| /beta/Code Redesign killagreg/fc.c |
|---|
| 1987,8 → 1987,16 |
| if(GyroIFactor) IPartNick += PPartNick - StickNick; // I-part for attitude control |
| else IPartNick += DiffNick; // I-part for head holding |
| LIMIT_MIN_MAX(IPartNick, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
| NickMixFraction = (ParamSet.GyroStability * DiffNick)/8 + (IPartNick / Ki); // PID-controller for nick |
| // PID-controller for nick |
| if(ParamSet.GyroStability <= 8) |
| { |
| NickMixFraction = (ParamSet.GyroStability * DiffNick) / 8; |
| } |
| else |
| { // avoid overflow |
| NickMixFraction = ((ParamSet.GyroStability/2) * DiffNick) / 4; // PID-controller for nick |
| } |
| NickMixFraction += IPartNick / Ki; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1996,7 → 2004,16 |
| if(GyroIFactor) IPartRoll += PPartRoll - StickRoll; // I-part for attitude control |
| else IPartRoll += DiffRoll; // I-part for head holding |
| LIMIT_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
| RollMixFraction = (ParamSet.GyroStability * DiffRoll)/8 + (IPartRoll / Ki); // PID-controller for roll |
| // PID-controller for roll |
| if(ParamSet.GyroStability <= 8) |
| { |
| RollMixFraction = (ParamSet.GyroStability * DiffRoll)/8; |
| } |
| else |
| { // avoid overflow |
| RollMixFraction = ((ParamSet.GyroStability/2) * DiffRoll)/4; |
| } |
| RollMixFraction += IPartRoll / Ki; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Limiter |
| /beta/Code Redesign killagreg/libfc1284.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /beta/Code Redesign killagreg/libfc644.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /beta/Code Redesign killagreg/makefile |
|---|
| 5,12 → 5,12 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 81 |
| VERSION_PATCH = 2 |
| VERSION_MINOR = 82 |
| VERSION_PATCH = 0 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol Minor Version |
| NC_SPI_COMPATIBLE = 15 # SPI Protocol Version |
| NC_SPI_COMPATIBLE = 16 # SPI Protocol Version |
| #------------------------------------------------------------------- |
| #OPTIONS |
| /beta/Code Redesign killagreg/spi.c |
|---|
| 378,7 → 378,7 |
| GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| PPM_in[MAX_CHANNELS-1] = (int16_t)FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel |
| PPM_in[MAX_CHANNELS-1] = (int16_t)FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
| break; |
| default: |
| /beta/Code Redesign killagreg/version.txt |
|---|
| 416,15 → 416,21 |
| - bei I2C-Fehlern wurden die Counter zurück gesetzt und für einige ms die Interrupts angehalten - das ist jetzt behoben |
| - Nur I2C-Daten senden, wenn das alte Paket komplett raus ist |
| 0.81b H.Buss + I.Busker 27.10.2010 |
| 0.82a H.Buss 08.11.2010 |
| - MotorSafetySwitch - Verriegelt das Ein/Ausschalten |
| - ServoManualControlSpeed - Verlangsamt das Cam-Servo |
| - CamOrientation - für verdrehte Kamera-Servos |
| - Position der Status-Bits verändert |
| - "Zucken" der Servos bei kurzen Empfangsausfällen behoben |
| - jeti update command 'j' added |
| - Poti-Auswertung nach ParameterZuordnung() verschoben -> FC-Code schneller |
| - Waypont-Events z.B. zum Triggern der Kamera |
| - Gyro-Sytbility: Werte bis 16 möglich |
| Anpassungen bzgl. V0.81b |
| G.Stobrawa 1.11.2010 |
| Anpassungen bzgl. V0.82 |
| G.Stobrawa 9.11.2010 |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |