68,47 → 68,47 |
|
unsigned char h,m,s; |
volatile unsigned int I2CTimeout = 100; |
volatile int MesswertNick,MesswertRoll,MesswertGier; |
volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
volatile int ReadingPitch, ReadingRoll, ReadingYaw; |
volatile int AdNeutralPitch = 0,AdNeutralRoll = 0,AdNeutralYaw = 0, StartNeutralRoll = 0, StartNeutralPitch = 0; |
volatile int Mean_AccPitch, Mean_AccRoll, Mean_AccTop, NeutralAccX=0, NeutralAccY=0; |
volatile float NeutralAccZ = 0; |
volatile long IntegralNick = 0,IntegralNick2 = 0; |
volatile long IntegralPitch = 0,IntegralPitch2 = 0; |
volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
volatile long Integral_Gier = 0; |
volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
volatile long Mess_Integral_Hoch = 0; |
volatile int KompassValue = 0; |
volatile int KompassStartwert = 0; |
volatile int KompassRichtung = 0; |
volatile long IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
volatile long Integral_Yaw = 0; |
volatile long Reading_IntegralPitch = 0,Reading_IntegralPitch2 = 0; |
volatile long Reading_IntegralRoll = 0,Reading_IntegralRoll2 = 0; |
volatile long Reading_Integral_Yaw = 0,Reading_Integral_Yaw2 = 0; |
volatile long MeanIntegralPitch, MeanIntegralRoll, MeanIntegralPitch2, MeanIntegralRoll2; |
volatile long Reading_Integral_Top = 0; |
volatile int CompassHeading = 0; |
volatile int CompassCourse = 0; |
volatile int CompassOffCourse = 0; |
unsigned char MAX_GAS,MIN_GAS; |
unsigned char Notlandung = 0; |
unsigned char HoehenReglerAktiv = 0; |
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
unsigned char EmergencyLanding = 0; |
unsigned char HightControlActive = 0; |
long TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
|
float GyroFaktor; |
float IntegralFaktor; |
volatile int DiffNick,DiffRoll; |
float GyroFactor; |
float IntegralFactor; |
volatile int DiffPitch,DiffRoll; |
int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
unsigned char MotorWert[5]; |
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
char MotorenEin = 0; |
int HoehenWert = 0; |
int SollHoehe = 0; |
int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
volatile unsigned char Motor_Front, Motor_Rear, Motor_Right, Motor_Left, Count; |
unsigned char MotorValue[5]; |
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
char MotorsOn = 0; |
int ReadingHight = 0; |
int SetPointHight = 0; |
int AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
float Ki = FAKTOR_I; |
unsigned char Looping_Nick = 0,Looping_Roll = 0; |
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
unsigned char Looping_Pitch = 0, Looping_Roll = 0; |
unsigned char Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
|
unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
unsigned char Parameter_CompassYawEffect = 64; // Wert : 0-250 |
unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
121,20 → 121,20 |
unsigned char Parameter_UserParam6 = 0; |
unsigned char Parameter_UserParam7 = 0; |
unsigned char Parameter_UserParam8 = 0; |
unsigned char Parameter_ServoNickControl = 100; |
unsigned char Parameter_ServoPitchControl = 100; |
unsigned char Parameter_LoopGasLimit = 70; |
unsigned char Parameter_AchsKopplung1 = 0; |
unsigned char Parameter_AchsGegenKopplung1 = 0; |
unsigned char Parameter_DynamicStability = 100; |
|
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
int MaxStickNick = 0,MaxStickRoll = 0; |
signed int ExternStickPitch = 0, ExternStickRoll = 0,ExternStickYaw = 0, ExternHightValue = -20; |
int MaxStickPitch = 0, MaxStickRoll = 0; |
|
void Piep(unsigned char Anzahl) |
{ |
while(Anzahl--) |
{ |
if(MotorenEin) return; //auf keinen Fall im Flug! |
if(MotorsOn) return; //auf keinen Fall im Flug! |
BeepTime = 100; |
Delay_ms(250); |
} |
148,145 → 148,145 |
NeutralAccX = 0; |
NeutralAccY = 0; |
NeutralAccZ = 0; |
AdNeutralNick = 0; |
AdNeutralPitch = 0; |
AdNeutralRoll = 0; |
AdNeutralGier = 0; |
AdNeutralYaw = 0; |
Parameter_AchsKopplung1 = 0; |
Parameter_AchsGegenKopplung1 = 0; |
CalibrierMittelwert(); |
CalibMean(); |
Delay_ms_Mess(100); |
CalibrierMittelwert(); |
CalibMean(); |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
} |
|
AdNeutralNick= AdValueGyrNick; |
AdNeutralPitch= AdValueGyrPitch; |
AdNeutralRoll= AdValueGyrRoll; |
AdNeutralGier= AdValueGyrGier; |
AdNeutralYaw= AdValueGyrYaw; |
StartNeutralRoll = AdNeutralRoll; |
StartNeutralNick = AdNeutralNick; |
if(GetParamByte(PID_ACC_NICK) > 4) |
StartNeutralPitch = AdNeutralPitch; |
if(GetParamByte(PID_ACC_PITCH) > 4) |
{ |
NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
NeutralAccZ = Current_AccZ; |
} |
else |
{ |
NeutralAccX = (int)GetParamByte(PID_ACC_NICK) * 256 + (int)GetParamByte(PID_ACC_NICK+1); |
{ // why not GetParamWord()? |
NeutralAccX = (int)GetParamByte(PID_ACC_PITCH) * 256 + (int)GetParamByte(PID_ACC_PITCH+1); |
NeutralAccY = (int)GetParamByte(PID_ACC_ROLL) * 256 + (int)GetParamByte(PID_ACC_ROLL+1); |
NeutralAccZ = (int)GetParamByte(PID_ACC_Z) * 256 + (int)GetParamByte(PID_ACC_Z+1); |
} |
|
Mess_IntegralNick = 0; |
Mess_IntegralNick2 = 0; |
Mess_IntegralRoll = 0; |
Mess_IntegralRoll2 = 0; |
Mess_Integral_Gier = 0; |
MesswertNick = 0; |
MesswertRoll = 0; |
MesswertGier = 0; |
StartLuftdruck = Luftdruck; |
Reading_IntegralPitch = 0; |
Reading_IntegralPitch2 = 0; |
Reading_IntegralRoll = 0; |
Reading_IntegralRoll2 = 0; |
Reading_Integral_Yaw = 0; |
ReadingPitch = 0; |
ReadingRoll = 0; |
ReadingYaw = 0; |
StartAirPressure = AirPressure; |
HoeheD = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
Reading_Integral_Top = 0; |
CompassCourse = CompassHeading; |
GPS_Neutral(); |
BeepTime = 50; |
Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) ParamSet.WinkelUmschlagRoll * 2500L; |
ExternHoehenValue = 0; |
TurnOver180Pitch = (long) ParamSet.AngleTurnOverPitch * 2500L; |
