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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
| 1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 39 | // + with our written permission |
| 1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
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| 1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 55 | |||
| 56 | #include "main.h" |
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| 1320 | hbuss | 57 | #include "mymath.h" |
| 1330 | killagreg | 58 | #include "isqrt.h" |
| 1 | ingob | 59 | |
| 1352 | hbuss | 60 | unsigned char h,m,s; |
| 61 | unsigned int BaroExpandActive = 0; |
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| 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; |
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| 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; |
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| 72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 73 | long Integral_Gier = 0; |
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| 74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 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; |
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| 82 | int KompassRichtung = 0; |
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| 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 |
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| 90 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 91 | char GyroFaktor,GyroFaktorGier; |
| 92 | char IntegralFaktor,IntegralFaktorGier; |
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| 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; |
| 1698 | holgerb | 98 | char MotorenEin = 0,StartTrigger = 0; |
| 1246 | killagreg | 99 | long HoehenWert = 0; |
| 100 | long SollHoehe = 0; |
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| 1692 | holgerb | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 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; |
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| 1 | ingob | 106 | |
| 107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 1322 | hbuss | 116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| 117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 1 | ingob | 118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 120 | unsigned char Parameter_UserParam1 = 0; |
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| 121 | unsigned char Parameter_UserParam2 = 0; |
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| 122 | unsigned char Parameter_UserParam3 = 0; |
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| 123 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 124 | unsigned char Parameter_UserParam5 = 0; |
| 125 | unsigned char Parameter_UserParam6 = 0; |
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| 126 | unsigned char Parameter_UserParam7 = 0; |
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| 127 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 128 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 129 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 130 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 131 | unsigned char Parameter_AchsKopplung1 = 90; |
| 132 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 133 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 135 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 137 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 139 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 141 | unsigned char Parameter_NaviGpsGain; |
| 142 | unsigned char Parameter_NaviGpsP; |
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| 143 | unsigned char Parameter_NaviGpsI; |
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| 144 | unsigned char Parameter_NaviGpsD; |
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| 145 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 146 | unsigned char Parameter_NaviOperatingRadius; |
| 147 | unsigned char Parameter_NaviWindCorrection; |
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| 148 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 149 | unsigned char Parameter_ExternalControl; |
| 1403 | hbuss | 150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 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;} |
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| 164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 165 | |
| 1622 | killagreg | 166 | |
| 1639 | holgerb | 167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 168 | // Debugwerte zuordnen |
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| 169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 170 | void CopyDebugValues(void) |
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| 171 | { |
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| 172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 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; |
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| 181 | DebugOut.Analog[10] = SenderOkay; |
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| 182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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| 1702 | holgerb | 183 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 184 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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| 185 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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| 186 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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| 1639 | holgerb | 187 | DebugOut.Analog[20] = ServoNickValue; |
| 188 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 189 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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| 190 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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| 1682 | holgerb | 191 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 192 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
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| 1639 | holgerb | 193 | DebugOut.Analog[30] = GPS_Nick; |
| 194 | DebugOut.Analog[31] = GPS_Roll; |
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| 1702 | holgerb | 195 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| 1639 | holgerb | 196 | } |
| 197 | |||
| 1232 | hbuss | 198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 199 | { |
| 1232 | hbuss | 200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 201 | while(Anzahl--) |
| 202 | { |
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| 1232 | hbuss | 203 | beeptime = dauer; |
| 204 | while(beeptime); |
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| 205 | Delay_ms(dauer * 2); |
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| 1 | ingob | 206 | } |
| 207 | } |
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| 208 | |||
| 209 | //############################################################################ |
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| 1622 | killagreg | 210 | // Messwerte beim Ermitteln der Nullage |
| 211 | void CalibrierMittelwert(void) |
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| 212 | //############################################################################ |
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| 213 | { |
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| 214 | unsigned char i; |
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| 215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 217 | ANALOG_OFF; |
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| 218 | MesswertNick = AdWertNick; |
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| 219 | MesswertRoll = AdWertRoll; |
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| 220 | MesswertGier = AdWertGier; |
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| 221 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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| 222 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 223 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
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| 224 | // ADC einschalten |
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| 225 | ANALOG_ON; |
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| 226 | for(i=0;i<8;i++) |
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| 227 | { |
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| 228 | int tmp; |
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| 229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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| 230 | LIMIT_MIN_MAX(tmp, 0, 255); |
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| 231 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 232 | } |
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| 233 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 234 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 235 | } |
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| 236 | |||
| 237 | //############################################################################ |
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| 1 | ingob | 238 | // Nullwerte ermitteln |
| 1622 | killagreg | 239 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 240 | //############################################################################ |
