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/branches/salvo_gps/Basis_v0067g/tags/v0002/Flight-Ctrl_MEGA644_V0_02a.hex
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/branches/salvo_gps/Basis_v0067g/tags/v0002/Flight-Ctrl_MEGA644_V0_01a.hex
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/branches/salvo_gps/Basis_v0067g/tags/v0002/GPS.c
119,7 → 119,7
short int n = 0;
n = Get_GPS_data();
if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind
if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert
if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt
{
gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east);
148,23 → 148,27
{
if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind
{
actual_status.status = 0;
gps_act_position.utm_east = actual_pos.utm_east/10;
gps_act_position.utm_north = actual_pos.utm_north/10;
gps_act_position.utm_alt = actual_pos.utm_alt/10;
gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
gps_act_position.heading = actual_speed.heading/100000;
actual_pos.status = 0; //neue ublox Messages anfordern
// gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
// gps_act_position.speed_gnd = actual_speed.speed_gnd/10;
// gps_act_position.heading = actual_speed.heading/100000;
actual_speed.status = 0;
gps_act_position.status = 1;
n = 0; //Daten gueltig
}
else
{
gps_act_position.status = 0; //Keine gueltigen Daten
n = 2;
gps_act_position.status = 0; //Keine gueltigen Daten
actual_speed.status = 0;
actual_status.status = 0;
actual_pos.status = 0; //neue ublox Messages anfordern
n = 2;
}
actual_pos.status = 0; //neue ublox Messages anfordern
actual_status.status = 0;
actual_speed.status = 0;
 
}
return (n);
}
307,7 → 311,7
if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE))
{
cnt++;
if (cnt > 500) // erst nach Verzoegerung
if (cnt > 400) // erst nach Verzoegerung
{
// Erst mal initialisieren
cnt = 0;
356,7 → 360,7
if (gps_state != GPS_CRTL_HOLD_ACTIVE)
{
cnt++;
if (cnt > 500) // erst nach Verzoegerung
if (cnt > 400) // erst nach Verzoegerung
{
cnt = 0;
// aktuelle positionsdaten abspeichern
554,8 → 558,8
 
//I Werte begrenzen
#define INT1_MAX (20 * GPS_V)
int_east1 = ((((long)int_east) * Parameter_UserParam2)/32);
int_north = ((((long)int_north) * Parameter_UserParam2)/32);
int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; //Fehler behoben am 17.12.2007 vorher int_north=
if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen
else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX;
if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen
562,8 → 566,8
else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX;
 
//PID Regler Werte aufsummieren
gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse
gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse
gps_reg_x = ((int)int_east1 + ((dist_east * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_east_f * diff_v * (Parameter_UserParam3/GPS_USR_PAR_FKT))/10)); // I + P +D Anteil X Achse
gps_reg_y = ((int)int_north1 + ((dist_north * (Parameter_UserParam1/GPS_USR_PAR_FKT) * diff_p)/(8*2))+ ((diff_north_f * diff_v * (Parameter_UserParam3/GPS_USR_PAR_FKT))/10)); // I + P +D Anteil Y Achse
 
//Ziel-Richtung bezogen auf Nordpol bestimmen
GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y);
/branches/salvo_gps/Basis_v0067g/tags/v0002/README_Gps.txt
1,6 → 1,6
*********************************************************************
GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl
Stand 9.12.2007
Stand 21.12.2007
Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt
Die Version basiert auf Holgers V00.67g.
*********************************************************************
7,25 → 7,23
Hardware-Voraussetzungen:
Kalibrierter Kompass vom Typ CMPS03, waagrecht eingebaut
GPS Modul vom Typ ublox, Die Meldungungen "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED"
mussen mit 4 HZ Updaterate aktiviert sein. Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool.
mussen mit 4 HZ Updaterate aktiviert sein. Alle Meldungen im NMEA Format muessen deaktivert sein.
Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool.
 
Software-Voraussetzungen:
In timer0.h muss die Ausrichtung des Kompasses bezogen auf die Nordachse des Kopters
eingetragen sein. KOMPASS_OFFSET legt diesen Wert fest.
eingetragen sein. KOMPASS_OFFSET (im hexfile =135 Grad) legt diesen Wert fest.
 
Betriebs-Voraussetzungen:
Damit der Kompass sauber funktioniert, muss die waagrechte Lage (Gashebel Vollanschlag und Gier rechts)
im Eeprom abgespeichert werden.
im Eeprom abgespeichert worden sein.
 
 
Parametrierung:
Der GPS Hold Regler ist ein PID Regler, der ueber die UserParameter1(P), 2(I) und D(3) gesteuert wird.
UserParameter1 beschreibt den P-Anteil, UserParameter2 den I-Anteil und UserParameter3 den D-Anteil.
Hier kann und muss gespielt werden.Alle Parameter koennen direkt im Mikrokoptertool in den Settings eingestellt werden.
Standardwerte bei kaum Wind sind 8 für den P-Anteil, 1 für den I-Anteil und 12 für den D-Anteil.
Standardwerte bei leichtem verhältnissen sind 12 für den P-Anteil, 2 für den I-Anteil und 18 für den D-Anteil.
Standardwerte bei rauheren verhältnissen sind 16 für den P-Anteil, 2 für den I-Anteil und 20 für den D-Anteil.
Je größer die Werte des "ruckeliger" reagiert die Regelung aber desto schneller und stärker greift sie auch.
Standardwert ist 128 für den P-Anteil, 16 für den I-Anteil und 160 für den D-Anteil.
Je größer die Werte desto "ruckeliger" reagiert die Regelung aber desto schneller und stärker greift sie auch.
Wenn alle 0 sind, ist der Regler deaktiviert.
 
Voraussetzungen für GPS_Hold:
56,15 → 54,18
aktiviert werden. Ist noch nicht die beste Lösung und werde ich noch anpassen
 
Weitere Änderungen:
Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter
runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen
-Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter
runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen.
-Der Ausgang PC6 kann benutzt werden um einen Externen Multiplexer zu schalten. Dieser schaltet entweder die GPS Daten
(Wenn Motoren eingeschaltet sind) oder den Ausgang des Bluetoothmoduls (wenn Motoren ausgeschaltet sind) auf den RX
Eingang der FlightCrtl. Damit kann eine zweite UART Schnittstelle bzw. die manuelle Umschaltung entfallen
-Bei vorhandenem Kompass wird eine automatische Kompensation der Giergyrodrift durchgeführt.
 
Bekannte Schwächen:
Bei längerer Neigung weicht der Ersatzkompass ab, was zu Lageregelungsfehlern bis zum Ausbrechen führen kann.
 
 
 
 
 
 
 
/branches/salvo_gps/Basis_v0067g/tags/v0002/eeprom.c
23,7 → 23,8
EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250
EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50
EE_Parameter.Stick_P = 4; //2 // Wert : 1-6
EE_Parameter.Stick_D = 8; //8 // Wert : 0-64
//EE_Parameter.Stick_D = 8; //8 // Wert : 0-64
EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 Salvo
EE_Parameter.Gier_P = 14; // Wert : 1-20
EE_Parameter.Gas_Min = 15; // Wert : 0-32
EE_Parameter.Gas_Max = 250; // Wert : 33-250
/branches/salvo_gps/Basis_v0067g/tags/v0002/fc.c
85,7 → 85,6
unsigned char HoehenReglerAktiv = 0;
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
 
 
//Salvo 12.10.2007
uint8_t magkompass_ok=0;
uint8_t gps_cmd = GPS_CMD_STOP;
94,9 → 93,12
int w,v;
//Salvo End
 
//Salvo 2.9.2007 Ersatzkompass
volatile long GyroKomp_Int;
volatile int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass
//Salvo 15.12.2007 Ersatzkompass und Giergyrokompensation
long GyroKomp_Int;
long int GyroGier_Comp;
int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass
short int cnt_stickgier_zero =0;
int gyrogier_kompass;
// Salvo End
 