TurnOver180Roll = (long) ParamSet.AngleTurnOverRoll * 2500L; |
ExternHightValue = 0; |
} |
|
//############################################################################ |
// Bearbeitet die Messwerte |
void Mittelwert(void) |
void Mean(void) |
//############################################################################ |
{ |
static signed long tmpl,tmpl2; |
MesswertGier = (signed int) AdNeutralGier - AdValueGyrGier; |
MesswertRoll = (signed int) AdValueGyrRoll - AdNeutralRoll; |
MesswertNick = (signed int) AdValueGyrNick - AdNeutralNick; |
static int32_t tmpl,tmpl2; |
ReadingYaw = (int16_t) AdNeutralYaw - AdValueGyrYaw; |
ReadingRoll = (int16_t) AdValueGyrRoll - AdNeutralRoll; |
ReadingPitch = (int16_t) AdValueGyrPitch - AdNeutralPitch; |
|
//DebugOut.Analog[26] = MesswertNick; |
DebugOut.Analog[28] = MesswertRoll; |
//DebugOut.Analog[26] = ReadingPitch; |
DebugOut.Analog[28] = ReadingRoll; |
|
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdValueAccNick))) / 2L; |
Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L; |
Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdValueAccTop)) / 2L; |
IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
Mean_AccPitch = ((long)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (long)AdValueAccPitch))) / 2L; |
Mean_AccRoll = ((long)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L; |
Mean_AccTop = ((long)Mean_AccTop * 1 + ((long)AdValueAccTop)) / 2L; |
IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
IntegralAccZ += Current_AccZ - NeutralAccZ; |
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_Integral_Gier += MesswertGier; |
Mess_Integral_Gier2 += MesswertGier; |
// Yaw ++++++++++++++++++++++++++++++++++++++++++++++++ |
Reading_Integral_Yaw += ReadingYaw; |
Reading_Integral_Yaw2 += ReadingYaw; |
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
{ |
tmpl = Mess_IntegralNick / 4096L; |
tmpl *= MesswertGier; |
tmpl = Reading_IntegralPitch / 4096L; |
tmpl *= ReadingYaw; |
tmpl *= Parameter_AchsKopplung1; //125 |
tmpl /= 2048L; |
tmpl2 = Mess_IntegralRoll / 4096L; |
tmpl2 *= MesswertGier; |
tmpl2 = Reading_IntegralRoll / 4096L; |
tmpl2 *= ReadingYaw; |
tmpl2 *= Parameter_AchsKopplung1; |
tmpl2 /= 2048L; |
} |
else tmpl = tmpl2 = 0; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
MesswertRoll += tmpl; |
MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
Mess_IntegralRoll2 += MesswertRoll; |
Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
if(Mess_IntegralRoll > Umschlag180Roll) |
ReadingRoll += tmpl; |
ReadingRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
Reading_IntegralRoll2 += ReadingRoll; |
Reading_IntegralRoll += ReadingRoll - AttitudeCorrectionRoll; |
if(Reading_IntegralRoll > TurnOver180Roll) |
{ |
Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
Reading_IntegralRoll = -(TurnOver180Roll - 10000L); |
Reading_IntegralRoll2 = Reading_IntegralRoll; |
} |
if(Mess_IntegralRoll <-Umschlag180Roll) |
if(Reading_IntegralRoll <-TurnOver180Roll) |
{ |
Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
Reading_IntegralRoll = (TurnOver180Roll - 10000L); |
Reading_IntegralRoll2 = Reading_IntegralRoll; |
} |
if(AdValueGyrRoll < 15) MesswertRoll = -1000; |
if(AdValueGyrRoll < 7) MesswertRoll = -2000; |
if(AdValueGyrRoll < 15) ReadingRoll = -1000; |
if(AdValueGyrRoll < 7) ReadingRoll = -2000; |
if(BoardRelease == 10) |
{ |
if(AdValueGyrRoll > 1010) MesswertRoll = +1000; |
if(AdValueGyrRoll > 1017) MesswertRoll = +2000; |
if(AdValueGyrRoll > 1010) ReadingRoll = +1000; |
if(AdValueGyrRoll > 1017) ReadingRoll = +2000; |
} |
else |
{ |
if(AdValueGyrRoll > 2020) MesswertRoll = +1000; |
if(AdValueGyrRoll > 2034) MesswertRoll = +2000; |
if(AdValueGyrRoll > 2020) ReadingRoll = +1000; |
if(AdValueGyrRoll > 2034) ReadingRoll = +2000; |
} |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
MesswertNick -= tmpl2; |
MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
Mess_IntegralNick2 += MesswertNick; |
Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
if(Mess_IntegralNick > Umschlag180Nick) |
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
ReadingPitch -= tmpl2; |
ReadingPitch -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
Reading_IntegralPitch2 += ReadingPitch; |
Reading_IntegralPitch += ReadingPitch - AttitudeCorrectionPitch; |
if(Reading_IntegralPitch > TurnOver180Pitch) |
{ |
Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
Reading_IntegralPitch = -(TurnOver180Pitch - 10000L); |
Reading_IntegralPitch2 = Reading_IntegralPitch; |
} |
if(Mess_IntegralNick <-Umschlag180Nick) |
if(Reading_IntegralPitch <-TurnOver180Pitch) |
{ |
Mess_IntegralNick = (Umschlag180Nick - 10000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
Reading_IntegralPitch = (TurnOver180Pitch - 10000L); |
Reading_IntegralPitch2 = Reading_IntegralPitch; |
} |
if(AdValueGyrNick < 15) MesswertNick = -1000; |
if(AdValueGyrNick < 7) MesswertNick = -2000; |
if(AdValueGyrPitch < 15) ReadingPitch = -1000; |
if(AdValueGyrPitch < 7) ReadingPitch = -2000; |
if(BoardRelease == 10) |
{ |
if(AdValueGyrNick > 1010) MesswertNick = +1000; |
if(AdValueGyrNick > 1017) MesswertNick = +2000; |
if(AdValueGyrPitch > 1010) ReadingPitch = +1000; |
if(AdValueGyrPitch > 1017) ReadingPitch = +2000; |
} |
else |
{ |
if(AdValueGyrNick > 2020) MesswertNick = +1000; |
if(AdValueGyrNick > 2034) MesswertNick = +2000; |
if(AdValueGyrPitch > 2020) ReadingPitch = +1000; |
if(AdValueGyrPitch > 2034) ReadingPitch = +2000; |
} |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
// ADC einschalten |
293,18 → 293,18 |
ADC_Enable(); |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
|
Integral_Gier = Mess_Integral_Gier; |
IntegralNick = Mess_IntegralNick; |
IntegralRoll = Mess_IntegralRoll; |
IntegralNick2 = Mess_IntegralNick2; |
IntegralRoll2 = Mess_IntegralRoll2; |
Integral_Yaw = Reading_Integral_Yaw; |
IntegralPitch = Reading_IntegralPitch; |
IntegralRoll = Reading_IntegralRoll; |
IntegralPitch2 = Reading_IntegralPitch2; |
IntegralRoll2 = Reading_IntegralRoll2; |
|
if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Nick && !Looping_Roll) |
if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll) |
{ |
if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
if(ReadingPitch > 200) ReadingPitch += 4 * (ReadingPitch - 200); |
else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200); |
if(ReadingRoll > 200) ReadingRoll += 4 * (ReadingRoll - 200); |
else if(ReadingRoll < -200) ReadingRoll += 4 * (ReadingRoll + 200); |
} |
if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
318,17 → 318,17 |
|
//############################################################################ |
// Messwerte beim Ermitteln der Nullage |
void CalibrierMittelwert(void) |
void CalibMean(void) |
//############################################################################ |
{ |
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
ADC_Disable(); |
MesswertNick = AdValueGyrNick; |
MesswertRoll = AdValueGyrRoll; |
MesswertGier = AdValueGyrGier; |
Mittelwert_AccNick = ACC_AMPLIFY * (long)AdValueAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll; |
Mittelwert_AccHoch = (long)AdValueAccTop; |
ReadingPitch = AdValueGyrPitch; |
ReadingRoll = AdValueGyrRoll; |
ReadingYaw = AdValueGyrYaw; |
Mean_AccPitch = ACC_AMPLIFY * (long)AdValueAccPitch; |
Mean_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll; |
Mean_AccTop = (long)AdValueAccTop; |
// ADC einschalten |
ADC_Enable(); |
if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
340,8 → 340,8 |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
|
Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) ParamSet.WinkelUmschlagNick * 2500L; |
TurnOver180Pitch = (long) ParamSet.AngleTurnOverPitch * 2500L; |
TurnOver180Roll = (long) ParamSet.AngleTurnOverRoll * 2500L; |
} |
|
//############################################################################ |
349,22 → 349,22 |
void SendMotorData(void) |
//############################################################################ |
{ |
if(MOTOR_OFF || !MotorenEin) |
if(MOTOR_OFF || !MotorsOn) |
{ |
Motor_Hinten = 0; |
Motor_Vorne = 0; |
Motor_Rechts = 0; |
Motor_Links = 0; |
if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
if(MotorTest[2]) Motor_Links = MotorTest[2]; |
if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
Motor_Rear = 0; |
Motor_Front = 0; |
Motor_Right = 0; |
Motor_Left = 0; |
if(MotorTest[0]) Motor_Front = MotorTest[0]; |
if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
if(MotorTest[2]) Motor_Left = MotorTest[2]; |
if(MotorTest[3]) Motor_Right = MotorTest[3]; |
} |
|
DebugOut.Analog[12] = Motor_Vorne; |
DebugOut.Analog[13] = Motor_Hinten; |
DebugOut.Analog[14] = Motor_Links; |
DebugOut.Analog[15] = Motor_Rechts; |
DebugOut.Analog[12] = Motor_Front; |
DebugOut.Analog[13] = Motor_Rear; |
DebugOut.Analog[14] = Motor_Left; |
DebugOut.Analog[15] = Motor_Right; |
|
//Start I2C Interrupt Mode |
twi_state = 0; |
381,11 → 381,11 |
{ |
|
#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHoehe,0,255); |
CHK_POTI(Parameter_Luftdruck_D,ParamSet.Luftdruck_D,0,100); |
CHK_POTI(Parameter_Hoehe_P,ParamSet.Hoehe_P,0,100); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hoehe_ACC_Wirkung,0,255); |
CHK_POTI(Parameter_KompassWirkung,ParamSet.KompassWirkung,0,255); |
CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHight,0,255); |
CHK_POTI(Parameter_Luftdruck_D,ParamSet.AirPressure_D,0,100); |
CHK_POTI(Parameter_Hoehe_P,ParamSet.Hight_P,0,100); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hight_ACC_Effect,0,255); |
CHK_POTI(Parameter_CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
CHK_POTI(Parameter_Gyro_P,ParamSet.Gyro_P,10,255); |
CHK_POTI(Parameter_Gyro_I,ParamSet.Gyro_I,0,255); |
CHK_POTI(Parameter_I_Factor,ParamSet.I_Factor,0,255); |
397,7 → 397,7 |
CHK_POTI(Parameter_UserParam6,ParamSet.UserParam6,0,255); |
CHK_POTI(Parameter_UserParam7,ParamSet.UserParam7,0,255); |
CHK_POTI(Parameter_UserParam8,ParamSet.UserParam8,0,255); |
CHK_POTI(Parameter_ServoNickControl,ParamSet.ServoNickControl,0,255); |
CHK_POTI(Parameter_ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
CHK_POTI(Parameter_LoopGasLimit,ParamSet.LoopGasLimit,0,255); |
CHK_POTI(Parameter_AchsKopplung1, ParamSet.AchsKopplung1,0,255); |
CHK_POTI(Parameter_AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255); |
414,29 → 414,29 |
void MotorRegler(void) |
//############################################################################ |
{ |
int motorwert,pd_ergebnis,h,tmp_int; |
int GierMischanteil,GasMischanteil; |
static long SummeNick=0,SummeRoll=0; |
static long sollGier = 0,tmp_long,tmp_long2; |
static long IntegralFehlerNick = 0; |
static long IntegralFehlerRoll = 0; |
int MotorValue, pd_ergebnis, h, tmp_int; |
int YawMixingFraction, GasMixingFraction; |
static long SumPitch = 0, SumRoll = 0; |
static long SetPointYaw = 0, tmp_long, tmp_long2; |
static long IntegralErrorPitch = 0; |
static long IntegralErrorRoll = 0; |
static unsigned int RcLostTimer; |
static unsigned char delay_neutral = 0; |
static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
static unsigned int modell_fliegt = 0; |
static int hoehenregler = 0; |
static char TimerWerteausgabe = 0; |
static char NeueKompassRichtungMerken = 0; |
static long ausgleichNick, ausgleichRoll; |
static char TimerDebugOut = 0; |
static char StoreNewCompassCourse = 0; |
static long CorrectionPitch, CorrectionRoll; |
|
Mittelwert(); |
Mean(); |
|
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMischanteil = StickGas; |
if(GasMischanteil < 0) GasMischanteil = 0; |