| 241 | { |
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| 1622 | killagreg | 242 | unsigned char i; |
| 243 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1702 | holgerb | 244 | VersionInfo.HardwareError[0] = 0; |
| 1320 | hbuss | 245 | HEF4017R_ON; |
| 1051 | killagreg | 246 | NeutralAccX = 0; |
| 1 | ingob | 247 | NeutralAccY = 0; |
| 248 | NeutralAccZ = 0; |
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| 1622 | killagreg | 249 | |
| 1051 | killagreg | 250 | AdNeutralNick = 0; |
| 251 | AdNeutralRoll = 0; |
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| 1 | ingob | 252 | AdNeutralGier = 0; |
| 1622 | killagreg | 253 | |
| 395 | hbuss | 254 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 255 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 256 | |
| 1036 | hbuss | 257 | ExpandBaro = 0; |
| 1622 | killagreg | 258 | |
| 1051 | killagreg | 259 | CalibrierMittelwert(); |
| 395 | hbuss | 260 | Delay_ms_Mess(100); |
| 1622 | killagreg | 261 | |
| 1 | ingob | 262 | CalibrierMittelwert(); |
| 1622 | killagreg | 263 | |
| 1 | ingob | 264 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 265 | { |
| 1 | ingob | 266 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 267 | } |
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| 1166 | hbuss | 268 | #define NEUTRAL_FILTER 32 |
| 269 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 270 | { |
| 271 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 272 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 273 | nick_neutral += AdWertNick; |
| 274 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 275 | } |
| 1173 | hbuss | 276 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 277 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 278 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 279 | |
| 401 | hbuss | 280 | StartNeutralRoll = AdNeutralRoll; |
| 281 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 282 | |
| 283 | if(AccAdjustment) |
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| 284 | { |
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| 285 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 286 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 287 | NeutralAccZ = Aktuell_az; |
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| 288 | |||
| 289 | // Save ACC neutral settings to eeprom |
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| 1639 | holgerb | 290 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 291 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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| 1622 | killagreg | 292 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 293 | } |
| 1051 | killagreg | 294 | else |
| 513 | hbuss | 295 | { |
| 1622 | killagreg | 296 | // restore from eeprom |
| 297 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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| 298 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 299 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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| 300 | // strange settings? |
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| 1638 | holgerb | 301 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 302 | { |
| 303 | printf("\n\rACC not calibrated!\r\n"); |
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| 304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 306 | NeutralAccZ = Aktuell_az; |
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| 307 | } |
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| 513 | hbuss | 308 | } |
| 1051 | killagreg | 309 | |
| 1 | ingob | 310 | MesswertNick = 0; |
| 311 | MesswertRoll = 0; |
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| 312 | MesswertGier = 0; |
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| 1111 | hbuss | 313 | Delay_ms_Mess(100); |
| 1174 | hbuss | 314 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| 315 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 1173 | hbuss | 316 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 317 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 318 | Mess_IntegralNick2 = IntegralNick; |
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| 319 | Mess_IntegralRoll2 = IntegralRoll; |
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| 320 | Mess_Integral_Gier = 0; |
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| 1 | ingob | 321 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 322 | VarioMeter = 0; |
| 1 | ingob | 323 | Mess_Integral_Hoch = 0; |
| 324 | KompassStartwert = KompassValue; |
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| 325 | GPS_Neutral(); |
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| 1051 | killagreg | 326 | beeptime = 50; |
| 882 | hbuss | 327 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 328 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 329 | ExternHoehenValue = 0; |
| 693 | hbuss | 330 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 331 | GierGyroFehler = 0; |
||
| 723 | hbuss | 332 | SendVersionToNavi = 1; |
| 921 | hbuss | 333 | LED_Init(); |
| 1420 | killagreg | 334 | FCFlags |= FCFLAG_CALIBRATE; |
| 992 | hbuss | 335 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 336 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 337 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 338 | |
| 339 | for(i=0;i<8;i++) |
||
| 1377 | hbuss | 340 | { |
| 341 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 342 | } |
||
| 1171 | hbuss | 343 | SenderOkay = 100; |
| 1320 | hbuss | 344 | if(ServoActive) |
| 345 | { |
||
| 346 | HEF4017R_ON; |
||
| 347 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 348 | } |
||
| 1702 | holgerb | 349 | |
| 350 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
||
| 351 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
||
| 352 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
||
| 353 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
||
| 354 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
||
| 355 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
||
| 1 | ingob | 356 | } |
| 357 | |||
| 1702 | holgerb | 358 | |
| 1 | ingob | 359 | //############################################################################ |
| 395 | hbuss | 360 | // Bearbeitet die Messwerte |
| 1 | ingob | 361 | void Mittelwert(void) |
| 362 | //############################################################################ |
||
| 1051 | killagreg | 363 | { |
| 1111 | hbuss | 364 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 365 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 366 | signed long winkel_nick, winkel_roll; |
| 1377 | hbuss | 367 | unsigned char i; |
| 1111 | hbuss | 368 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 369 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 370 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
| 1153 | hbuss | 371 | RohMesswertNick = MesswertNick; |
| 372 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 373 | |
| 395 | hbuss | 374 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 375 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 376 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
||
| 377 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
||
| 395 | hbuss | 378 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 379 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 380 | NaviAccNick += AdWertAccNick; |
| 381 | NaviAccRoll += AdWertAccRoll; |
||
| 382 | NaviCntAcc++; |
||
| 1153 | hbuss | 383 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 384 | |||
| 1155 | hbuss | 385 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 386 | // ADC einschalten |
||
| 1171 | hbuss | 387 | ANALOG_ON; |
| 1155 | hbuss | 388 | AdReady = 0; |
| 389 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 390 | |||
| 1216 | killagreg | 391 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 392 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 393 | else winkel_roll = Mess_IntegralRoll; |
| 394 | |||
| 1216 | killagreg | 395 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 396 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 397 | else winkel_nick = Mess_IntegralNick; |
| 398 | |||
| 1120 | hbuss | 399 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 400 | Mess_Integral_Gier += MesswertGier; |
| 401 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 402 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 403 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 404 | { |
||
| 1153 | hbuss | 405 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 406 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 407 | tmpl3 /= 4096L; |
| 1153 | hbuss | 408 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 409 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 410 | tmpl4 /= 4096L; |
| 1153 | hbuss | 411 | KopplungsteilNickRoll = tmpl3; |
| 412 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 413 | tmpl4 -= tmpl3; |
| 414 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 415 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 416 | |
| 1153 | hbuss | 417 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 418 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 419 | tmpl /= 4096L; |
| 1153 | hbuss | 420 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 421 | tmpl2 *= Parameter_AchsKopplung1; |
| 1662 | killagreg | 422 | tmpl2 /= 4096L; |
| 1225 | hbuss | 423 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 424 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 425 | } |
| 1166 | hbuss | 426 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1658 | holgerb | 427 | TrimRoll = tmpl - tmpl2 / 100L; |
| 428 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 1111 | hbuss | 429 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 430 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 431 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 432 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 433 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 434 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 435 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 436 | { |
| 882 | hbuss | 437 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 438 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 439 | } |
| 395 | hbuss | 440 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 441 | { |
||
| 882 | hbuss | 442 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 443 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 444 | } |
| 395 | hbuss | 445 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 446 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 447 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 448 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 449 | { |
| 450 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 451 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 452 | } |
| 453 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 454 | { |
| 882 | hbuss | 455 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 456 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 457 | } |
| 1111 | hbuss | 458 | |
| 1 | ingob | 459 | Integral_Gier = Mess_Integral_Gier; |
| 460 | IntegralNick = Mess_IntegralNick; |
||
| 461 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 462 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 463 | IntegralRoll2 = Mess_IntegralRoll2; |
| 464 | |||
| 1166 | hbuss | 465 | #define D_LIMIT 128 |
| 466 | |||
| 1171 | hbuss | 467 | MesswertNick = HiResNick / 8; |
| 468 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 469 | |
| 1167 | hbuss | 470 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 471 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 472 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 473 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 474 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 475 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 476 | |||
| 1216 | killagreg | 477 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 478 | { |
| 1166 | hbuss | 479 | d2Nick = HiResNick - oldNick; |
| 480 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 481 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 482 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 483 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 484 | d2Roll = HiResRoll - oldRoll; |
||
| 485 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 486 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 487 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 488 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 489 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 490 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 491 | } |
| 1111 | hbuss | 492 | |
| 1166 | hbuss | 493 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 494 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 495 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 496 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 497 | |
| 498 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 499 | { |
||
| 500 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 501 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 502 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 503 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 504 | } |
||
| 1377 | hbuss | 505 | for(i=0;i<8;i++) |
| 506 | { |
||
| 507 | int tmp; |
||
| 508 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 509 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
| 1406 | hbuss | 510 | if(tmp != Poti[i]) |
| 511 | { |
||
| 512 | Poti[i] += (tmp - Poti[i]) / 8; |
||
| 1413 | killagreg | 513 | if(Poti[i] > tmp) Poti[i]--; |
| 1406 | hbuss | 514 | else Poti[i]++; |
| 1413 | killagreg | 515 | } |
| 1377 | hbuss | 516 | } |
| 1 | ingob | 517 | } |
| 518 | |||
| 519 | //############################################################################ |
||
| 520 | // Senden der Motorwerte per I2C-Bus |
||
| 521 | void SendMotorData(void) |
||
| 522 | //############################################################################ |
||
| 1051 | killagreg | 523 | { |
| 1209 | hbuss | 524 | unsigned char i; |
| 921 | hbuss | 525 | if(!MotorenEin) |
| 1 | ingob | 526 | { |
| 1420 | killagreg | 527 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
| 1216 | killagreg | 528 | for(i=0;i<MAX_MOTORS;i++) |
| 529 | { |
||
| 530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 531 | Motor[i].SetPoint = MotorTest[i]; |
| 532 | Motor[i].SetPointLowerBits = 0; |
||
| 533 | /* |
||
| 534 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
| 535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 536 | */ |
||
| 1216 | killagreg | 537 | } |
| 1212 | hbuss | 538 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 539 | } |
| 1420 | killagreg | 540 | else FCFlags |= FCFLAG_MOTOR_RUN; |
| 1 | ingob | 541 | //Start I2C Interrupt Mode |
| 1662 | killagreg | 542 | motor_write = 0; |
| 543 | I2C_Start(TWI_STATE_MOTOR_TX); |
||
| 1 | ingob | 544 | } |
| 545 | |||
| 546 | |||
| 547 | |||
| 548 | //############################################################################ |
||
| 549 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 550 | void ParameterZuordnung(void) |
| 1 | ingob | 551 | //############################################################################ |
| 552 | { |
||
| 1668 | holgerb | 553 | unsigned char tmp; |
| 1391 | killagreg | 554 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| 555 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
| 556 | |||
| 921 | hbuss | 557 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 558 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 559 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 560 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 561 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 1403 | hbuss | 562 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 563 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 564 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1377 | hbuss | 565 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1403 | hbuss | 566 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1377 | hbuss | 567 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| 568 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
| 569 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
| 570 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
| 571 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
| 572 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
| 573 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
| 574 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
| 575 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
| 576 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
| 577 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
| 578 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
| 579 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
| 580 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
| 581 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
| 582 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
| 583 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
| 584 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
| 585 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
| 1668 | holgerb | 586 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| 587 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
| 1377 | hbuss | 588 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| 589 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 590 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 591 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1676 | holgerb | 592 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 1 | ingob | 593 | MAX_GAS = EE_Parameter.Gas_Max; |
| 1662 | killagreg | 594 | MIN_GAS = EE_Parameter.Gas_Min; |
| 1668 | holgerb | 595 | |
| 596 | tmp = EE_Parameter.OrientationModeControl; |
||
| 1690 | holgerb | 597 | if(tmp > 50) |
| 1668 | holgerb | 598 | { |
| 1682 | holgerb | 599 | #ifdef SWITCH_LEARNS_CAREFREE |
| 600 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
||
| 601 | #endif |
||
| 602 | CareFree = 1; |
||
| 1668 | holgerb | 603 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 1702 | holgerb | 604 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
| 1669 | killagreg | 605 | } |
| 1668 | holgerb | 606 | else CareFree = 0; |
| 607 | |||
| 1691 | holgerb | 608 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| 1690 | holgerb | 609 | { |
| 610 | beeptime = 15000; |
||
| 611 | BeepMuster = 0xA400; |
||
| 612 | CareFree = 0; |
||
| 1702 | holgerb | 613 | } |
| 614 | |||
| 1668 | holgerb | 615 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| 1 | ingob | 616 | } |
| 617 | |||
| 618 | //############################################################################ |
||
| 619 | // |
||
| 620 | void MotorRegler(void) |
||
| 621 | //############################################################################ |
||
| 622 | { |
||
| 1330 | killagreg | 623 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 624 | int GierMischanteil,GasMischanteil; |
| 625 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 626 | static long IntegralFehlerNick = 0; |
| 627 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 628 | static unsigned int RcLostTimer; |
| 629 | static unsigned char delay_neutral = 0; |
||
| 630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 631 | static unsigned char calibration_done = 0; |
| 1 | ingob | 632 | static char NeueKompassRichtungMerken = 0; |
| 395 | hbuss | 633 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 634 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 635 | unsigned char i; |
| 1051 | killagreg | 636 | Mittelwert(); |
| 1 | ingob | 637 | GRN_ON; |
| 1051 | killagreg | 638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 639 | // Gaswert ermitteln |
| 1051 | killagreg | 640 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 641 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 642 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 643 | |
| 1051 | killagreg | 644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 645 | // Empfang schlecht |
| 1051 | killagreg | 646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 647 | if(SenderOkay < 100) |
| 648 | { |
||
| 1051 | killagreg | 649 | if(RcLostTimer) RcLostTimer--; |
| 650 | else |
||
| 1 | ingob | 651 | { |
| 652 | MotorenEin = 0; |
||
| 1420 | killagreg | 653 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1051 | killagreg | 654 | } |
| 1 | ingob | 655 | ROT_ON; |
| 693 | hbuss | 656 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 657 | { |
| 658 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1420 | killagreg | 659 | FCFlags |= FCFLAG_NOTLANDUNG; |
| 744 | hbuss | 660 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 661 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 662 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 663 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 664 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 665 | } |
| 1 | ingob | 666 | else MotorenEin = 0; |
| 667 | } |
||
| 1051 | killagreg | 668 | else |
| 669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 670 | // Emfang gut |
| 1051 | killagreg | 671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 672 | if(SenderOkay > 140) |
| 673 | { |
||
| 1420 | killagreg | 674 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1 | ingob | 675 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 676 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 677 | { |
| 678 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 679 | } |
||
| 871 | hbuss | 680 | if((modell_fliegt < 256)) |
| 1 | ingob | 681 | { |
| 682 | SummeNick = 0; |
||
| 683 | SummeRoll = 0; |
||
| 1682 | holgerb | 684 | sollGier = 0; |
| 685 | Mess_Integral_Gier = 0; |
||
| 1051 | killagreg | 686 | if(modell_fliegt == 250) |
| 918 | hbuss | 687 | { |
| 1051 | killagreg | 688 | NeueKompassRichtungMerken = 1; |
| 927 | hbuss | 689 | // Mess_Integral_Gier2 = 0; |
| 1051 | killagreg | 690 | } |
| 1420 | killagreg | 691 | } else FCFlags |= FCFLAG_FLY; |
| 1051 | killagreg | 692 | |
| 595 | hbuss | 693 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 694 | { |
| 1051 | killagreg | 695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 696 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 698 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 699 | { |
||
| 700 | if(++delay_neutral > 200) // nicht sofort |
||
| 701 | { |
||
| 702 | GRN_OFF; |
||
| 703 | MotorenEin = 0; |
||
| 704 | delay_neutral = 0; |
||
| 705 | modell_fliegt = 0; |
||
| 706 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 707 | { |
||
| 304 | ingob | 708 | unsigned char setting=1; |
| 1 | ingob | 709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 711 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 712 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 713 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 714 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 715 | } |
| 820 | hbuss | 716 | // else |
| 1051 | killagreg | 717 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 718 | { |
||
| 819 | hbuss | 719 | WinkelOut.CalcState = 1; |
| 720 | beeptime = 1000; |
||
| 721 | } |
||
| 722 | else |
||
| 1 | ingob | 723 | { |
| 1622 | killagreg | 724 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 725 | LipoDetection(0); |
| 1626 | killagreg | 726 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 819 | hbuss | 727 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 728 | { |
||
| 1 | ingob | 729 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 730 | } |
| 1330 | killagreg | 731 | ServoActive = 0; |
| 1622 | killagreg | 732 | SetNeutral(0); |
| 1702 | holgerb | 733 | calibration_done = 1; |
| 1232 | hbuss | 734 | ServoActive = 1; |
| 735 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 736 | Piep(GetActiveParamSet(),120); |
| 819 | hbuss | 737 | } |
| 1051 | killagreg | 738 | } |
| 1 | ingob | 739 | } |
| 1051 | killagreg | 740 | else |
| 513 | hbuss | 741 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 742 | { |
||
| 743 | if(++delay_neutral > 200) // nicht sofort |
||
| 744 | { |
||
| 745 | GRN_OFF; |
||
| 746 | MotorenEin = 0; |
||
| 747 | delay_neutral = 0; |
||
| 748 | modell_fliegt = 0; |
||
| 1622 | killagreg | 749 | SetNeutral(1); |
| 750 | calibration_done = 1; |
||
| 751 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 752 | } |
| 513 | hbuss | 753 | } |
| 1 | ingob | 754 | else delay_neutral = 0; |
| 755 | } |
||
| 1051 | killagreg | 756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 757 | // Gas ist unten |
| 1051 | killagreg | 758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 759 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 760 | { |
| 1521 | killagreg | 761 | // Motoren Starten |
| 762 | if(!MotorenEin) |
||
| 763 | { |
||
| 764 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 765 | { |
||
| 1051 | killagreg | 766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 767 | // Einschalten |
| 1051 | killagreg | 768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 769 | if(++delay_einschalten > 200) |
| 770 | { |
||
| 771 | delay_einschalten = 0; |
||
| 1702 | holgerb | 772 | if(!VersionInfo.HardwareError[0] && calibration_done) |
| 1622 | killagreg | 773 | { |
| 774 | modell_fliegt = 1; |
||
| 775 | MotorenEin = 1; |
||
| 776 | sollGier = 0; |
||
| 777 | Mess_Integral_Gier = 0; |
||
| 778 | Mess_Integral_Gier2 = 0; |
||
| 779 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 780 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 781 | Mess_IntegralNick2 = IntegralNick; |
||
| 782 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 783 | SummeNick = 0; |
||
| 784 | SummeRoll = 0; |
||
| 785 | FCFlags |= FCFLAG_START; |
||
| 1669 | killagreg | 786 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 1622 | killagreg | 787 | } |
| 788 | else |
||
| 789 | { |
||
| 790 | beeptime = 1500; // indicate missing calibration |
||
| 791 | } |
||
| 1521 | killagreg | 792 | } |
| 793 | } |
||
| 794 | else delay_einschalten = 0; |
||
| 795 | } |
||
| 1051 | killagreg | 796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 797 | // Auschalten |
| 1051 | killagreg | 798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 799 | else // only if motors are running |
| 800 | { |
||
| 801 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 802 | { |
||
| 803 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 804 | { |
||
| 805 | MotorenEin = 0; |
||
| 806 | delay_ausschalten = 0; |
||
| 807 | modell_fliegt = 0; |
||
| 808 | } |
||
| 809 | } |
||
| 810 | else delay_ausschalten = 0; |
||
| 811 | } |
||
| 1 | ingob | 812 | } |
| 813 | } |
||
| 1051 | killagreg | 814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 815 | // neue Werte von der Funke |
| 1051 | killagreg | 816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 817 | |
| 1420 | killagreg | 818 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
| 1 | ingob | 819 | { |
| 604 | hbuss | 820 | static int stick_nick,stick_roll; |
| 1 | ingob | 821 | ParameterZuordnung(); |
| 1051 | killagreg | 822 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 823 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 824 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
| 825 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 826 | |||
| 1664 | holgerb | 827 | |
| 1668 | holgerb | 828 | 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}; |
| 829 | |||
| 830 | if(CareFree) |
||
| 1658 | holgerb | 831 | { |
| 1664 | holgerb | 832 | signed int nick, roll; |
| 833 | nick = stick_nick / 4; |
||
| 834 | roll = stick_roll / 4; |
||
| 835 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
| 836 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
| 1658 | holgerb | 837 | } |
| 1662 | killagreg | 838 | else |
| 1658 | holgerb | 839 | { |
| 1668 | holgerb | 840 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| 841 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
| 842 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
| 843 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
| 1658 | holgerb | 844 | } |
| 1662 | killagreg | 845 | |
