/trunk/analog.c |
---|
17,9 → 17,7 |
volatile unsigned int MessLuftdruck = 1023; |
unsigned char DruckOffsetSetting; |
signed char ExpandBaro = 0; |
volatile int HoeheD = 0; |
volatile char messanzahl_Druck; |
volatile long tmpLuftdruck; |
volatile int VarioMeter = 0; |
volatile unsigned int ZaehlMessungen = 0; |
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
73,9 → 71,9 |
if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
messanzahl_Druck = 0; |
AdReady = 0; |
ANALOG_ON; |
while(messanzahl_Druck == 0); |
while(!AdReady); |
if(i<10) Delay_ms_Mess(10); |
} |
Delay_ms_Mess(70); |
110,6 → 108,11 |
static unsigned char kanal=0,state = 0; |
static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
static signed int accy, accx; |
static long tmpLuftdruck = 0; |
static char messanzahl_Druck = 0; |
static long SummenHoehe = 0; |
switch(state++) |
{ |
case 0: |
220,18 → 223,18 |
ZaehlMessungen++; |
// "break" fehlt hier absichtlich |
case 9: |
tmpLuftdruck += ADC; |
if(++messanzahl_Druck >= 5) |
{ |
tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step |
tmpLuftdruck /= 2; |
MessLuftdruck = ADC; |
MessLuftdruck = ADC; |
tmpLuftdruck += MessLuftdruck; |
if(++messanzahl_Druck >= 18) |
{ |
Luftdruck = (7 * Luftdruck + tmpLuftdruck - 18 * 519 * ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
HoehenWert = StartLuftdruck - Luftdruck; |
SummenHoehe -= SummenHoehe/8; |
SummenHoehe += HoehenWert; |
VarioMeter = (3 * VarioMeter + 25 * (int)(HoehenWert - SummenHoehe/8))/4; |
tmpLuftdruck = 0; |
messanzahl_Druck = 0; |
HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
HoehenWert = StartLuftdruck - Luftdruck; |
tmpLuftdruck /= 2; |
} |
} |
kanal = AD_NICK; |
break; |
default: |
/trunk/analog.h |
---|
15,12 → 15,12 |
extern volatile unsigned int ZaehlMessungen; |
extern unsigned char DruckOffsetSetting; |
extern signed char ExpandBaro; |
extern volatile int HoeheD; |
extern volatile int VarioMeter; |
extern volatile unsigned int MessLuftdruck; |
extern volatile int StartLuftdruck; |
extern volatile char MessanzahlNick; |
extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
extern volatile unsigned char AdReady; |
extern volatile unsigned char AdReady; |
unsigned int ReadADC(unsigned char adc_input); |
/trunk/fc.c |
---|
237,7 → 237,7 |
Mess_IntegralRoll2 = IntegralRoll; |
Mess_Integral_Gier = 0; |
StartLuftdruck = Luftdruck; |
HoeheD = 0; |
VarioMeter = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
1186,7 → 1186,7 |
DebugOut.Analog[10] = SenderOkay; |
//DebugOut.Analog[16] = Mittelwert_AccHoch; |
//DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
//DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
DebugOut.Analog[18] = VarioMeter; |
DebugOut.Analog[19] = WinkelOut.CalcState; |
DebugOut.Analog[20] = ServoValue; |
// DebugOut.Analog[24] = MesswertNick/2; |
1315,9 → 1315,9 |
h = HoehenWert; |
if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
{ |
h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
h = GasMischanteil - h; // vom Gas abziehen |
h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
h -= (Parameter_Luftdruck_D * VarioMeter)/128; // D-Anteil |
tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
/trunk/menu.c |
---|
57,8 → 57,8 |
case 1: |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
LCD_printfxy(0,0,"Hoehe: %5i",(int)(HoehenWert/5)); |
LCD_printfxy(0,1,"SollHoehe: %5i",(int)(SollHoehe/5)); |
LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
} |
156,9 → 156,9 |
LCD_printfxy(0,1," %c %c %c %c ",MotorPresent[0] + '-',MotorPresent[1] + '-',MotorPresent[2] + '-',MotorPresent[3] + '-'); |
LCD_printfxy(0,2," %c %c %c %c ",MotorPresent[4] + '-',MotorPresent[5] + '-',MotorPresent[6] + '-',MotorPresent[7] + '-'); |
LCD_printfxy(0,3," %c - - -",MotorPresent[8] + '-'); |
if(MotorPresent[9]) LCD_printfxy(4,3,"10"); |
if(MotorPresent[10]) LCD_printfxy(8,3,"11"); |
if(MotorPresent[11]) LCD_printfxy(12,3,"12"); |
if(MotorPresent[9]) LCD_printfxy(4,3,"10"); |
if(MotorPresent[10]) LCD_printfxy(8,3,"11"); |
if(MotorPresent[11]) LCD_printfxy(12,3,"12"); |
break; |
default: MaxMenue = MenuePunkt - 1; |
MenuePunkt = 0; |
/trunk/spi.c |
---|
227,7 → 227,7 |
ToNaviCtrl.Param.Byte[0] = 5; |
} |
else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
ToNaviCtrl.Param.Int[1] = HoehenWert; |
ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
/trunk/uart.c |
---|
65,7 → 65,7 |
"Motor Right ", //15 |
" ", |
" ", |
" ", |
"VarioMeter ", |
"MK3Mag CalState ", |
"Servo ", //20 |
" ", |
131,11 → 131,11 |
NeuerDatensatzEmpfangen = 1; |
AnzahlEmpfangsBytes = buf_ptr + 1; |
RxdBuffer[buf_ptr] = '\r'; |
if(RxdBuffer[2] == 'R') |
if(RxdBuffer[2] == 'R') |
{ |
wdt_enable(WDTO_250MS); // Reset-Commando |
ServoActive = 0; |
} |
} |
} |
} |
else |
/trunk/version.txt |
---|
268,8 → 268,9 |
- Update-Cmd stoppt Servos |
- Servos werden erst nach dem ersten Kalibrieren aktiviert |
0.75c G.Sobrawa 22.7.2009 |
0.75c G.Sobrawa 25.7.2009 |
- Übertragung der Servo-Settings zur NC |
- RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
- Bugfix Messbereuichsumschaltung des Luftdrucksensors springt |
- Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
- Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |