WebSVN - FlightCtrl - Path Comparison - / Rev 154 and / Rev 155

Ignore whitespace Rev 154 → Rev 155

 /branches/salvo_gps/fc.c
 ,9 → 76,10
 unsigned char Notlandung = 0;
 unsigned char HoehenReglerAktiv = 0;
 static int SignalSchlecht = 0;
+uint8_t magkompass_ok=0;
  //Salvo 2.9.2007 Ersatzkompass
 volatile long GyroKomp_Int,GyroKomp_Int2;
-volatile int GyroKomp_Inc_Grad; // Gyroincrements / Grad
 volatile int GyroKomp_Value; //  Der ermittelte Kompasswert aus Gyro und Magnetkompass
 // Salvo End
 float GyroFaktor;
 ,7 → 178,6
 //Salvo 2.9.2007 Ersatzkompass
         GyroKomp_Int = 0;
         GyroKomp_Int2 = 0;
-        GyroKomp_Inc_Grad =     GYROKOMP_INC_GRAD_DEFAULT;
 // Salvo End
 }
 ,8 → 321,8
  EE_Parameter.Gyro_P = 120; //80          // Wert : 0-250
  EE_Parameter.Gyro_I = 150;               // Wert : 0-250
  EE_Parameter.UnterspannungsWarnung = 100; // Wert : 0-250
- EE_Parameter.NotGas = 90;                // Wert : 0-250     // Gaswert bei Empangsverlust
- EE_Parameter.NotGasZeit = 50;            // Wert : 0-250     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+ EE_Parameter.NotGas = 100;                // Wert : 0-250     // Gaswert bei Empangsverlust
+ EE_Parameter.NotGasZeit = 60;            // Wert : 0-250     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
  EE_Parameter.UfoAusrichtung = 0;         // X oder + Formation
  EE_Parameter.I_Faktor = 5;
  EE_Parameter.UserParam1 = 0;             //zur freien Verwendung
 ,8 → 364,8
  EE_Parameter.Gyro_P = 175; //80           // Wert : 0-250
  EE_Parameter.Gyro_I = 175;           // Wert : 0-250
  EE_Parameter.UnterspannungsWarnung = 100;  // Wert : 0-250
- EE_Parameter.NotGas = 90;                 // Wert : 0-250     // Gaswert bei Empangsverlust
- EE_Parameter.NotGasZeit = 50;             // Wert : 0-250     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+ EE_Parameter.NotGas = 100;                 // Wert : 0-250     // Gaswert bei Empangsverlust
+ EE_Parameter.NotGasZeit = 60;             // Wert : 0-250     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
  EE_Parameter.UfoAusrichtung = 0;         // X oder + Formation
  EE_Parameter.I_Faktor = 5;
  EE_Parameter.UserParam1 = 0;   //zur freien Verwendung
 ,13 → 616,9
 #define DRIFT_FAKTOR 3
     if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR)
                 {
-// Salvo 8.9.2007 Ersatzkompass *******
+// Salvo 12.9.2007 Ersatzkompass *******
                     ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
-                        if (GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT >=360 )
-                        {
-//                              GyroKomp_Int = GyroKomp_Int- (long)(GYROKOMP_INC_GRAD_DEFAULT *360);
-                                GyroKomp_Int = 0;
-                        }
+                        if (GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT >=360 ) GyroKomp_Int = 0;
                         ANALOG_ON;      // ADC einschalten
                         ROT_OFF;
 // Salvo End
 ,15 → 658,15
 // Salvo 31.8.2007 Abgleich Giergyro nur wenn Kompass aktiv und ok ist ***********************
 // Ohne Kompass wird die Pseudo-Gyrodrift durch die Driftkompensation nur verschlimmert
 // Ohne Driftkompensation ist die Gierachse wesentlich stabiler
-                        if ((EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) && (!SignalSchlecht))
-                        {
-                 if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR)  AdNeutralGier--;
-                 if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR)  AdNeutralGier++;
-                        }
-                        else
-                        {
-                         Mess_Integral_Gier2 = 0;
-                        }
+//                      if ((EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) && (!SignalSchlecht))
+// Salvo 13.9.2007
+//                      if ((EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) && (magkompass_ok >0))
+//                      {
+//                       if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR)  AdNeutralGier--;
+//                       if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR)  AdNeutralGier++;
+//                      }
+//                      else  Mess_Integral_Gier2 = 0;
 // Salvo End ***********************
                         ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
                 Mess_IntegralNick2 = IntegralNick;
 ,7 → 714,7
 //  Gieren
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     sollGier = StickGier;
-    if(abs(StickGier) > 35)
+    if(abs(StickGier) > 30)
      {
       if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
      }
 ,13 → 730,15
 // Salvo Ersatzkompass  8.9.2007 **********************
         if (Kompass_Neuer_Wert > 0)
         {
-           w = (abs(Mittelwert_AccNick));
+           Kompass_Neuer_Wert = 0;
+           w = (abs(Mittelwert_AccNick));
            v = (abs(Mittelwert_AccRoll));
            if  ((w  < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) //Ersatzkompass nur mit Magnetkompass aktualisieren wenn alle sok
            {
                 if  ((abs(KompassValue - Kompass_Value_Old)) < 5) // Aufeinanderfolgende Werte duerfen nur minimal abweichen
                  {
-                  ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+                  ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+                  magkompass_ok = 1; // Flag dass Magnetkompass stabil arbeitet
                   GyroKomp_Int = (GyroKomp_Int )/GYROKOMP_INC_GRAD_DEFAULT;
                   w = KompassValue - GyroKomp_Int;
                   if ((w > 0) && (w < 180))
 ,7 → 763,7
                   ANALOG_ON;    // ADC einschalten
                  }
            }
-           Kompass_Neuer_Wert = 0;
+           else magkompass_ok = 0;
         }
 // Salvo End *************************
 ,17 → 772,29
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Kompass
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- //KompassValue = 12;
     if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
      {
        w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
        v = abs(IntegralRoll /512);
-       if(v > w) w = v; // grösste Neigung ermitteln
-       if(w < 20 && NeueKompassRichtungMerken && !SignalSchlecht)
+           if(v > w) w = v; // grösste Neigung ermitteln
+// Salvo 12.9.2007 Kompassdaempfung abschalten weil Ersatzkompass verwendet wird
+//         w=0, v=0;
+//Salvo End
+//       if(w < 20 && NeueKompassRichtungMerken && !SignalSchlecht)
+                if ((magkompass_ok > 0)  &&  NeueKompassRichtungMerken)
         {
-         KompassStartwert = KompassValue;
+// Salvo 12.9.2007 Ersatzkompass nehmen statt Magnetkompass
+//      KompassStartwert = KompassValue;
+//        KompassStartwert = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
+// Salvo End *************************
+// Salvo 13.9.2007
+                KompassStartwert = KompassValue;
+// Salvo End
          NeueKompassRichtungMerken = 0;
         }
+// Salvo 13.9.2007
+       w=0;
+// Salvo End
        w = (w * Parameter_KompassWirkung) / 64;           // auf die Wirkung normieren
        w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
        if(w > 0)
 ,7 → 801,11
         {
           ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
-// Salvo 30.8.2007 Winkelbegrenzung **********************
+// Salvo Kompasssteuerung **********************
+                 if (magkompass_ok > 0) Mess_Integral_Gier += (KompassRichtung * w) / 32;  // nach Kompass ausrichten
+// Salvo End
+// Salvo 30.8.2007 Winkelbegrenzung **********************
+/*
          if ((!SignalSchlecht) )
                  {
                         if (abs(KompassRichtung) < 135 )
 ,6 → 813,7
                                 Mess_Integral_Gier += (KompassRichtung * w) / 32;  // nach Kompass ausrichten
                         }
                  }
+*/
  // Salvo End *************************
           ANALOG_ON;  // ADC einschalten
 ,16 → 844,18
     DebugOut.Analog[7] = GasMischanteil;
     DebugOut.Analog[8] = KompassValue;
 // ******provisorisch
-    DebugOut.Analog[9]  = cnt1;
+//    DebugOut.Analog[9]  = cnt1;
 //    DebugOut.Analog[10] = cnt1;
 //      DebugOut.Analog[11] = cnt2;
-    DebugOut.Analog[10]  = (gps_act_position.utm_east/10) % 10000;
-    DebugOut.Analog[11] = (gps_act_position.utm_north/10) % 10000;
+//    DebugOut.Analog[10]  = (gps_act_position.utm_east/10) % 10000;
+//    DebugOut.Analog[11] = (gps_act_position.utm_north/10) % 10000;
 // ******provisorisch
- /*
         DebugOut.Analog[9] = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
-    DebugOut.Analog[10] = GyroKomp_Int2/GYROKOMP_INC_GRAD_DEFAULT;
+    DebugOut.Analog[10] = magkompass_ok;
+        DebugOut.Analog[11] = Mess_Integral_Gier2;
+/*
         DebugOut.Analog[11] = GyroKomp_Inc_Grad;
         DebugOut.Analog[12] = GyroKomp_Value;
 */

/branches/salvo_gps/flight_ctrl.aps
1,0 → 0,0
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 /branches/salvo_gps/makefile
 ,8 → 45,8
 ##########################################################################################################
 # List C source files here. (C dependencies are automatically generated.)
-SRC = main.c uart.c  printf_P.c timer0.c  analog.c menu.c math.c
-SRC += twimaster.c rc.c fc.c GPS.c
+SRC = main.c uart.c  printf_P.c timer0.c  analog.c menu.c
+SRC += twimaster.c rc.c fc.c GPS.c math.c
 ##########################################################################################################

 /branches/salvo_gps/math.c
 ,21 → 16,48
 Stand 11.9.2007
 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 */
+#include "main.h"
 // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad
-signed int arctan_i(signed int x, signed int y)
+int arctan_i(long signed int x, long signed int y)
 {
-        short int sign = 0;
+        short int change_xy = 0;
         signed int i;
+        long signed int wert;
+        int return_value;
-        if (y > x)  // x,y Werte vertauschen
+        if ((abs(x)) > (abs(y)))  // x,y Werte vertauschen damit arctan <45 grad bleibt
         {
-                sign = 1;
-                i = x;
-                x = y;
-                y = i;
+                change_xy       = 1;
+                i                       = x;
+                x                       = y;
+                y                       = i;
         }
+        // Quadranten ermitteln
+        // Wert durch lineare Interpolation ermitteln
+        wert= abs((x*1000)/y);
+        if (wert <=268) //0...0.0,268  entsprechend 0..15 Grad
+        {
+                return_value = (int)((wert*100)/(268-0)*(15-0)/100) +0;
+        }
+        else if (wert <=578) //0,268...0.0,568  entsprechend 15..30 Grad
+        {
+                return_value = (int)((((wert-268)*100)/(578-268)*(30-15))/100) +15;
+        }
+        else //0,568...1  entsprechend 30..45 Grad
+        {
+                return_value = (int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30;
+        }
+        if (change_xy > 0)  return_value = 90-return_value; //Quadrant 45..90 Grad
+        if ((x > 0) && (y <0)) return_value = - return_value;
+        else if ((x < 0) && (y > 0)) return_value = - return_value;
+return return_value;
 }

 /branches/salvo_gps/math.h
 ,7 → 3,8
 // Definitionen fuer Modul math
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#include "main.h"
 extern signed int sin_i(signed int winkel);
 extern signed int cos_i(signed int winkel);
-extern signed int arctan_i(signed int x, signed int y);
+extern signed int arctan_i(long signed int x, long signed int y);

 /branches/salvo_gps/timer0.c
 ,7 → 71,13
     }
 //     if(cntKompass < 10) cntKompass = 10;
 //     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
+//Salvo 12.9.2007 Ersatzkompass als Basis nehmen, nicht den magnetkompass
      KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
+//      int i;
+//      i = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT;
+//      if (i < 180)  KompassRichtung = ((540 + i - KompassStartwert) % 360) - 180;
+//      else KompassRichtung = ((540 + (i-360) - KompassStartwert) % 360) - 180;
+// Salvo End
          Kompass_Neuer_Wert     = 1;
      cntKompass = 0;
    }

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