                NeutralAccZ = Aktuell_az;
308
                }
513 hbuss 309
    }
1051 killagreg 310
 
1 ingob 311
    MesswertNick = 0;
312
    MesswertRoll = 0;
313
    MesswertGier = 0;
1111 hbuss 314
    Delay_ms_Mess(100);
1174 hbuss 315
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
316
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 317
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
318
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
319
    Mess_IntegralNick2 = IntegralNick;
320
    Mess_IntegralRoll2 = IntegralRoll;
321
    Mess_Integral_Gier = 0;
1 ingob 322
    StartLuftdruck = Luftdruck;
1253 killagreg 323
    VarioMeter = 0;
1 ingob 324
    Mess_Integral_Hoch = 0;
325
    KompassStartwert = KompassValue;
326
    GPS_Neutral();
1051 killagreg 327
    beeptime = 50;
882 hbuss 328
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
329
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 330
    ExternHoehenValue = 0;
693 hbuss 331
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
332
    GierGyroFehler = 0;
723 hbuss 333
    SendVersionToNavi = 1;
921 hbuss 334
    LED_Init();
1420 killagreg 335
    FCFlags |= FCFLAG_CALIBRATE;
992 hbuss 336
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 337
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 338
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1391 killagreg 339
 
340
   for(i=0;i<8;i++)
1377 hbuss 341
    {
342
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
343
        }
1171 hbuss 344
    SenderOkay = 100;
1320 hbuss 345
    if(ServoActive)
346
         {
347
                HEF4017R_ON;
348
                DDRD  |=0x80; // enable J7 -> Servo signal
349
     }
1 ingob 350
}
351
 
352
//############################################################################
395 hbuss 353
// Bearbeitet die Messwerte
1 ingob 354
void Mittelwert(void)
355
//############################################################################
1051 killagreg 356
{
1111 hbuss 357
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
358
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 359
        signed long winkel_nick, winkel_roll;
1377 hbuss 360
    unsigned char i;
1111 hbuss 361
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 362
    MesswertNick = (signed int) AdWertNickFilter / 8;
363
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 364
    RohMesswertNick = MesswertNick;
365
    RohMesswertRoll = MesswertRoll;
1166 hbuss 366
 
395 hbuss 367
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 368
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
369
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
370
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 371
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
372
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 373
    NaviAccNick    += AdWertAccNick;
374
    NaviAccRoll    += AdWertAccRoll;
375
    NaviCntAcc++;
1153 hbuss 376
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
377
 
1155 hbuss 378
//++++++++++++++++++++++++++++++++++++++++++++++++
379
// ADC einschalten
1171 hbuss 380
    ANALOG_ON;
1155 hbuss 381
        AdReady = 0;
382
//++++++++++++++++++++++++++++++++++++++++++++++++
383
 
1216 killagreg 384
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
385
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 386
        else winkel_roll = Mess_IntegralRoll;
387
 
1216 killagreg 388
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
389
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 390
        else winkel_nick = Mess_IntegralNick;
391
 
1120 hbuss 392
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 393
   Mess_Integral_Gier += MesswertGier;
394
   ErsatzKompass += MesswertGier;
395 hbuss 395
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
396
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
397
         {
1153 hbuss 398
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 399
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 400
            tmpl3 /= 4096L;
1153 hbuss 401
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 402
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 403
            tmpl4 /= 4096L;
1153 hbuss 404
            KopplungsteilNickRoll = tmpl3;
405
            KopplungsteilRollNick = tmpl4;
1111 hbuss 406
            tmpl4 -= tmpl3;
407
            ErsatzKompass += tmpl4;
1166 hbuss 408
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 409
 
1153 hbuss 410
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 411
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 412
            tmpl /= 4096L;
1153 hbuss 413
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 414
            tmpl2 *= Parameter_AchsKopplung1;
1662 killagreg 415
            tmpl2 /= 4096L;
1225 hbuss 416
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 417
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 418
         }
1166 hbuss 419
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1658 holgerb 420
                        TrimRoll = tmpl - tmpl2 / 100L;
421
                        TrimNick = -tmpl2 + tmpl / 100L;
1111 hbuss 422
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
423
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
424
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 425
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 426
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
427
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 428
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 429
            {
882 hbuss 430
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 431
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 432
            }
395 hbuss 433
            if(Mess_IntegralRoll <-Umschlag180Roll)
434
            {
882 hbuss 435
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 436
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 437
            }
395 hbuss 438
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 439
            Mess_IntegralNick2 += MesswertNick + TrimNick;
440
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 441
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 442
             {
443
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
444
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 445
             }
446
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 447
            {
882 hbuss 448
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 449
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 450
            }
1111 hbuss 451
 
1 ingob 452
    Integral_Gier  = Mess_Integral_Gier;
453
    IntegralNick = Mess_IntegralNick;
454
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 455
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 456
    IntegralRoll2 = Mess_IntegralRoll2;
457
 
1166 hbuss 458
#define D_LIMIT 128
459
 
1171 hbuss 460
   MesswertNick = HiResNick / 8;
461
   MesswertRoll = HiResRoll / 8;
1166 hbuss 462
 
1167 hbuss 463
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
464
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
465
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
466
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
467
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
468
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
469
 
1216 killagreg 470
  if(Parameter_Gyro_D)
1111 hbuss 471
  {
1166 hbuss 472
   d2Nick = HiResNick - oldNick;
473
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 474
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
475
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 476
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
477
   d2Roll = HiResRoll - oldRoll;
478
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 479
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
480
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 481
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
482
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
483
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 484
  }
1111 hbuss 485
 
1166 hbuss 486
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
487
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
488
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
489
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 490
 
491
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
492
  {
493
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
494
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
495
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
496
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
497
  }
1377 hbuss 498
  for(i=0;i<8;i++)
499
    {
500
     int tmp;
501
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
502
         if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;
1406 hbuss 503
     if(tmp != Poti[i])
504
          {
505
           Poti[i] += (tmp - Poti[i]) / 8;
1413 killagreg 506
       if(Poti[i] > tmp) Poti[i]--;
1406 hbuss 507
           else Poti[i]++;
1413 killagreg 508
          }
1377 hbuss 509
        }
1 ingob 510
}
511
 
512
//############################################################################
513
// Senden der Motorwerte per I2C-Bus
514
void SendMotorData(void)
515
//############################################################################
1051 killagreg 516
{
1209 hbuss 517
 unsigned char i;
921 hbuss 518
    if(!MotorenEin)
1 ingob 519
        {
1420 killagreg 520
         FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY);
1216 killagreg 521
                 for(i=0;i<MAX_MOTORS;i++)
522
                  {
523
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1638 holgerb 524
                   Motor[i].SetPoint = MotorTest[i];
525
                   Motor[i].SetPointLowerBits = 0;
526
/*
527
                   Motor[i].SetPoint = MotorTest[i] / 4;
528
                   Motor[i].SetPointLowerBits = MotorTest[i] % 4;
529
*/
1216 killagreg 530
                  }
1212 hbuss 531
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 532
        }
1420 killagreg 533
        else FCFlags |= FCFLAG_MOTOR_RUN;
1111 hbuss 534
 
1479 killagreg 535
    DebugOut.Analog[12] = Motor[0].SetPoint;
536
    DebugOut.Analog[13] = Motor[1].SetPoint;
1521 killagreg 537
    DebugOut.Analog[14] = Motor[2].SetPoint;
538
    DebugOut.Analog[15] = Motor[3].SetPoint;
1 ingob 539
 
540
    //Start I2C Interrupt Mode
1662 killagreg 541
    motor_write = 0;
542
    I2C_Start(TWI_STATE_MOTOR_TX);
1 ingob 543
}
544
 
545
 
546
 
547
//############################################################################
548
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 549
void ParameterZuordnung(void)
1 ingob 550
//############################################################################
551
{
1668 holgerb 552
 unsigned char tmp;
1391 killagreg 553
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
554
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
555
 
921 hbuss 556
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
557
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
558
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
559
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
560
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
1403 hbuss 561
 CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
562
 CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
563
 CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
1377 hbuss 564
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1403 hbuss 565
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1377 hbuss 566
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
567
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
568
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
569
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
570
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
571
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
572
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
573
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
574
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
575
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
576
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
577
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
578
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
579
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
580
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
581
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
582
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
583
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
584
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
1668 holgerb 585
 CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
586
 CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
1377 hbuss 587
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
588
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
589
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
590
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1676 holgerb 591
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 592
 MAX_GAS = EE_Parameter.Gas_Max;
1662 killagreg 593
 MIN_GAS = EE_Parameter.Gas_Min;
1668 holgerb 594
 
595
 tmp = EE_Parameter.OrientationModeControl;
1690 holgerb 596
 if(tmp > 50)
1668 holgerb 597
   {
1682 holgerb 598
#ifdef SWITCH_LEARNS_CAREFREE
599
    if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
600
#endif
601
        CareFree = 1;
1668 holgerb 602
    if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
1669 killagreg 603
   }
1668 holgerb 604
   else CareFree = 0;
605
 
1690 holgerb 606
 if(CareFree && FromNaviCtrl.CompassValue == -2 && BeepMuster == 0xffff)
607
        {
608
         beeptime = 15000;
609
         BeepMuster = 0xA400;
610
         CareFree = 0;
611
    }
1668 holgerb 612
 if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;}
1 ingob 613
}
614
 
615
//############################################################################
616
//
617
void MotorRegler(void)
618
//############################################################################
619
{
1330 killagreg 620
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 621
         int GierMischanteil,GasMischanteil;
622
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 623
     static long IntegralFehlerNick = 0;
624
     static long IntegralFehlerRoll = 0;
1 ingob 625
         static unsigned int RcLostTimer;
626
         static unsigned char delay_neutral = 0;
627
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
1622 killagreg 628
         static unsigned char calibration_done = 0;
1 ingob 629
     static char NeueKompassRichtungMerken = 0;
395 hbuss 630
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 631
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 632
         unsigned char i;
1051 killagreg 633
        Mittelwert();
1 ingob 634
    GRN_ON;
1051 killagreg 635
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 636
// Gaswert ermitteln
1051 killagreg 637
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
638
        GasMischanteil = StickGas;
831 hbuss 639
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 640
 
1051 killagreg 641
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 642
// Empfang schlecht
1051 killagreg 643
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 644
   if(SenderOkay < 100)
645
        {
1051 killagreg 646
        if(RcLostTimer) RcLostTimer--;
647
        else
1 ingob 648
         {
649
          MotorenEin = 0;
1420 killagreg 650
          FCFlags &= ~FCFLAG_NOTLANDUNG;
1051 killagreg 651
         }
1 ingob 652
        ROT_ON;
693 hbuss 653
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 654
            {
655
            GasMischanteil = EE_Parameter.NotGas;
1420 killagreg 656
            FCFlags |= FCFLAG_NOTLANDUNG;
744 hbuss 657
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 658
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 659
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
660
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
661
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 662
            }
1 ingob 663
         else MotorenEin = 0;
664
        }
1051 killagreg 665
        else
666
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 667
// Emfang gut
1051 killagreg 668
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 669
        if(SenderOkay > 140)
670
            {
1420 killagreg 671
                        FCFlags &= ~FCFLAG_NOTLANDUNG;
1 ingob 672
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 673
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 674
                {
675
                if(modell_fliegt < 0xffff) modell_fliegt++;
676
                }
871 hbuss 677
            if((modell_fliegt < 256))
1 ingob 678
                {
679
                SummeNick = 0;
680
                SummeRoll = 0;
1682 holgerb 681
                sollGier = 0;
682
                Mess_Integral_Gier = 0;
1051 killagreg 683
                if(modell_fliegt == 250)
918 hbuss 684
                 {
1051 killagreg 685
                  NeueKompassRichtungMerken = 1;
927 hbuss 686
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 687
                 }
1420 killagreg 688
                } else FCFlags |= FCFLAG_FLY;
1051 killagreg 689
 
595 hbuss 690
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 691
                {
1051 killagreg 692
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 693
// auf Nullwerte kalibrieren
1051 killagreg 694
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 695
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
696
                    {
697
                    if(++delay_neutral > 200)  // nicht sofort
698
                        {
699
                        GRN_OFF;
700
                        MotorenEin = 0;
701
                        delay_neutral = 0;
702
                        modell_fliegt = 0;
703
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
704
                        {
304 ingob 705
                         unsigned char setting=1;
1 ingob 706
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
707
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
708
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
709
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
710
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1622 killagreg 711
                         SetActiveParamSet(setting);  // aktiven Datensatz merken
1 ingob 712
                        }
820 hbuss 713
//                        else
1051 killagreg 714
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
715
                          {
819 hbuss 716
                           WinkelOut.CalcState = 1;
717
                           beeptime = 1000;
718
                          }
719
                          else
1 ingob 720
                          {
1622 killagreg 721
                               ParamSet_ReadFromEEProm(GetActiveParamSet());
1413 killagreg 722
                               LipoDetection(0);
1626 killagreg 723
                                                   LIBFC_ReceiverInit(EE_Parameter.Receiver);
819 hbuss 724
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
725
                            {
1 ingob 726
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 727
                            }
1330 killagreg 728
                                                   ServoActive = 0;
1622 killagreg 729
                           SetNeutral(0);
730
                           calibration_done = 1;
1232 hbuss 731
                                                   ServoActive = 1;
732
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
1622 killagreg 733
                           Piep(GetActiveParamSet(),120);
819 hbuss 734
                         }
1051 killagreg 735
                        }
1 ingob 736
                    }
1051 killagreg 737
                 else
513 hbuss 738
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
739
                    {
740
                    if(++delay_neutral > 200)  // nicht sofort
741
                        {
742
                        GRN_OFF;
743
                        MotorenEin = 0;
744
                        delay_neutral = 0;
745
                        modell_fliegt = 0;
1622 killagreg 746
                        SetNeutral(1);
747
                        calibration_done = 1;
748
                        Piep(GetActiveParamSet(),120);
1051 killagreg 749
                        }
513 hbuss 750
                    }
1 ingob 751
                 else delay_neutral = 0;
752
                }
1051 killagreg 753
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 754
// Gas ist unten
1051 killagreg 755
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 756
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 757
                {
1521 killagreg 758
                                        // Motoren Starten
759
                                        if(!MotorenEin)
760
                        {
761
                                                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
762
                                                {
1051 killagreg 763
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 764
// Einschalten
1051 killagreg 765
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 766
                                                        if(++delay_einschalten > 200)
767
                                                        {
768
                                                                delay_einschalten = 0;
1622 killagreg 769
                                                                if(calibration_done)
770
                                                                {
771
                                                                        modell_fliegt = 1;
772
                                                                        MotorenEin = 1;
773
                                                                        sollGier = 0;
774
                                                                        Mess_Integral_Gier = 0;
775
                                                                        Mess_Integral_Gier2 = 0;
776
                                                                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
777
                                                                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
778
                                                                        Mess_IntegralNick2 = IntegralNick;
779
                                                                        Mess_IntegralRoll2 = IntegralRoll;
780
                                                                        SummeNick = 0;
781
                                                                        SummeRoll = 0;
782
                                                                        FCFlags |= FCFLAG_START;
1669 killagreg 783
                                                                        ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
1622 killagreg 784
                                                                }
785
                                                                else
786
                                                                {
787
                                                                        beeptime = 1500; // indicate missing calibration
788
                                                                }
1521 killagreg 789
                                                        }
790
                                                }
791
                                                else delay_einschalten = 0;
792
                                        }
1051 killagreg 793
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 794
// Auschalten
1051 killagreg 795
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 796
                                        else // only if motors are running
797
                                        {
798
                                                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
799
                                                {
800
                                                        if(++delay_ausschalten > 200)  // nicht sofort
801
                                                        {
802
                                                                MotorenEin = 0;
803
                                                                delay_ausschalten = 0;
804
                                                                modell_fliegt = 0;
805
                                                        }
806
                                                }
807
                                                else delay_ausschalten = 0;
808
                                        }
1 ingob 809
                }
810
            }
1051 killagreg 811
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 812
// neue Werte von der Funke
1051 killagreg 813
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 814
 
1420 killagreg 815
 if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG))
1 ingob 816
  {
604 hbuss 817
        static int stick_nick,stick_roll;
1 ingob 818
    ParameterZuordnung();
1051 killagreg 819
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 820
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
821
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
822
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
823
 
1664 holgerb 824
 
1668 holgerb 825
signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8};
826
 
827
if(CareFree)
1658 holgerb 828
 {
1664 holgerb 829
    signed int nick, roll;
830
        nick = stick_nick / 4;
831
        roll = stick_roll / 4;
832
    StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
833
    StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
1658 holgerb 834
 }
1662 killagreg 835
 else
1658 holgerb 836
 {
1668 holgerb 837
        FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
838
        FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
839
    StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
840
    StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
1658 holgerb 841
 }
1662 killagreg 842
 
1669 killagreg 843
 
1 ingob 844
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 845
        if(StickGier > 2) StickGier -= 2;       else
846
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
847
 
1658 holgerb 848
    StickNick -= (GPS_Nick + GPS_Nick2);
849
    StickRoll -= (GPS_Roll + GPS_Roll2);
1350 hbuss 850
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1330 killagreg 851
 
1153 hbuss 852
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
853
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 854
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
855
    IntegralFaktorGier = Parameter_Gyro_Gier_I;
1 ingob 856
 
595 hbuss 857
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
858
//+ Analoge Steuerung per Seriell
859
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 860
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 861
    {
862
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
863
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
864
         StickGier += ExternControl.Gier;
865
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
866
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
867
    }
855 hbuss 868
    if(StickGas < 0) StickGas = 0;
1330 killagreg 869
 
1 ingob 870
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
1330 killagreg 871
    //if(GyroFaktor < 0) GyroFaktor = 0;
872
    //if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 873
 
1051 killagreg 874
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 875
     {
1051 killagreg 876
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 877
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 878
     }
928 hbuss 879
     else MaxStickNick--;
1051 killagreg 880
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 881
     {
1051 killagreg 882
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 883
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 884
     }
928 hbuss 885
     else MaxStickRoll--;
1420 killagreg 886
    if(FCFlags & FCFLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 887
 
1051 killagreg 888
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 889
// Looping?
1051 killagreg 890
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 891
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 892
  else
893
   {
395 hbuss 894
     {
1051 killagreg 895
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
896
     }
897
   }
993 hbuss 898
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 899
   else
395 hbuss 900
   {
901
   if(Looping_Rechts) // Hysterese
902
     {
903
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
904
     }
1051 killagreg 905
   }
173 holgerb 906
 
993 hbuss 907
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 908
  else
909
   {
395 hbuss 910
    if(Looping_Oben)  // Hysterese
911
     {
1051 killagreg 912
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
913
     }
914
   }
993 hbuss 915
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 916
   else
395 hbuss 917
   {
918
    if(Looping_Unten) // Hysterese
919
     {
920
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
921
     }
1051 killagreg 922
   }
395 hbuss 923
 
924
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 925
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 926
  } // Ende neue Funken-Werte
927
 
928
  if(Looping_Roll || Looping_Nick)
929
   {
173 holgerb 930
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 931
        TrichterFlug = 1;
173 holgerb 932
   }
933
 
1051 killagreg 934
 
935
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
936
// Bei Empfangsausfall im Flug
937
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1420 killagreg 938
   if(FCFlags & FCFLAG_NOTLANDUNG)
1 ingob 939
    {
940
     StickGier = 0;
941
     StickNick = 0;
942
     StickRoll = 0;
1211 hbuss 943
     GyroFaktor     = 90;
944
     IntegralFaktor = 120;
945
     GyroFaktorGier     = 90;
946
     IntegralFaktorGier = 120;
173 holgerb 947
     Looping_Roll = 0;
948
     Looping_Nick = 0;
1051 killagreg 949
    }
395 hbuss 950
 
951
 
1051 killagreg 952
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 953
// Integrale auf ACC-Signal abgleichen
1051 killagreg 954
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 955
#define ABGLEICH_ANZAHL 256L
956
 
957
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
958
 MittelIntegralRoll  += IntegralRoll;
959
 MittelIntegralNick2 += IntegralNick2;
960
 MittelIntegralRoll2 += IntegralRoll2;
961
 
962
 if(Looping_Nick || Looping_Roll)
963
  {
964
    IntegralAccNick = 0;
965
    IntegralAccRoll = 0;
966
    MittelIntegralNick = 0;
967
    MittelIntegralRoll = 0;
968
    MittelIntegralNick2 = 0;
969
    MittelIntegralRoll2 = 0;
970
    Mess_IntegralNick2 = Mess_IntegralNick;
971
    Mess_IntegralRoll2 = Mess_IntegralRoll;
972
    ZaehlMessungen = 0;
498 hbuss 973
    LageKorrekturNick = 0;
974
    LageKorrekturRoll = 0;
395 hbuss 975
  }
976
 
1051 killagreg 977
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 978
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 979
  {
980
   long tmp_long, tmp_long2;
1171 hbuss 981
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 982
     {
983
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 984
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
985
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
986
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 987
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
988
      {
989
      tmp_long  /= 2;
990
      tmp_long2 /= 2;
991
      }
992
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
993
      {
994
      tmp_long  /= 3;
995
      tmp_long2 /= 3;
996
      }
997
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
998
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
999
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1000
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
1001
     }
1051 killagreg 1002
     else
992 hbuss 1003
     {
1004
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 1005
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 1006
      tmp_long /= 16;
1007
      tmp_long2 /= 16;
1008
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
1009
      {
1010
      tmp_long  /= 3;
1011
      tmp_long2 /= 3;
1216 killagreg 1012
      }
1013
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 1014
      {
1015
      tmp_long  /= 3;
1016
      tmp_long2 /= 3;
1017
      }
1155 hbuss 1018
 
1019
#define AUSGLEICH  32
992 hbuss 1020
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
1021
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
1022
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
1023
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
1024
     }
1166 hbuss 1025
 
1026
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 1027
   Mess_IntegralNick -= tmp_long;
1028
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 1029
  }
1051 killagreg 1030
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1031
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
1032
 {
1033
  static int cnt = 0;
1034
  static char last_n_p,last_n_n,last_r_p,last_r_n;
1035
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 1036
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 1037
  {
395 hbuss 1038
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
1039
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
1040
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
1041
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
1042
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 1043
#define MAX_I 0//(Poti2/10)
395 hbuss 1044
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
1045
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
1046
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 1047
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
1048
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 1049
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 1050
 
1051
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 1052
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1053
 
992 hbuss 1054
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 1055
    {
1056
     LageKorrekturNick /= 2;
720 ingob 1057
     LageKorrekturRoll /= 2;
614 hbuss 1058
    }
498 hbuss 1059
 
1051 killagreg 1060
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1061
// Gyro-Drift ermitteln
1051 killagreg 1062
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1063
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
1064
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 1065
    tmp_long  = IntegralNick2 - IntegralNick;
1066
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 1067
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
1068
 
1069
    IntegralFehlerNick = tmp_long;
1070
    IntegralFehlerRoll = tmp_long2;
1071
    Mess_IntegralNick2 -= IntegralFehlerNick;
1072
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
1073
 
1111 hbuss 1074
  if(EE_Parameter.Driftkomp)
1075
   {
1622 killagreg 1076
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; }
1077
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; }
1111 hbuss 1078
   }
693 hbuss 1079
    GierGyroFehler = 0;
720 ingob 1080
 
1081
 
1243 killagreg 1082
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
1083
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 1084
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 1085
#define BEWEGUNGS_LIMIT 20000
395 hbuss 1086
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1087
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1088
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1089
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1090
        {
1051 killagreg 1091
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1092
         {
1051 killagreg 1093
           if(last_n_p)
395 hbuss 1094
           {
1173 hbuss 1095
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1096
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1097
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1098
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1099
           }
395 hbuss 1100
           else last_n_p = 1;
1101
         } else  last_n_p = 0;
1051 killagreg 1102
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1103
         {
1104
           if(last_n_n)
1051 killagreg 1105
            {
1173 hbuss 1106
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1107
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1108
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1109
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1110
            }
395 hbuss 1111
           else last_n_n = 1;
1112
         } else  last_n_n = 0;
1051 killagreg 1113
        }
1114
        else
847 hbuss 1115
        {
1116
         cnt = 0;
921 hbuss 1117
         KompassSignalSchlecht = 1000;
1051 killagreg 1118
        }
499 hbuss 1119
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1120
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1121
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1122
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1123
 
395 hbuss 1124
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1125
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1126
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1127
        ausgleichRoll = 0;
1173 hbuss 1128
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1129
        {
1051 killagreg 1130
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1131
         {
1051 killagreg 1132
           if(last_r_p)
395 hbuss 1133
           {
1173 hbuss 1134
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1135
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1136
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1137
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1138
           }
395 hbuss 1139
           else last_r_p = 1;
1140
         } else  last_r_p = 0;
1051 killagreg 1141
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1142
         {
1051 killagreg 1143
           if(last_r_n)
395 hbuss 1144
           {
1173 hbuss 1145
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1146
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1147
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1148
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1149
           }
1150
           else last_r_n = 1;
1151
         } else  last_r_n = 0;
1051 killagreg 1152
        } else
492 hbuss 1153
        {
1154
         cnt = 0;
921 hbuss 1155
         KompassSignalSchlecht = 1000;
1051 killagreg 1156
        }
499 hbuss 1157
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1158
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1159
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1160
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1161
  }
1051 killagreg 1162
  else
498 hbuss 1163
  {
1164
   LageKorrekturRoll = 0;
1165
   LageKorrekturNick = 0;
880 hbuss 1166
   TrichterFlug = 0;
498 hbuss 1167
  }
1051 killagreg 1168
 
498 hbuss 1169
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1170
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1171
   MittelIntegralNick_Alt = MittelIntegralNick;
1172
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1173
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1174
    IntegralAccNick = 0;
1175
    IntegralAccRoll = 0;
1176
    IntegralAccZ = 0;
1177
    MittelIntegralNick = 0;
1178
    MittelIntegralRoll = 0;
1179
    MittelIntegralNick2 = 0;
1180
    MittelIntegralRoll2 = 0;
1181
    ZaehlMessungen = 0;
1173 hbuss 1182
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1183
 
1051 killagreg 1184
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1185
//  Gieren
1051 killagreg 1186
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1187
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1188
    if(abs(StickGier) > 15) // war 35
1 ingob 1189
     {
921 hbuss 1190
      KompassSignalSchlecht = 1000;
1051 killagreg 1191
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1192
       {
1193
         NeueKompassRichtungMerken = 1;
824 hbuss 1194
        };
1 ingob 1195
     }
395 hbuss 1196
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1197
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1198
    sollGier = tmp_int;
1051 killagreg 1199
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1200
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1201
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1202
 
1203
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1204
//  Kompass
1051 killagreg 1205
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1664 holgerb 1206
//DebugOut.Analog[18] = KompassSignalSchlecht;
819 hbuss 1207
 
1051 killagreg 1208
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1209
     {
819 hbuss 1210
       int w,v,r,fehler,korrektur;
1 ingob 1211
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1212
       v = abs(IntegralRoll /512);
1213
       if(v > w) w = v; // grösste Neigung ermitteln
1658 holgerb 1214
       korrektur = w / 8 + 2;
921 hbuss 1215
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1664 holgerb 1216
           //fehler += MesswertGier / 12;
1662 killagreg 1217
 
921 hbuss 1218
       if(!KompassSignalSchlecht && w < 25)
1219
        {
1220
        GierGyroFehler += fehler;
1051 killagreg 1221
        if(NeueKompassRichtungMerken)
1222
         {
1171 hbuss 1223
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1224
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1225
          NeueKompassRichtungMerken = 0;
1226
         }
1 ingob 1227
        }
1664 holgerb 1228
//DebugOut.Analog[16] = fehler;
1229
//DebugOut.Analog[17] = korrektur;
1658 holgerb 1230
       ErsatzKompass += (fehler * 16) / korrektur;
921 hbuss 1231
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1232
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1233
       if(w >= 0)
1 ingob 1234
        {
1051 killagreg 1235
          if(!KompassSignalSchlecht)
693 hbuss 1236
          {
1051 killagreg 1237
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1238
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1239
//           r = KompassRichtung;
819 hbuss 1240
           v = (r * w) / v;  // nach Kompass ausrichten
1241
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1242
           if(v > w) v = w; // Begrenzen
1051 killagreg 1243
           else
693 hbuss 1244
           if(v < -w) v = -w;
1245
           Mess_Integral_Gier += v;
1051 killagreg 1246
          }
693 hbuss 1247
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1248
        }
921 hbuss 1249
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1250
     }
1 ingob 1251
 
1051 killagreg 1252
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1253
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1254
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1255
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1256
 
1171 hbuss 1257
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1258
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1259
 
1167 hbuss 1260
#define TRIM_MAX 200
1166 hbuss 1261
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1262
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1263
 
1166 hbuss 1264
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1265
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1266
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1267
 
1 ingob 1268
    // Maximalwerte abfangen
1153 hbuss 1269
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1685 holgerb 1270
    #define MAX_SENSOR  (4096)
1216 killagreg 1271
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1272
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1273
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1274
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1275
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1276
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1277
 
1051 killagreg 1278
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1279
// Höhenregelung
1280
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1281
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374 hbuss 1282
  if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1283
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1284
        // if height control is activated
1322 hbuss 1285
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1286
        {
1590 killagreg 1287
                #define HOVER_GAS_AVERAGE 4096L         // 4096 * 2ms = 8.2s averaging
1332 hbuss 1288
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging
1638 holgerb 1289
 
1290
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1291
#define OPA_OFFSET_STEP 15
1642 killagreg 1292
#else
1638 holgerb 1293
#define OPA_OFFSET_STEP 10
1294
#endif
1587 killagreg 1295
                int HCGas, HeightDeviation = 0;
1309 hbuss 1296
                static int HeightTrimming = 0;  // rate for change of height setpoint
1297
                static int FilterHCGas = 0;
1587 killagreg 1298
                static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023;
1299
                static unsigned long HoverGasFilter = 0;
1322 hbuss 1300
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1301
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1302
 
1309 hbuss 1303
                // get the current hooverpoint
1587 killagreg 1304
                DebugOut.Analog[21] = HoverGas;
1642 killagreg 1305
 
1322 hbuss 1306
        // Expand the measurement
1307
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1308
          if(!BaroExpandActive)
1309
                   {
1310
                        if(MessLuftdruck > 920)
1311
                        {   // increase offset
1330 killagreg 1312
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1313
                           {
1314
                                ExpandBaro -= 1;
1315
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1316
                                beeptime = 300;
1352 hbuss 1317
                                BaroExpandActive = 350;
1330 killagreg 1318
                           }
1319
                           else
1322 hbuss 1320
                           {
1321
                            BaroAtLowerLimit = 1;
1322
               }
1323
                        }
1324
                        // measurement of air pressure close to lower limit and
1330 killagreg 1325
                        else
1322 hbuss 1326
                        if(MessLuftdruck < 100)
1327
                        {   // decrease offset
1330 killagreg 1328
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1329
                           {
1330
                                ExpandBaro += 1;
1331
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1332
                                beeptime = 300;
1352 hbuss 1333
                                BaroExpandActive = 350;
1330 killagreg 1334
                           }
1335
                           else
1322 hbuss 1336
                           {
1337
                            BaroAtUpperLimit = 1;
1338
               }
1339
                        }
1330 killagreg 1340
                        else
1322 hbuss 1341
                        {
1342
                            BaroAtUpperLimit = 0;
1343
                                BaroAtLowerLimit = 0;
1344
                        }
1345
                   }
1346
                   else // delay, because of expanding the Baro-Range
1347
                   {
1348
                    // now clear the D-values
1349
                          SummenHoehe = HoehenWert * SM_FILTER;
1350
                          VarioMeter = 0;
1351
                          BaroExpandActive--;
1352
                   }
1328 hbuss 1353
 
1354
                // if height control is activated by an rc channel
1355
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1356
                {       // check if parameter is less than activation threshold
1357
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1358
                        {   //height control not active
1359
                                if(!delay--)
1360
                                {
1361
                                        HoehenReglerAktiv = 0; // disable height control
1362
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1363
                                        delay = 1;
1364
                                }
1365
                        }
1366
                        else
1367
                        {       //height control is activated
1368
                                HoehenReglerAktiv = 1; // enable height control
1334 killagreg 1369
                                delay = 200;
1328 hbuss 1370
                        }
1051 killagreg 1371
                }
1309 hbuss 1372
                else // no switchable height control
1373
                {
1374
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1375
                        HoehenReglerAktiv = 1;
1051 killagreg 1376
                }
1322 hbuss 1377
 
1320 hbuss 1378
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1379
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1380
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1381
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320 hbuss 1382
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1383
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1591 holgerb 1384
                VarioCharacter = ' ';
1420 killagreg 1385
                if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG))
1309 hbuss 1386
                {
1387
                        #define HEIGHT_TRIM_UP          0x01
1388
                        #define HEIGHT_TRIM_DOWN        0x02
1389
                        static unsigned char HeightTrimmingFlag = 0x00;
1390
 
1330 killagreg 1391
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1392
                // Holger original version
1393
                // start of height control algorithm
1394
                // the height control is only an attenuation of the actual gas stick.
1395
                // I.e. it will work only if the gas stick is higher than the hover gas
1396
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1397
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1398
              {  // old version
1309 hbuss 1399
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1400
                        HeightTrimming = 0;
1401
          }
1314 killagreg 1402
                  else
1309 hbuss 1403
                  {
1404
                // alternative height control
1405
                // PD-Control with respect to hoover point
1406
                // the thrust loss out of horizontal attitude is compensated
1407
                // the setpoint will be fine adjusted with the gas stick position
1420 killagreg 1408
                        if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying
1309 hbuss 1409
                        {   // gas stick is above hoover point
1587 killagreg 1410
                                if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1411
                                {
1412
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1413
                                        {
1414
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1415
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1416
                                        }
1417
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1587 killagreg 1418
                                        HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
1591 holgerb 1419
                                        VarioCharacter = '+';
1309 hbuss 1420
                                } // gas stick is below hoover point
1587 killagreg 1421
                                else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1422
                                {
1423
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1424
                                        {
1425
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1426
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1427
                                        }
1428
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1587 killagreg 1429
                                        HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1591 holgerb 1430
                                        VarioCharacter = '-';
1309 hbuss 1431
                                }
1587 killagreg 1432
                                else // Gas Stick in Hover Range
1309 hbuss 1433
                                {
1352 hbuss 1434
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN))
1309 hbuss 1435
                                        {
1352 hbuss 1436
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN);
1309 hbuss 1437
                                                HeightTrimming = 0;
1438
                                                SollHoehe = HoehenWert; // update setpoint to current height
1439
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1440
                                        }
1591 holgerb 1441
                                        VarioCharacter = '=';
1309 hbuss 1442
                                }
1443
                                // Trim height set point
1334 killagreg 1444
                                if(abs(HeightTrimming) > 512)
1309 hbuss 1445
                                {
1332 hbuss 1446
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1309 hbuss 1447
                                        HeightTrimming = 0;
1587 killagreg 1448
                    LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
1309 hbuss 1449
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1450
                                        //update hoover gas stick value when setpoint is shifted
1332 hbuss 1451
                       if(!EE_Parameter.Hoehe_StickNeutralPoint)
1452
                       {
1587 killagreg 1453
                           StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
1454
                           StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1455
                           if(StickGasHover < 70) StickGasHover = 70;
1456
                           else if(StickGasHover > 150) StickGasHover = 150;
1332 hbuss 1457
                       }
1309 hbuss 1458
                                }
1352 hbuss 1459
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1420 killagreg 1460
                        } //if FCFlags & MKFCFLAG_FLY
1330 killagreg 1461
                        else
1462
                        {
1322 hbuss 1463
                         SollHoehe = HoehenWert - 400;
1587 killagreg 1464
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
1465
                         else StickGasHover = 120;
1320 hbuss 1466
                         }
1590 killagreg 1467
                        HCGas = HoverGas;      // take hover gas (neutral point)
1468
                   }
1314 killagreg 1469
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1470
                 {
1590 killagreg 1471
                        // from this point the Heigth Control Algorithm is identical for both versions
1472
                        if(BaroExpandActive) // baro range expanding active
1473
                        {
1474
                                HCGas = HoverGas; // hover while expanding baro adc range
1475
                                HeightDeviation = 0;
1476
                        } // EOF // baro range expanding active
1477
                        else // valid data from air pressure sensor
1478
                        {
1479
                                // ------------------------- P-Part ----------------------------
1480
                                tmp_long = (HoehenWert - SollHoehe); // positive when too high
1481
                                LIMIT_MIN_MAX(tmp_long, -32767L, 32767L);       // avoid overflov when casting to int16_t
1482
                                HeightDeviation = (int)(tmp_long); // positive when too high
1483
                                tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part
1484
                                LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense
1485
                                HCGas -= tmp_long;
1486
                                // ------------------------- D-Part 1: Vario Meter ----------------------------
1487
                                tmp_int = VarioMeter / 8;
1488
                                LIMIT_MIN_MAX(tmp_int, -181, 181);      // avoid overflow when squared (181^2 = 32761)
1489
                                tmp_int2 = tmp_int;
1490
                                LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction
1491
                                if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4;
1492
                                else             tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4;
1493
                                tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter
1494
                                LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN);
1495
                                HCGas -= tmp_int;
1496
                        } // EOF no baro range expanding
1309 hbuss 1497
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1587 killagreg 1498
                        tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
1499
                        LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
1500
                        HCGas -= tmp_long;
1501
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1588 killagreg 1502
                        tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
1503
            LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
1309 hbuss 1504
                        HCGas -= tmp_int;
1587 killagreg 1505
 
1309 hbuss 1506
                        // limit deviation from hoover point within the target region
1587 killagreg 1507
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1508
                        {
1587 killagreg 1509
                                LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
1309 hbuss 1510
                        }
1276 hbuss 1511
 
1322 hbuss 1512
                        // strech control output by inverse attitude projection 1/cos
1513
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1514
                        tmp_long2 = (int32_t)HCGas;
1515
                        tmp_long2 *= 8192L;
1516
                        tmp_long2 /= CosAttitude;
1517
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1518
                        // update height control gas averaging
1519
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1520
                        // limit height control gas pd-control output
1521
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1522
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1523
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1587 killagreg 1524
                        {  // old version
1525
                                LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
1526
                        }
1309 hbuss 1527
                        GasMischanteil = FilterHCGas;
1314 killagreg 1528
                  }
1309 hbuss 1529
                }// EOF height control active
1320 hbuss 1530
                else // HC not active
1531
                {
1532
                        //update hoover gas stick value when HC is not active
1587 killagreg 1533
                        if(!EE_Parameter.Hoehe_StickNeutralPoint)
1534
                        {
1535
                                StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
1536
                                StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1322 hbuss 1537
                        }
1587 killagreg 1538
                        else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
1539
            LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down
1328 hbuss 1540
                        FilterHCGas = GasMischanteil;
1330 killagreg 1541
                }
1283 hbuss 1542
 
1587 killagreg 1543
                // Hover gas estimation by averaging gas control output on small z-velocities
1309 hbuss 1544
                // this is done only if height contol option is selected in global config and aircraft is flying
1420 killagreg 1545
                if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG))
1309 hbuss 1546
                {
1590 killagreg 1547
                        if(HoverGasFilter == 0)  HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1309 hbuss 1548
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1549
                        {
1330 killagreg 1550
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1551
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1552
                                tmp_long2 /= 8192;
1553
 
1309 hbuss 1554
                                // average vertical projected thrust
1555
                                if(modell_fliegt < 2000) // the first 4 seconds
1556
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1590 killagreg 1557
                                        HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L);
1587 killagreg 1558
                                        HoverGasFilter += 8L * tmp_long2;
1309 hbuss 1559
                                }
1560
                                else if(modell_fliegt < 4000) // the first 8 seconds
1561
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1590 killagreg 1562
                                        HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L);
1587 killagreg 1563
                                        HoverGasFilter += 4L * tmp_long2;
1309 hbuss 1564
                                }
1565
                                else if(modell_fliegt < 8000) // the first 16 seconds
1566
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1590 killagreg 1567
                                        HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L);
1587 killagreg 1568
                                        HoverGasFilter += 2L * tmp_long2;
1309 hbuss 1569
                                }
1570
                                else //later
1571
                                {
1590 killagreg 1572
                                        HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE;
1587 killagreg 1573
                                        HoverGasFilter += tmp_long2;
1309 hbuss 1574
                                }
1590 killagreg 1575
                                HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE);
1309 hbuss 1576
                                if(EE_Parameter.Hoehe_HoverBand)
1577
                                {
1578
                                        int16_t band;
1587 killagreg 1579
                                        band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1580
                                        HoverGasMin = HoverGas - band;
1581
                                        HoverGasMax = HoverGas + band;
1309 hbuss 1582
                                }
1583
                                else
1584
                                {       // no limit
1587 killagreg 1585
                                        HoverGasMin = 0;
1586
                                        HoverGasMax = 1023;
1309 hbuss 1587
                                }
1588
                        }
1589
                }
1590
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1591
 
1592
        // limit gas to parameter setting
1320 hbuss 1593
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1594
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1595
 
1051 killagreg 1596
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1597
// all BL-Ctrl connected?
1598
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1675 holgerb 1599
  if(MissingMotor || Capacity.MinOfMaxPWM != 255)
1320 hbuss 1600
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1601
   {
1602
    modell_fliegt = 1;
1675 holgerb 1603
        GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
1320 hbuss 1604
   }
1605
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1606
// + Mischer und PI-Regler
1051 killagreg 1607
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1608
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1609
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1610
// Gier-Anteil
1051 killagreg 1611
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1612
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1613
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1614
   if(GasMischanteil > MIN_GIERGAS)
1615
    {
1051 killagreg 1616
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1617
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1618
    }
1051 killagreg 1619
    else
693 hbuss 1620
    {
1051 killagreg 1621
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1622
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1623
    }
855 hbuss 1624
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1625
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1626
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1627
 
1051 killagreg 1628
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1629
// Nick-Achse
1051 killagreg 1630
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1631
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1632
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1633
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1634
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1635
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1685 holgerb 1636
 
1682 holgerb 1637
if(Parameter_UserParam5 > 50)
1685 holgerb 1638
        pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick
1682 holgerb 1639
else
1640
        pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1641
 
1 ingob 1642
    // Motor Vorn
1676 holgerb 1643
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1644
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1645
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1646
 
1153 hbuss 1647
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1648
// Roll-Achse
1649
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1650
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1651
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1652
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1653
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1654
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1682 holgerb 1655
 
1690 holgerb 1656
//if(Parameter_UserParam5 > 50)
1685 holgerb 1657
    pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki;   // PI-Regler für Roll
1690 holgerb 1658
//else 
1659
//    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;     // PI-Regler für Roll
1682 holgerb 1660
 
1676 holgerb 1661
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1662
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1663
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1664
 
1665
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1666
// Universal Mixer
1155 hbuss 1667
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1642 killagreg 1668
        for(i=0; i<MAX_MOTORS; i++)
1669
        {
1670
                signed int tmp_int;
1671
                if(Mixer.Motor[i][0] > 0)
1672
                {
1652 holgerb 1673
                        // Gas
1676 holgerb 1674
                        if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1652 holgerb 1675
                        // Nick
1676
                        if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
1677
                        else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
1678
                        else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1679
            // Roll
1680
                        if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
1681
                        else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
1682
                        else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1683
            // Gier
1676 holgerb 1684
                        if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
1685
                        else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
1686
                        else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1675 holgerb 1687
 
1690 holgerb 1688
//if(Parameter_UserParam4 < 50)
1689
 {
1680 holgerb 1690
                        if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // MotorSmoothing
1691
                        else tmp_int = 2 * tmp_int - tmp_motorwert[i];                                                              // MotorSmoothing
1690 holgerb 1692
 }
1693
 
1680 holgerb 1694
/*
1675 holgerb 1695
if(Parameter_UserParam5 > 50)
1696
 {
1697
                        if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // MotorSmoothing
1680 holgerb 1698
//                      else tmp_int = 2 * tmp_int - tmp_motorwert[i];                                                              // MotorSmoothing
1699
                        else tmp_int -= Parameter_UserParam6 * (tmp_motorwert[i] - tmp_int);                    // MotorSmoothing
1675 holgerb 1700
 }
1680 holgerb 1701
*/
1677 killagreg 1702
                        LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4);
1676 holgerb 1703
                        Motor[i].SetPoint = tmp_int / 4;
1677 killagreg 1704
                        Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
1652 holgerb 1705
            tmp_motorwert[i] = tmp_int;
1642 killagreg 1706
                }
1707
                else
1708
                {
1709
                        Motor[i].SetPoint = 0;
1710
                        Motor[i].SetPointLowerBits = 0;
1711
                }
1712
        }
1111 hbuss 1713
}