GasMixingFraction = StickGas; |
if(GasMixingFraction < 0) GasMixingFraction = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Emfang schlecht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
453,19 → 453,19 |
if(RcLostTimer) RcLostTimer--; |
else |
{ |
MotorenEin = 0; |
Notlandung = 0; |
MotorsOn = 0; |
EmergencyLanding = 0; |
} |
ROT_ON; |
if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = ParamSet.EmergencyGas; |
Notlandung = 1; |
PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
GasMixingFraction = ParamSet.EmergencyGas; |
EmergencyLanding = 1; |
PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_GIER]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
} |
else MotorenEin = 0; |
else MotorsOn = 0; |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
473,45 → 473,45 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
Notlandung = 0; |
EmergencyLanding = 0; |
RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
if(GasMischanteil > 40) |
if(GasMixingFraction > 40) |
{ |
if(modell_fliegt < 0xffff) modell_fliegt++; |
} |
if((modell_fliegt < 200) || (GasMischanteil < 40)) |
if((modell_fliegt < 200) || (GasMixingFraction < 40)) |
{ |
SummeNick = 0; |
SummeRoll = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
SumPitch = 0; |
SumRoll = 0; |
Reading_Integral_Yaw = 0; |
Reading_Integral_Yaw2 = 0; |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorenEin == 0) |
if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorsOn == 0) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// auf Nullwerte kalibrieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75) // Neutralwerte |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) // Neutralwerte |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
MotorenEin = 0; |
MotorsOn = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
{ |
unsigned char setting=1; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
SetActiveParamSet(setting); // aktiven Datensatz merken |
} |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
} |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(); |
519,18 → 519,18 |
} |
} |
else |
if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75) // ACC Neutralwerte speichern |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) // ACC Neutralwerte speichern |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
SetParamByte(PID_ACC_NICK,0xFF); // Werte löschen |
MotorenEin = 0; |
SetParamByte(PID_ACC_PITCH,0xFF); // Werte löschen |
MotorsOn = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
SetNeutral(); |
SetParamByte(PID_ACC_NICK, NeutralAccX / 256); // ACC-NeutralWerte speichern |
SetParamByte(PID_ACC_NICK+1,NeutralAccX % 256); // ACC-NeutralWerte speichern |
SetParamByte(PID_ACC_PITCH, NeutralAccX / 256); // ACC-NeutralWerte speichern |
SetParamByte(PID_ACC_PITCH+1,NeutralAccX % 256); // ACC-NeutralWerte speichern |
SetParamByte(PID_ACC_ROLL,NeutralAccY / 256); |
SetParamByte(PID_ACC_ROLL+1,NeutralAccY % 256); |
SetParamByte(PID_ACC_Z,(int)NeutralAccZ / 256); |
546,7 → 546,7 |
if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120) |
{ |
// Starten |
if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75) |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Einschalten |
555,16 → 555,16 |
{ |
delay_einschalten = 200; |
modell_fliegt = 1; |
MotorenEin = 1; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
Mess_IntegralNick = 0; |
Mess_IntegralRoll = 0; |
Mess_IntegralNick2 = IntegralNick; |
Mess_IntegralRoll2 = IntegralRoll; |
SummeNick = 0; |
SummeRoll = 0; |
MotorsOn = 1; |
SetPointYaw = 0; |
Reading_Integral_Yaw = 0; |
Reading_Integral_Yaw2 = 0; |
Reading_IntegralPitch = 0; |
Reading_IntegralRoll = 0; |
Reading_IntegralPitch2 = IntegralPitch; |
Reading_IntegralRoll2 = IntegralRoll; |
SumPitch = 0; |
SumRoll = 0; |
} |
} |
else delay_einschalten = 0; |
572,11 → 572,11 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Auschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75) |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
{ |
if(++delay_ausschalten > 200) // nicht sofort |
{ |
MotorenEin = 0; |
MotorsOn = 0; |
delay_ausschalten = 200; |
modell_fliegt = 0; |
} |
588,27 → 588,26 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || Notlandung) |
if(!NewPpmData-- || EmergencyLanding) |
{ |
int tmp_int; |
static int stick_nick,stick_roll; |
ParameterZuordnung(); |
StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
|
StickGier = -PPM_in[ParamSet.ChannelAssignment[CH_GIER]]; |
StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120; |
|
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) > MaxStickNick) |
MaxStickNick = abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]); else MaxStickNick--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); else MaxStickPitch--; |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--; |
if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
if(EmergencyLanding) {MaxStickPitch = 0; MaxStickRoll = 0;} |
|
GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
GyroFactor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
IntegralFactor = ((float) Parameter_Gyro_I) / 44000; |
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Digitale Steuerung per DubWise |
617,78 → 616,78 |
if(DubWiseKeys[1]) BeepTime = 10; |
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
ExternStickPitch= (ExternStickPitch* 7 + tmp_int) / 8; |
if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
|
if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
if(DubWiseKeys[0] & 2) ExternHightValue++; |
if(DubWiseKeys[0] & 16) ExternHightValue--; |
|
StickNick += ExternStickNick / 8; |
StickPitch += ExternStickPitch/ 8; |
StickRoll += ExternStickRoll / 8; |
StickGier += ExternStickGier; |