| 1669 | killagreg | 846 | |
| 1 | ingob | 847 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 848 | if(StickGier > 2) StickGier -= 2; else |
| 849 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 850 | |||
| 1658 | holgerb | 851 | StickNick -= (GPS_Nick + GPS_Nick2); |
| 852 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
| 1350 | hbuss | 853 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1330 | killagreg | 854 | |
| 1153 | hbuss | 855 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 856 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 857 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 858 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 859 | |
| 595 | hbuss | 860 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 861 | //+ Analoge Steuerung per Seriell |
||
| 862 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 863 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 864 | { |
| 865 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 866 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 867 | StickGier += ExternControl.Gier; |
||
| 868 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 869 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 870 | } |
||
| 855 | hbuss | 871 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 872 | |
| 1 | ingob | 873 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 1330 | killagreg | 874 | //if(GyroFaktor < 0) GyroFaktor = 0; |
| 875 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 723 | hbuss | 876 | |
| 1051 | killagreg | 877 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 878 | { |
| 1051 | killagreg | 879 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 880 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 881 | } |
| 928 | hbuss | 882 | else MaxStickNick--; |
| 1051 | killagreg | 883 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 884 | { |
| 1051 | killagreg | 885 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 886 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 887 | } |
| 928 | hbuss | 888 | else MaxStickRoll--; |
| 1420 | killagreg | 889 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 890 | |
| 1051 | killagreg | 891 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 892 | // Looping? |
| 1051 | killagreg | 893 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 894 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 895 | else |
| 896 | { |
||
| 395 | hbuss | 897 | { |
| 1051 | killagreg | 898 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 899 | } |
||
| 900 | } |
||
| 993 | hbuss | 901 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 902 | else |
| 395 | hbuss | 903 | { |
| 904 | if(Looping_Rechts) // Hysterese |
||
| 905 | { |
||
| 906 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 907 | } |
||
| 1051 | killagreg | 908 | } |
| 173 | holgerb | 909 | |
| 993 | hbuss | 910 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 911 | else |
| 912 | { |
||
| 395 | hbuss | 913 | if(Looping_Oben) // Hysterese |
| 914 | { |
||
| 1051 | killagreg | 915 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 916 | } |
||
| 917 | } |
||
| 993 | hbuss | 918 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 919 | else |
| 395 | hbuss | 920 | { |
| 921 | if(Looping_Unten) // Hysterese |
||
| 922 | { |
||
| 923 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 924 | } |
||
| 1051 | killagreg | 925 | } |
| 395 | hbuss | 926 | |
| 927 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 928 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 929 | } // Ende neue Funken-Werte |
| 930 | |||
| 931 | if(Looping_Roll || Looping_Nick) |
||
| 932 | { |
||
| 173 | holgerb | 933 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 934 | TrichterFlug = 1; |
| 173 | holgerb | 935 | } |
| 936 | |||
| 1051 | killagreg | 937 | |
| 938 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 939 | // Bei Empfangsausfall im Flug |
||
| 940 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1420 | killagreg | 941 | if(FCFlags & FCFLAG_NOTLANDUNG) |
| 1 | ingob | 942 | { |
| 943 | StickGier = 0; |
||
| 944 | StickNick = 0; |
||
| 945 | StickRoll = 0; |
||
| 1211 | hbuss | 946 | GyroFaktor = 90; |
| 947 | IntegralFaktor = 120; |
||
| 948 | GyroFaktorGier = 90; |
||
| 949 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 950 | Looping_Roll = 0; |
| 951 | Looping_Nick = 0; |
||
| 1051 | killagreg | 952 | } |
| 395 | hbuss | 953 | |
| 954 | |||
| 1051 | killagreg | 955 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 956 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 958 | #define ABGLEICH_ANZAHL 256L |
| 959 | |||
| 960 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 961 | MittelIntegralRoll += IntegralRoll; |
||
| 962 | MittelIntegralNick2 += IntegralNick2; |
||
| 963 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 964 | |||
| 965 | if(Looping_Nick || Looping_Roll) |
||
| 966 | { |
||
| 967 | IntegralAccNick = 0; |
||
| 968 | IntegralAccRoll = 0; |
||
| 969 | MittelIntegralNick = 0; |
||
| 970 | MittelIntegralRoll = 0; |
||
| 971 | MittelIntegralNick2 = 0; |
||
| 972 | MittelIntegralRoll2 = 0; |
||
| 973 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 974 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 975 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 976 | LageKorrekturNick = 0; |
| 977 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 978 | } |
| 979 | |||
| 1051 | killagreg | 980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 981 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 982 | { |
| 983 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 984 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 985 | { |
| 986 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 987 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 988 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 989 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 990 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 991 | { |
||
| 992 | tmp_long /= 2; |
||
| 993 | tmp_long2 /= 2; |
||
| 994 | } |
||
| 995 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 996 | { |
||
| 997 | tmp_long /= 3; |
||
| 998 | tmp_long2 /= 3; |
||
| 999 | } |
||
| 1000 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1001 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1002 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1003 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1004 | } |
||
| 1051 | killagreg | 1005 | else |
| 992 | hbuss | 1006 | { |
| 1007 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 1008 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 1009 | tmp_long /= 16; |
| 1010 | tmp_long2 /= 16; |
||
| 1011 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1012 | { |
||
| 1013 | tmp_long /= 3; |
||
| 1014 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 1015 | } |
| 1016 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 1017 | { |
| 1018 | tmp_long /= 3; |
||
| 1019 | tmp_long2 /= 3; |
||
| 1020 | } |
||
| 1155 | hbuss | 1021 | |
| 1022 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 1023 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1024 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1025 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1026 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 1027 | } |
||
| 1166 | hbuss | 1028 | |
| 1111 | hbuss | 1029 | Mess_IntegralNick -= tmp_long; |
| 1030 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1031 | } |
| 1051 | killagreg | 1032 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1033 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1034 | { |
||
| 1035 | static int cnt = 0; |
||
| 1036 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1037 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 1038 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 1039 | { |
| 395 | hbuss | 1040 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1041 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1042 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1043 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1044 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 492 | hbuss | 1045 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 1046 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1047 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1048 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1049 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1050 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1051 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1052 | |
| 1053 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1054 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1055 | |
| 992 | hbuss | 1056 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1057 | { |
| 1058 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1059 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1060 | } |
| 498 | hbuss | 1061 | |
| 1051 | killagreg | 1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1063 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1064 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1065 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1066 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1067 | tmp_long = IntegralNick2 - IntegralNick; |
| 1068 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1069 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 1070 | |||
| 1071 | IntegralFehlerNick = tmp_long; |
||
| 1072 | IntegralFehlerRoll = tmp_long2; |
||
| 1073 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1074 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1075 | |||
| 1111 | hbuss | 1076 | if(EE_Parameter.Driftkomp) |
| 1077 | { |
||
| 1622 | killagreg | 1078 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1079 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1080 | } |
| 693 | hbuss | 1081 | GierGyroFehler = 0; |
| 720 | ingob | 1082 | |
| 1083 | |||
| 1243 | killagreg | 1084 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1085 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1086 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1087 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1088 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1089 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1090 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1091 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1092 | { |
| 1051 | killagreg | 1093 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1094 | { |
| 1051 | killagreg | 1095 | if(last_n_p) |
| 395 | hbuss | 1096 | { |
| 1173 | hbuss | 1097 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1098 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1099 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1100 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1101 | } |
| 395 | hbuss | 1102 | else last_n_p = 1; |
| 1103 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1104 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1105 | { |
| 1106 | if(last_n_n) |
||
| 1051 | killagreg | 1107 | { |
| 1173 | hbuss | 1108 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1109 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1110 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1111 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1112 | } |
| 395 | hbuss | 1113 | else last_n_n = 1; |
| 1114 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1115 | } |
| 1116 | else |
||
| 847 | hbuss | 1117 | { |
| 1118 | cnt = 0; |
||
| 921 | hbuss | 1119 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1120 | } |
| 499 | hbuss | 1121 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1122 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1123 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1124 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1125 | |
| 395 | hbuss | 1126 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1695 | holgerb | 1127 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| 1225 | hbuss | 1128 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1129 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1130 | { |
| 1051 | killagreg | 1131 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1132 | { |
| 1051 | killagreg | 1133 | if(last_r_p) |
| 395 | hbuss | 1134 | { |
| 1173 | hbuss | 1135 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1136 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1137 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1138 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1139 | } |
| 395 | hbuss | 1140 | else last_r_p = 1; |
| 1141 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1142 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1143 | { |
| 1051 | killagreg | 1144 | if(last_r_n) |
| 395 | hbuss | 1145 | { |
| 1173 | hbuss | 1146 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1147 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1148 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1149 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1150 | } |
| 1151 | else last_r_n = 1; |
||
| 1152 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1153 | } else |
| 492 | hbuss | 1154 | { |
| 1155 | cnt = 0; |
||
| 921 | hbuss | 1156 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1157 | } |
| 499 | hbuss | 1158 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1159 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1160 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1161 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1162 | } |
| 1051 | killagreg | 1163 | else |
| 498 | hbuss | 1164 | { |
| 1165 | LageKorrekturRoll = 0; |
||
| 1166 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1167 | TrichterFlug = 0; |
| 498 | hbuss | 1168 | } |
| 1051 | killagreg | 1169 | |
| 498 | hbuss | 1170 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1172 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1173 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1175 | IntegralAccNick = 0; |
| 1176 | IntegralAccRoll = 0; |
||
| 1177 | IntegralAccZ = 0; |
||
| 1178 | MittelIntegralNick = 0; |
||
| 1179 | MittelIntegralRoll = 0; |
||
| 1180 | MittelIntegralNick2 = 0; |
||
| 1181 | MittelIntegralRoll2 = 0; |
||
| 1182 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1183 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1184 | |
| 1051 | killagreg | 1185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1186 | // Gieren |
| 1051 | killagreg | 1187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1206 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
| 1 | ingob | 1207 | { |
| 819 | hbuss | 1208 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1209 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1210 | v = abs(IntegralRoll /512); |
||
| 1211 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1658 | holgerb | 1212 | korrektur = w / 8 + 2; |
| 921 | hbuss | 1213 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1664 | holgerb | 1214 | //fehler += MesswertGier / 12; |
| 1662 | killagreg | 1215 | |
| 921 | hbuss | 1216 | if(!KompassSignalSchlecht && w < 25) |
| 1217 | { |
||
| 1218 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1219 | if(NeueKompassRichtungMerken) |
| 1220 | { |
||
| 1171 | hbuss | 1221 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1222 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1223 | NeueKompassRichtungMerken = 0; |
||
| 1224 | } |
||
| 1 | ingob | 1225 | } |
| 1658 | holgerb | 1226 | ErsatzKompass += (fehler * 16) / korrektur; |
| 921 | hbuss | 1227 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1228 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1229 | if(w >= 0) |
| 1 | ingob | 1230 | { |
| 1051 | killagreg | 1231 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1232 | { |
| 1051 | killagreg | 1233 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1234 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 819 | hbuss | 1235 | v = (r * w) / v; // nach Kompass ausrichten |
| 1236 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1237 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1238 | else |
| 693 | hbuss | 1239 | if(v < -w) v = -w; |
| 1240 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1241 | } |
| 693 | hbuss | 1242 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1243 | } |
| 921 | hbuss | 1244 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1245 | } |
| 1 | ingob | 1246 | |
| 1051 | killagreg | 1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1248 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1250 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1251 | |
| 1171 | hbuss | 1252 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1253 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1254 | |
| 1167 | hbuss | 1255 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1256 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1257 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1258 | |
| 1166 | hbuss | 1259 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1260 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1261 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1262 | |
| 1 | ingob | 1263 | // Maximalwerte abfangen |
| 1153 | hbuss | 1264 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1685 | holgerb | 1265 | #define MAX_SENSOR (4096) |
| 1216 | killagreg | 1266 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1267 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1268 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1269 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1270 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1271 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1272 | |||
| 1051 | killagreg | 1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1274 | // Höhenregelung |
| 1275 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1277 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1278 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1279 | // if height control is activated |
| 1322 | hbuss | 1280 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1281 | { |
| 1698 | holgerb | 1282 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| 1332 | hbuss | 1283 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1284 | |
| 1285 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1286 | #define OPA_OFFSET_STEP 15 |
||
| 1642 | killagreg | 1287 | #else |
| 1638 | holgerb | 1288 | #define OPA_OFFSET_STEP 10 |
| 1289 | #endif |
||
| 1697 | holgerb | 1290 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
| 1309 | hbuss | 1291 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1292 | static int FilterHCGas = 0; |
||
| 1692 | holgerb | 1293 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| 1587 | killagreg | 1294 | static unsigned long HoverGasFilter = 0; |
| 1322 | hbuss | 1295 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1320 | hbuss | 1296 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1297 | |
| 1309 | hbuss | 1298 | // get the current hooverpoint |
| 1587 | killagreg | 1299 | DebugOut.Analog[21] = HoverGas; |
| 1642 | killagreg | 1300 | |
| 1322 | hbuss | 1301 | // Expand the measurement |
| 1302 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1303 | if(!BaroExpandActive) |
||
| 1304 | { |
||
| 1305 | if(MessLuftdruck > 920) |
||
| 1306 | { // increase offset |
||
| 1330 | killagreg | 1307 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1308 | { |
| 1309 | ExpandBaro -= 1; |
||
| 1310 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1311 | beeptime = 300; |
||
| 1352 | hbuss | 1312 | BaroExpandActive = 350; |
| 1330 | killagreg | 1313 | } |
| 1314 | else |
||
| 1322 | hbuss | 1315 | { |
| 1316 | BaroAtLowerLimit = 1; |
||
| 1317 | } |
||
| 1318 | } |
||
| 1319 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1320 | else |
| 1322 | hbuss | 1321 | if(MessLuftdruck < 100) |
| 1322 | { // decrease offset |
||
| 1330 | killagreg | 1323 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1324 | { |
| 1325 | ExpandBaro += 1; |
||
| 1326 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1327 | beeptime = 300; |
||
| 1352 | hbuss | 1328 | BaroExpandActive = 350; |
| 1330 | killagreg | 1329 | } |
| 1330 | else |
||
| 1322 | hbuss | 1331 | { |
| 1332 | BaroAtUpperLimit = 1; |
||
| 1333 | } |
||
| 1334 | } |
||
| 1330 | killagreg | 1335 | else |
| 1322 | hbuss | 1336 | { |
| 1337 | BaroAtUpperLimit = 0; |
||
| 1338 | BaroAtLowerLimit = 0; |
||
| 1339 | } |
||
| 1340 | } |
||
| 1341 | else // delay, because of expanding the Baro-Range |
||
| 1342 | { |
||
| 1343 | // now clear the D-values |
||
| 1344 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1345 | VarioMeter = 0; |
||
| 1346 | BaroExpandActive--; |
||
| 1347 | } |
||
| 1328 | hbuss | 1348 | |
| 1349 | // if height control is activated by an rc channel |
||
| 1350 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1351 | { // check if parameter is less than activation threshold |
||
| 1352 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1353 | { //height control not active |
||
| 1354 | if(!delay--) |
||
| 1355 | { |
||
| 1356 | HoehenReglerAktiv = 0; // disable height control |
||
| 1357 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1358 | delay = 1; |
||
| 1359 | } |
||
| 1360 | } |
||
| 1361 | else |
||
| 1362 | { //height control is activated |
||
| 1363 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1364 | delay = 200; |
| 1328 | hbuss | 1365 | } |
| 1051 | killagreg | 1366 | } |
| 1309 | hbuss | 1367 | else // no switchable height control |
| 1368 | { |
||
| 1369 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1370 | HoehenReglerAktiv = 1; |
||
| 1051 | killagreg | 1371 | } |
| 1322 | hbuss | 1372 | |
| 1320 | hbuss | 1373 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1374 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1375 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1376 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1377 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1378 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1379 | VarioCharacter = ' '; |
| 1420 | killagreg | 1380 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1381 | { |
| 1382 | #define HEIGHT_TRIM_UP 0x01 |
||
| 1383 | #define HEIGHT_TRIM_DOWN 0x02 |
||
| 1384 | static unsigned char HeightTrimmingFlag = 0x00; |
||
| 1385 | |||
| 1330 | killagreg | 1386 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1387 | // Holger original version |
| 1388 | // start of height control algorithm |
||
| 1389 | // the height control is only an attenuation of the actual gas stick. |
||
| 1390 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1391 | // and the hover height will be allways larger than height setpoint. |
||
| 1314 | killagreg | 1392 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1393 | { // old version |
||
| 1309 | hbuss | 1394 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1395 | HeightTrimming = 0; |
||
| 1396 | } |
||
| 1314 | killagreg | 1397 | else |
| 1309 | hbuss | 1398 | { |
| 1399 | // alternative height control |
||
| 1400 | // PD-Control with respect to hoover point |
||
| 1401 | // the thrust loss out of horizontal attitude is compensated |
||
| 1402 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1420 | killagreg | 1403 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1404 | { // gas stick is above hoover point |
| 1587 | killagreg | 1405 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1406 | { |
| 1407 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
| 1408 | { |
||
| 1409 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
| 1410 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1411 | } |
||
| 1412 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
| 1587 | killagreg | 1413 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1414 | VarioCharacter = '+'; |
| 1309 | hbuss | 1415 | } // gas stick is below hoover point |
| 1587 | killagreg | 1416 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1417 | { |
| 1418 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
| 1419 | { |
||
| 1420 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
| 1421 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1422 | } |
||
| 1423 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
| 1587 | killagreg | 1424 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1425 | VarioCharacter = '-'; |
| 1309 | hbuss | 1426 | } |
| 1587 | killagreg | 1427 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1428 | { |
| 1352 | hbuss | 1429 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| 1309 | hbuss | 1430 | { |
| 1352 | hbuss | 1431 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| 1309 | hbuss | 1432 | HeightTrimming = 0; |
| 1433 | SollHoehe = HoehenWert; // update setpoint to current height |
||
| 1434 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1698 | holgerb | 1435 | if(!StartTrigger && HoehenWert > 50) |
| 1436 | { |
||
| 1437 | StartTrigger = 1; |
||
| 1438 | } |
||
| 1309 | hbuss | 1439 | } |
| 1591 | holgerb | 1440 | VarioCharacter = '='; |
| 1309 | hbuss | 1441 | } |
| 1442 | // Trim height set point |
||
| 1334 | killagreg | 1443 | if(abs(HeightTrimming) > 512) |
| 1309 | hbuss | 1444 | { |
| 1332 | hbuss | 1445 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1309 | hbuss | 1446 | HeightTrimming = 0; |
| 1587 | killagreg | 1447 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1309 | hbuss | 1448 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
| 1320 | hbuss | 1449 | //update hoover gas stick value when setpoint is shifted |
| 1332 | hbuss | 1450 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1451 | { |
||
| 1587 | killagreg | 1452 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1453 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1454 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1455 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1456 | } |
| 1309 | hbuss | 1457 | } |
| 1352 | hbuss | 1458 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1459 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1460 | else |
| 1461 | { |
||
| 1322 | hbuss | 1462 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1463 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1464 | else StickGasHover = 120; |
||
| 1698 | holgerb | 1465 | HoverGas = GasMischanteil; |
| 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 |
||
| 1695 | holgerb | 1483 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| 1698 | holgerb | 1484 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| 1485 | GasReduction = tmp_long; |
||
| 1590 | killagreg | 1486 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| 1487 | tmp_int = VarioMeter / 8; |
||
| 1695 | holgerb | 1488 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
| 1701 | holgerb | 1489 | if(!HeightTrimmingFlag) |
| 1698 | holgerb | 1490 | { |
| 1491 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
||
| 1492 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1493 | } |
||
| 1701 | holgerb | 1494 | else |
| 1495 | { |
||
| 1698 | holgerb | 1496 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 16L; // weniger D zum Höhe ändern |
| 1497 | LIMIT_MIN_MAX(tmp_int,-16 * STICK_GAIN, 16 * STICK_GAIN); |
||
| 1498 | } |
||
| 1499 | GasReduction += tmp_int; |
||
| 1590 | killagreg | 1500 | } // EOF no baro range expanding |
| 1309 | hbuss | 1501 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1698 | holgerb | 1502 | if(Parameter_Hoehe_ACC_Wirkung) |
| 1503 | { |
||
| 1504 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
| 1505 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1506 | GasReduction += tmp_long; |
||
| 1507 | } |
||
| 1587 | killagreg | 1508 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| 1588 | killagreg | 1509 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 1510 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1698 | holgerb | 1511 | GasReduction += tmp_int; |
| 1701 | holgerb | 1512 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| 1695 | holgerb | 1513 | |
| 1701 | holgerb | 1514 | // ------------------------ ---------------------------------- |
| 1515 | HCGas -= GasReduction; |
||
| 1309 | hbuss | 1516 | // limit deviation from hoover point within the target region |
| 1692 | holgerb | 1517 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1518 | { |
| 1693 | holgerb | 1519 | signed int tmp,min,max; |
| 1692 | holgerb | 1520 | if(abs(HeightDeviation) < 60) |
| 1521 | { |
||
| 1522 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
| 1523 | } |
||
| 1524 | else |
||
| 1525 | { |
||
| 1526 | tmp = (abs(HeightDeviation) - 60)/32; |
||
| 1527 | if(tmp > 15) tmp = 15; |
||
| 1693 | holgerb | 1528 | if(HeightDeviation > 0) |
| 1529 | { |
||
| 1530 | min = (HoverGasMin * (16 - tmp)) / 16; |
||
| 1531 | LIMIT_MIN_MAX(HCGas, min, HoverGasMax); // limit gas around the hoover point |
||
| 1532 | } |
||
| 1533 | else |
||
| 1534 | { |
||
| 1535 | max = (HoverGasMax * (tmp + 16)) / 16; |
||
| 1536 | LIMIT_MIN_MAX(HCGas, HoverGasMin, max); // limit gas around the hoover point |
||
| 1537 | } |
||
| 1692 | holgerb | 1538 | } |
| 1309 | hbuss | 1539 | } |
| 1322 | hbuss | 1540 | // strech control output by inverse attitude projection 1/cos |
| 1541 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1542 | tmp_long2 = (int32_t)HCGas; |
| 1543 | tmp_long2 *= 8192L; |
||
| 1544 | tmp_long2 /= CosAttitude; |
||
| 1545 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1546 | // update height control gas averaging |
| 1547 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1548 | // limit height control gas pd-control output |
||
| 1549 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1550 | // set GasMischanteil to HeightControlGasFilter |
||
| 1314 | killagreg | 1551 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1552 | { // old version |
| 1553 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1554 | } |
||
| 1698 | holgerb | 1555 | GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
| 1314 | killagreg | 1556 | } |
| 1309 | hbuss | 1557 | }// EOF height control active |
| 1320 | hbuss | 1558 | else // HC not active |
| 1559 | { |
||
| 1560 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1561 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1562 | { |
||
| 1563 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1564 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1565 | } |
| 1587 | killagreg | 1566 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1567 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1568 | FilterHCGas = GasMischanteil; |
| 1330 | killagreg | 1569 | } |
| 1283 | hbuss | 1570 | |
| 1587 | killagreg | 1571 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1572 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1698 | holgerb | 1573 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1574 | { |
| 1698 | holgerb | 1575 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1576 | if(StartTrigger == 1) StartTrigger = 2; |
||
| 1330 | killagreg | 1577 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1578 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1579 | tmp_long2 /= 8192; |
||
| 1309 | hbuss | 1580 | // average vertical projected thrust |
| 1698 | holgerb | 1581 | if(modell_fliegt < 4000) // the first 8 seconds |
| 1582 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1583 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
| 1584 | HoverGasFilter += 16L * tmp_long2; |
||
| 1309 | hbuss | 1585 | } |
| 1698 | holgerb | 1586 | if(modell_fliegt < 8000) // the first 16 seconds |
| 1587 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1588 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1589 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1590 | } |
| 1698 | holgerb | 1591 | else //later |
| 1592 | if(abs(VarioMeter) < 100) // only on small vertical speed |
||
| 1309 | hbuss | 1593 | { |
| 1590 | killagreg | 1594 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1595 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1596 | } |
| 1590 | killagreg | 1597 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1598 | if(EE_Parameter.Hoehe_HoverBand) |
| 1599 | { |
||
| 1600 | int16_t band; |
||
| 1587 | killagreg | 1601 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1602 | HoverGasMin = HoverGas - band; |
||
| 1603 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1604 | } |
| 1605 | else |
||
| 1606 | { // no limit |
||
| 1587 | killagreg | 1607 | HoverGasMin = 0; |
| 1608 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1609 | } |
| 1698 | holgerb | 1610 | } |
| 1611 | else |
||
| 1612 | { |
||
| 1613 | StartTrigger = 0; |
||
| 1614 | HoverGasFilter = 0; |
||
| 1615 | HoverGas = 0; |
||
| 1616 | } |
||
| 1309 | hbuss | 1617 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| 1618 | // limit gas to parameter setting |
||
| 1320 | hbuss | 1619 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1620 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1621 | |
| 1051 | killagreg | 1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1623 | // all BL-Ctrl connected? |
| 1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1675 | holgerb | 1625 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| 1320 | hbuss | 1626 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1627 | { |
||
| 1628 | modell_fliegt = 1; |
||
| 1675 | holgerb | 1629 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| 1320 | hbuss | 1630 | } |
| 1631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1632 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1634 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1636 | // Gier-Anteil |
| 1051 | killagreg | 1637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1638 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1639 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1640 | if(GasMischanteil > MIN_GIERGAS) |
| 1641 | { |
||
| 1051 | killagreg | 1642 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1643 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1644 | } |
| 1051 | killagreg | 1645 | else |
| 693 | hbuss | 1646 | { |
| 1051 | killagreg | 1647 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1648 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1649 | } |
| 855 | hbuss | 1650 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1651 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1652 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1653 | |
| 1051 | killagreg | 1654 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1655 | // Nick-Achse |
| 1051 | killagreg | 1656 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1657 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1658 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1659 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1660 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1661 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1685 | holgerb | 1662 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1663 | // Motor Vorn |
| 1676 | holgerb | 1664 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1665 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1666 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1667 | |
| 1153 | hbuss | 1668 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1669 | // Roll-Achse |
||
| 1670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1671 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1672 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1673 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1674 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1675 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1685 | holgerb | 1676 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
| 1676 | holgerb | 1677 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 1678 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| 1679 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1680 | |||
| 1681 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1209 | hbuss | 1682 | // Universal Mixer |
| 1155 | hbuss | 1683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | killagreg | 1684 | for(i=0; i<MAX_MOTORS; i++) |
| 1685 | { |
||
| 1686 | signed int tmp_int; |
||
| 1687 | if(Mixer.Motor[i][0] > 0) |
||
| 1688 | { |
||
| 1652 | holgerb | 1689 | // Gas |
| 1676 | holgerb | 1690 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| 1652 | holgerb | 1691 | // Nick |
| 1692 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
| 1693 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
| 1694 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1695 | // Roll |
||
| 1696 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
| 1697 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
| 1698 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1699 | // Gier |
||
| 1676 | holgerb | 1700 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| 1701 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
| 1702 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1675 | holgerb | 1703 | |
| 1680 | holgerb | 1704 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| 1705 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
| 1693 | holgerb | 1706 | |
| 1677 | killagreg | 1707 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
| 1676 | holgerb | 1708 | Motor[i].SetPoint = tmp_int / 4; |
| 1677 | killagreg | 1709 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| 1652 | holgerb | 1710 | tmp_motorwert[i] = tmp_int; |
| 1642 | killagreg | 1711 | } |
| 1712 | else |
||
| 1713 | { |
||
| 1714 | Motor[i].SetPoint = 0; |
||
| 1715 | Motor[i].SetPointLowerBits = 0; |
||
| 1716 | } |
||
| 1717 | } |
||
| 1111 | hbuss | 1718 | } |