StickYaw += ExternStickYaw; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Analoge Steuerung per Seriell |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128) |
{ |
StickNick += (int) ExternControl.Nick * (int) ParamSet.Stick_P; |
StickPitch += (int) ExternControl.Pitch * (int) ParamSet.Stick_P; |
StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P; |
StickGier += ExternControl.Gier; |
ExternHoehenValue = (int) ExternControl.Hight * (int)ParamSet.Hoehe_Verstaerkung; |
StickYaw += ExternControl.Yaw; |
ExternHightValue = (int) ExternControl.Hight * (int)ParamSet.Hight_Gain; |
if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
} |
|
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
if(GyroFaktor < 0) GyroFaktor = 0; |
if(IntegralFaktor < 0) IntegralFaktor = 0; |
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFactor = 0; |
if(GyroFactor < 0) GyroFactor = 0; |
if(IntegralFactor < 0) IntegralFactor = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Links = 1; |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
else |
{ |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Links = 0; |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Rechts = 1; |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
else |
{ |
if(Looping_Rechts) // Hysterese |
if(Looping_Right) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Rechts = 0; |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
} |
} |
|
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Oben = 1; |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
else |
{ |
if(Looping_Oben) // Hysterese |
if(Looping_Top) // Hysterese |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Oben = 0; |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Unten = 1; |
if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
else |
{ |
if(Looping_Unten) // Hysterese |
if(Looping_Down) // Hysterese |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Unten = 0; |
if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
} |
} |
|
if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
} // Ende neue Funken-Werte |
|
if(Looping_Roll) BeepTime = 100; |
if(Looping_Roll || Looping_Nick) |
if(Looping_Roll || Looping_Pitch) |
{ |
if(GasMischanteil > ParamSet.LoopGasLimit) GasMischanteil = ParamSet.LoopGasLimit; |
if(GasMixingFraction > ParamSet.LoopGasLimit) GasMixingFraction = ParamSet.LoopGasLimit; |
} |
|
|
695,15 → 694,15 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Bei Empfangsausfall im Flug |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Notlandung) |
if(EmergencyLanding) |
{ |
StickGier = 0; |
StickNick = 0; |
StickYaw = 0; |
StickPitch = 0; |
StickRoll = 0; |
GyroFaktor = 0.5;//Originalwert von Holger 0.1; |
IntegralFaktor = 0.003; //Originalwert von Holger 0.005; |
GyroFactor = 0.5;//Originalwert von Holger 0.1; |
IntegralFactor = 0.003; //Originalwert von Holger 0.005; |
Looping_Roll = 0; |
Looping_Nick = 0; |
Looping_Pitch = 0; |
} |
|
|
712,40 → 711,40 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define ABGLEICH_ANZAHL 256L |
|
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
MittelIntegralRoll += IntegralRoll; |
MittelIntegralNick2 += IntegralNick2; |
MittelIntegralRoll2 += IntegralRoll2; |
MeanIntegralPitch += IntegralPitch; // Für die Mittelwertbildung aufsummieren |
MeanIntegralRoll += IntegralRoll; |
MeanIntegralPitch2 += IntegralPitch2; |
MeanIntegralRoll2 += IntegralRoll2; |
|
if(Looping_Nick || Looping_Roll) |
if(Looping_Pitch || Looping_Roll) |
{ |
IntegralAccNick = 0; |
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
Mess_IntegralNick2 = Mess_IntegralNick; |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
MeanIntegralPitch2 = 0; |
MeanIntegralRoll2 = 0; |
Reading_IntegralPitch2 = Reading_IntegralPitch; |
Reading_IntegralRoll2 = Reading_IntegralRoll; |
ZaehlMessungen = 0; |
LageKorrekturNick = 0; |
LageKorrekturRoll = 0; |
AttitudeCorrectionPitch = 0; |
AttitudeCorrectionRoll = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll) |
if(!Looping_Pitch && !Looping_Roll) |
{ |
long tmp_long, tmp_long2; |
tmp_long = (long)(IntegralNick / ParamSet.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long2 = (long)(IntegralRoll / ParamSet.GyroAccFaktor - (long)Mittelwert_AccRoll); |
tmp_long = (long)(IntegralPitch / ParamSet.GyroAccFaktor - (long)Mean_AccPitch); |
tmp_long2 = (long)(IntegralRoll / ParamSet.GyroAccFaktor - (long)Mean_AccRoll); |
tmp_long /= 16; |
tmp_long2 /= 16; |
if((MaxStickNick > 15) || (MaxStickRoll > 15)) |
if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25) |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
757,8 → 756,8 |
if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
|
Mess_IntegralNick -= tmp_long; |
Mess_IntegralRoll -= tmp_long2; |
Reading_IntegralPitch -= tmp_long; |
Reading_IntegralRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
766,118 → 765,118 |
{ |
static int cnt = 0; |
static char last_n_p,last_n_n,last_r_p,last_r_n; |
static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
if(!Looping_Nick && !Looping_Roll) |
static long MeanIntegralPitch_old,MeanIntegralRoll_old; |
if(!Looping_Pitch && !Looping_Roll) |
{ |
MittelIntegralNick /= ABGLEICH_ANZAHL; |
MittelIntegralRoll /= ABGLEICH_ANZAHL; |
IntegralAccNick = (ParamSet.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
MeanIntegralPitch /= ABGLEICH_ANZAHL; |
MeanIntegralRoll /= ABGLEICH_ANZAHL; |
IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / ABGLEICH_ANZAHL; |
IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
#define MAX_I 0//(Poti2/10) |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
ausgleichNick = IntegralFehlerNick / ParamSet.GyroAccAbgleich; |
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralErrorPitch = (long)(MeanIntegralPitch - (long)IntegralAccPitch); |
CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
ausgleichRoll = IntegralFehlerRoll / ParamSet.GyroAccAbgleich; |
IntegralErrorRoll = (long)(MeanIntegralRoll - (long)IntegralAccRoll); |
CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
|
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
AttitudeCorrectionPitch = CorrectionPitch / ABGLEICH_ANZAHL; |
AttitudeCorrectionRoll = CorrectionRoll / ABGLEICH_ANZAHL; |
|
if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25)) |
if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
{ |
LageKorrekturNick /= 2; |
LageKorrekturNick /= 2; |
AttitudeCorrectionPitch /= 2; |
AttitudeCorrectionPitch /= 2; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
tmp_long = IntegralNick2 - IntegralNick; |
MeanIntegralPitch2 /= ABGLEICH_ANZAHL; |
MeanIntegralRoll2 /= ABGLEICH_ANZAHL; |
tmp_long = IntegralPitch2 - IntegralPitch; |
tmp_long2 = IntegralRoll2 - IntegralRoll; |
//DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
//DebugOut.Analog[25] = MeanIntegralRoll2 / 26; |
|
IntegralFehlerNick = tmp_long; |
IntegralFehlerRoll = tmp_long2; |
Mess_IntegralNick2 -= IntegralFehlerNick; |
Mess_IntegralRoll2 -= IntegralFehlerRoll; |
IntegralErrorPitch = tmp_long; |
IntegralErrorRoll = tmp_long2; |
Reading_IntegralPitch2 -= IntegralErrorPitch; |
Reading_IntegralRoll2 -= IntegralErrorRoll; |
|
// IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
// IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
// IntegralErrorPitch = (IntegralErrorPitch * 1 + tmp_long) / 2; |
// IntegralErrorRoll = (IntegralErrorRoll * 1 + tmp_long2) / 2; |
|
|
DebugOut.Analog[17] = IntegralAccNick / 26; |
DebugOut.Analog[17] = IntegralAccPitch / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
DebugOut.Analog[21] = MittelIntegralNick / 26; |
DebugOut.Analog[22] = MittelIntegralRoll / 26; |
//DebugOut.Analog[28] = ausgleichNick; |
DebugOut.Analog[29] = ausgleichRoll; |
DebugOut.Analog[30] = LageKorrekturRoll * 10; |
DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
DebugOut.Analog[21] = MeanIntegralPitch / 26; |
DebugOut.Analog[22] = MeanIntegralRoll / 26; |
//DebugOut.Analog[28] = CorrectionPitch; |
DebugOut.Analog[29] = CorrectionRoll; |
DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
|
#define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
#define BEWEGUNGS_LIMIT 20000 |
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
// Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < BEWEGUNGS_LIMIT) |
{ |
if(IntegralFehlerNick > FEHLER_LIMIT2) |
if(IntegralErrorPitch > FEHLER_LIMIT2) |
{ |
if(last_n_p) |
{ |
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick > 5000) ausgleichNick = 5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL; |
} |
else last_n_p = 1; |
} else last_n_p = 0; |
if(IntegralFehlerNick < -FEHLER_LIMIT2) |
if(IntegralErrorPitch < -FEHLER_LIMIT2) |
{ |
if(last_n_n) |
{ |
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick < -5000) ausgleichNick = -5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2; |
CorrectionPitch = IntegralErrorPitch / 8; |
if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL; |
} |
else last_n_n = 1; |
} else last_n_n = 0; |
} else cnt = 0; |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
if(IntegralErrorPitch > FEHLER_LIMIT) AdNeutralPitch += cnt; |
if(IntegralErrorPitch < -FEHLER_LIMIT) AdNeutralPitch -= cnt; |
|
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
|
ausgleichRoll = 0; |
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
CorrectionRoll = 0; |
if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < BEWEGUNGS_LIMIT) |
{ |
if(IntegralFehlerRoll > FEHLER_LIMIT2) |
if(IntegralErrorRoll > FEHLER_LIMIT2) |
{ |
if(last_r_p) |
{ |
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2; |
CorrectionRoll = IntegralErrorRoll / 8; |
if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL; |
} |
else last_r_p = 1; |
} else last_r_p = 0; |
if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
if(IntegralErrorRoll < -FEHLER_LIMIT2) |
{ |
if(last_r_n) |
{ |
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2; |
CorrectionRoll = IntegralErrorRoll / 8; |
if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL; |
} |
else last_r_n = 1; |
} else last_r_n = 0; |
887,47 → 886,47 |
} |
|
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
DebugOut.Analog[27] = ausgleichRoll; |
DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
if(IntegralErrorRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
if(IntegralErrorRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
DebugOut.Analog[27] = CorrectionRoll; |
DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
} |
else |
{ |
LageKorrekturRoll = 0; |
LageKorrekturNick = 0; |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionPitch = 0; |
} |
|
if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
if(!IntegralFactor) { AttitudeCorrectionRoll = 0; AttitudeCorrectionPitch = 0;} // z.B. bei HH |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick_Alt = MittelIntegralNick; |
MittelIntegralRoll_Alt = MittelIntegralRoll; |
MeanIntegralPitch_old = MeanIntegralPitch; |
MeanIntegralRoll_old = MeanIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralAccNick = 0; |
IntegralAccPitch = 0; |
IntegralAccRoll = 0; |
IntegralAccZ = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
MeanIntegralPitch = 0; |
MeanIntegralRoll = 0; |
MeanIntegralPitch2 = 0; |
MeanIntegralRoll2 = 0; |
ZaehlMessungen = 0; |
} |
//DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
//DebugOut.Analog[31] = StickRoll / (26*IntegralFactor); |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(abs(StickGier) > 20) // war 35 |
if(abs(StickYaw) > 20) // war 35 |
{ |
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) NeueKompassRichtungMerken = 1; |
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
} |
tmp_int = (long) ParamSet.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
tmp_int += (ParamSet.Gier_P * StickGier) / 4; |
sollGier = tmp_int; |
Mess_Integral_Gier -= tmp_int; |
if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
tmp_int = (long) ParamSet.Yaw_P * ((long)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
SetPointYaw = tmp_int; |
Reading_Integral_Yaw -= tmp_int; |
if(Reading_Integral_Yaw > 50000) Reading_Integral_Yaw = 50000; // begrenzen |
if(Reading_Integral_Yaw <-50000) Reading_Integral_Yaw =-50000; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Kompass |
935,28 → 934,28 |
if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
{ |
int w,v; |
static uint8_t updKompass = 0; |
static uint8_t updCompass = 0; |
|
if (!updKompass--) // Aufruf mit ~10 Hz |
if (!updCompass--) // Aufruf mit ~10 Hz |
{ |
KompassValue = MM3_heading(); // get current compass reading |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
updKompass = 50; |
CompassHeading = MM3_heading(); // get current compass reading |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
updCompass = 50; |
} |
|
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
w = abs(IntegralPitch /512); // mit zunehmender Neigung den Einfluss drosseln |
v = abs(IntegralRoll /512); |
if(v > w) w = v; // grösste Neigung ermitteln |
if(w < 35 && NeueKompassRichtungMerken) |
if(w < 35 && StoreNewCompassCourse) |
{ |
KompassStartwert = KompassValue; |
NeueKompassRichtungMerken = 0; |
CompassCourse = CompassHeading; |
StoreNewCompassCourse = 0; |
} |
w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
w = (w * Parameter_CompassYawEffect) / 64; // auf die Wirkung normieren |
w = Parameter_CompassYawEffect - w; // Wirkung ggf drosseln |
if(w > 0) |
{ |
Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
Reading_Integral_Yaw -= (CompassOffCourse * w) / 32; // nach Kompass ausrichten |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
964,20 → 963,20 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!TimerWerteausgabe--) |
if(!TimerDebugOut--) |
{ |
TimerWerteausgabe = 24; |
DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFaktor; |
TimerDebugOut = 24; |
DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
DebugOut.Analog[2] = Mittelwert_AccNick; |
DebugOut.Analog[3] = Mittelwert_AccRoll; |
DebugOut.Analog[4] = MesswertGier; |
DebugOut.Analog[5] = HoehenWert; |
DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
DebugOut.Analog[8] = KompassValue; |
DebugOut.Analog[2] = Mean_AccPitch; |
DebugOut.Analog[3] = Mean_AccRoll; |
DebugOut.Analog[4] = ReadingYaw; |
DebugOut.Analog[5] = ReadingHight; |
DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
DebugOut.Analog[8] = CompassHeading; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[16] = Mittelwert_AccHoch; |
DebugOut.Analog[16] = Mean_AccTop; |
|
/* DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
991,14 → 990,14 |
DebugOut.Analog[24] = motor_rx[7]; |
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
*/ |
// DebugOut.Analog[9] = MesswertNick; |
// DebugOut.Analog[9] = SollHoehe; |
// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
// DebugOut.Analog[11] = KompassStartwert; |
// DebugOut.Analog[9] = ReadingPitch; |
// DebugOut.Analog[9] = SetPointHight; |
// DebugOut.Analog[10] = Reading_Integral_Yaw / 128; |
// DebugOut.Analog[11] = CompassCourse; |
// DebugOut.Analog[10] = Parameter_Gyro_I; |
// DebugOut.Analog[10] = ParamSet.Gyro_I; |
// DebugOut.Analog[9] = KompassRichtung; |
// DebugOut.Analog[10] = GasMischanteil; |
// DebugOut.Analog[9] = CompassOffCourse; |
// DebugOut.Analog[10] = GasMixingFraction; |
// DebugOut.Analog[3] = HoeheD * 32; |
// DebugOut.Analog[4] = hoehenregler; |
} |
1006,27 → 1005,27 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//DebugOut.Analog[26] = MesswertNick; |
//DebugOut.Analog[28] = MesswertRoll; |
//DebugOut.Analog[26] = ReadingPitch; |
//DebugOut.Analog[28] = ReadingRoll; |
|
if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
if(Looping_Pitch) ReadingPitch = ReadingPitch * GyroFactor; |
else ReadingPitch = IntegralPitch * IntegralFactor + ReadingPitch * GyroFactor; |
if(Looping_Roll) ReadingRoll = ReadingRoll * GyroFactor; |
else ReadingRoll = IntegralRoll * IntegralFactor + ReadingRoll * GyroFactor; |
ReadingYaw = ReadingYaw * (2 * GyroFactor) + Integral_Yaw * IntegralFactor / 2; |
|
DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
DebugOut.Analog[28] = MesswertRoll; |
DebugOut.Analog[25] = IntegralRoll * IntegralFactor; |
DebugOut.Analog[31] = StickRoll;// / (26*IntegralFactor); |
DebugOut.Analog[28] = ReadingRoll; |
|
// Maximalwerte abfangen |
#define MAX_SENSOR 2048 |
if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
if(ReadingPitch > MAX_SENSOR) ReadingPitch = MAX_SENSOR; |
if(ReadingPitch < -MAX_SENSOR) ReadingPitch = -MAX_SENSOR; |
if(ReadingRoll > MAX_SENSOR) ReadingRoll = MAX_SENSOR; |
if(ReadingRoll < -MAX_SENSOR) ReadingRoll = -MAX_SENSOR; |
if(ReadingYaw > MAX_SENSOR) ReadingYaw = MAX_SENSOR; |
if(ReadingYaw < -MAX_SENSOR) ReadingYaw = -MAX_SENSOR; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Höhenregelung |
1041,108 → 1040,108 |
{ |
if(Parameter_MaxHoehe < 50) |
{ |
SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
HoehenReglerAktiv = 0; |
SetPointHight = ReadingHight - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
HightControlActive = 0; |
} |
else |
HoehenReglerAktiv = 1; |
HightControlActive = 1; |
} |
else |
{ |
SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hoehe_Verstaerkung - 20; |
HoehenReglerAktiv = 1; |
SetPointHight = ((int) ExternHightValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hight_Gain - 20; |
HightControlActive = 1; |
} |
|
if(Notlandung) SollHoehe = 0; |
h = HoehenWert; |
if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
{ h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
h = GasMischanteil - h; // vom Gas abziehen |
if(EmergencyLanding) SetPointHight = 0; |
h = ReadingHight; |
if((h > SetPointHight) && HightControlActive) // zu hoch --> drosseln |
{ h = ((h - SetPointHight) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
h = GasMixingFraction - h; // vom Gas abziehen |
h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
tmp_int = ((Reading_Integral_Top / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
if(tmp_int > 50) tmp_int = 50; |
else if(tmp_int < -50) tmp_int = -50; |
h -= tmp_int; |
hoehenregler = (hoehenregler*15 + h) / 16; |
if(hoehenregler < ParamSet.Hoehe_MinGas) // nicht unter MIN |
if(hoehenregler < ParamSet.Hight_MinGas) // nicht unter MIN |
{ |
if(GasMischanteil >= ParamSet.Hoehe_MinGas) hoehenregler = ParamSet.Hoehe_MinGas; |
if(GasMischanteil < ParamSet.Hoehe_MinGas) hoehenregler = GasMischanteil; |
if(GasMixingFraction >= ParamSet.Hight_MinGas) hoehenregler = ParamSet.Hight_MinGas; |
if(GasMixingFraction < ParamSet.Hight_MinGas) hoehenregler = GasMixingFraction; |
} |
if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
GasMischanteil = hoehenregler; |
if(hoehenregler > GasMixingFraction) hoehenregler = GasMixingFraction; // nicht mehr als Gas |
GasMixingFraction = hoehenregler; |
} |
} |
if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
if(GasMixingFraction > MAX_GAS - 20) GasMixingFraction = MAX_GAS - 20; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mischer und PI-Regler |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = GasMischanteil; |
DebugOut.Analog[7] = GasMixingFraction; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gier-Anteil |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define MUL_G 1.0 |
GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
// GierMischanteil = 0; |
YawMixingFraction = ReadingYaw - SetPointYaw; // Regler für Gier |
// YawMixingFraction = 0; |
|
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
if(YawMixingFraction > (GasMixingFraction / 2)) YawMixingFraction = GasMixingFraction / 2; |
if(YawMixingFraction < -(GasMixingFraction / 2)) YawMixingFraction = -(GasMixingFraction / 2); |
if(YawMixingFraction > ((MAX_GAS - GasMixingFraction))) YawMixingFraction = ((MAX_GAS - GasMixingFraction)); |
if(YawMixingFraction < -((MAX_GAS - GasMixingFraction))) YawMixingFraction = -((MAX_GAS - GasMixingFraction)); |
|
if(GasMischanteil < 20) GierMischanteil = 0; |
if(GasMixingFraction < 20) YawMixingFraction = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick-Achse |
// Pitch-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
else SummeNick += DiffNick; // I-Anteil bei HH |
if(SummeNick > 16000) SummeNick = 16000; |
if(SummeNick < -16000) SummeNick = -16000; |
pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
DiffPitch = ReadingPitch - (StickPitch - GPS_Pitch); // Differenz bestimmen |
if(IntegralFactor) SumPitch += IntegralPitch * IntegralFactor - (StickPitch - GPS_Pitch); // I-Anteil bei Winkelregelung |
else SumPitch += DiffPitch; // I-Anteil bei HH |
if(SumPitch > 16000) SumPitch = 16000; |
if(SumPitch < -16000) SumPitch = -16000; |
pd_ergebnis = DiffPitch + Ki * SumPitch; // PI-Regler für Pitch |
// Motor Vorn |
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64; |
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
|
motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Vorne = motorwert; |
MotorValue = GasMixingFraction + pd_ergebnis + YawMixingFraction; // Mischer |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > MAX_GAS) MotorValue = MAX_GAS; |
if (MotorValue < MIN_GAS) MotorValue = MIN_GAS; |
Motor_Front = MotorValue; |
// Motor Heck |
motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Hinten = motorwert; |
MotorValue = GasMixingFraction - pd_ergebnis + YawMixingFraction; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > MAX_GAS) MotorValue = MAX_GAS; |
if (MotorValue < MIN_GAS) MotorValue = MIN_GAS; |
Motor_Rear = MotorValue; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Roll-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
else SummeRoll += DiffRoll; // I-Anteil bei HH |
if(SummeRoll > 16000) SummeRoll = 16000; |
if(SummeRoll < -16000) SummeRoll = -16000; |
pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
DiffRoll = ReadingRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
if(IntegralFactor) SumRoll += IntegralRoll * IntegralFactor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
else SumRoll += DiffRoll; // I-Anteil bei HH |
if(SumRoll > 16000) SumRoll = 16000; |
if(SumRoll < -16000) SumRoll = -16000; |
pd_ergebnis = DiffRoll + Ki * SumRoll; // PI-Regler für Roll |
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64; |
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
// Motor Links |
motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
MotorValue = GasMixingFraction + pd_ergebnis - YawMixingFraction; |
#define GRENZE Poti1 |
|
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Links = motorwert; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > MAX_GAS) MotorValue = MAX_GAS; |
if (MotorValue < MIN_GAS) MotorValue = MIN_GAS; |
Motor_Left = MotorValue; |
// Motor Rechts |
motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
MotorValue = GasMixingFraction - pd_ergebnis - YawMixingFraction; |
|
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Rechts = motorwert; |
if ((MotorValue < 0)) MotorValue = 0; |
else if(MotorValue > MAX_GAS) MotorValue = MAX_GAS; |
if (MotorValue < MIN_GAS) MotorValue = MIN_GAS; |
Motor_Right = MotorValue; |
// +++++++++++++++++++++++++++++++++++++++++++++++ |
} |
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