float GyroFaktor;
155,6 → 157,9
void SetNeutral(void)
//############################################################################
{
// Salvo 9.12.2007
RX_SWTCH_ON; //GPS Daten auf RX eingang schalten
// Salvo End
NeutralAccX = 0;
NeutralAccY = 0;
NeutralAccZ = 0;
197,6 → 202,7
MesswertNick = 0;
MesswertRoll = 0;
MesswertGier = 0;
GyroGier_Comp =0;
StartLuftdruck = Luftdruck;
HoeheD = 0;
Mess_Integral_Hoch = 0;
234,7 → 240,8
IntegralAccZ += Aktuell_az - NeutralAccZ;
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++
//Salvo 12.11.2007
GyroKomp_Int += MesswertGier;
GyroKomp_Int += (long)MesswertGier;
GyroGier_Comp += (long)MesswertGier;
//Salvo End
Mess_Integral_Gier += MesswertGier;
Mess_Integral_Gier2 += MesswertGier;
390,7 → 397,6
}
 
 
 
//############################################################################
// Trägt ggf. das Poti als Parameter ein
void ParameterZuordnung(void)
458,7 → 464,6
//******PROVISORISCH***************
GRN_ON;
 
GRN_ON;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gaswert ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
625,6 → 630,10
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(++delay_einschalten > 200)
{
int n;
// Salvo 9.12.2007
RX_SWTCH_ON; //GPS Daten auf RX eingang schalten
// Salvo End
delay_einschalten = 200;
modell_fliegt = 1;
MotorenEin = 1;
637,6 → 646,7
Mess_IntegralRoll2 = IntegralRoll;
SummeNick = 0;
SummeRoll = 0;
n= GPS_CRTL(GPS_CMD_STOP); //GPS Lageregelung beenden
}
}
else delay_einschalten = 0;
648,6 → 658,9
{
if(++delay_ausschalten > 200) // nicht sofort
{
// Salvo 9.12.2007
RX_SWTCH_OFF; //Bluetooth Daten auf RX eingang schalten
// Salvo End
MotorenEin = 0;
delay_ausschalten = 200;
modell_fliegt = 0;
915,10 → 928,16
else last_n_n = 1;
} else last_n_n = 0;
} else cnt = 0;
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt;
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt;
 
//Salvo 11.12.2007
w = (abs(Mittelwert_AccNick));
v = (abs(Mittelwert_AccRoll));
if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) // Gyro nur in wwagrechter Lage nachtrimmen
{
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt;
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt;
}
//Salvo End
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralFehlerNick) / 4096;
 
951,11 → 970,16
{
cnt = 0;
}
//DebugOut.Analog[27] = ausgleichRoll;
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
//if(cnt > 1) beeptime = 50;
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt;
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt;
//Salvo 11.12.2007
w = (abs(Mittelwert_AccNick));
v = (abs(Mittelwert_AccRoll));
if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) // Gyro nur in wwagrechter Lage nachtrimmen
{
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt;
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt;
}
//Salvo End
//DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
//DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
}
976,35 → 1000,55
MittelIntegralRoll = 0;
MittelIntegralNick2 = 0;
MittelIntegralRoll2 = 0;
ZaehlMessungen = 0;
}
ZaehlMessungen = 0;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 20) // war 35
{
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
}
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx²
tmp_int += (EE_Parameter.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;
// Salvo Ersatzkompass 26.9.2007 **********************
 
} // Ende Abgleich
 
// Salvo Ersatzkompass und Giergyrokompensation 15.12.2007 **********************
if ((Kompass_Neuer_Wert > 0))
{
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 alles ok
if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) //Ersatzkompass und Giergyro nur mit Magnetkompass aktualisieren wenn alles ok
{
if ((abs(KompassValue - Kompass_Value_Old)) <= 5) // Aufeinanderfolgende Werte duerfen nur minimal abweichen
{
 
if ((abs(StickGier) < 20)) //Giergyroabgleich mit Kompass
{
if (cnt_stickgier_zero < 255) cnt_stickgier_zero += 1;
if (cnt_stickgier_zero > 1) // nur Abgleichen wenn keine Stickbewegung da
{
w = (int) (GyroGier_Comp/(long)GYROKOMP_INC_GRAD_DEFAULT);
v = KompassValue - gyrogier_kompass; // realen Drehwinkel seit letztem Ruecksetzen von GyroGier_Comp bestimmen
if (v <-180) v +=360; // Uberlaufkorrektur
if (v > 180) v -=360; // Uberlaufkorrektur
 
v = w -v; //Differenz Gyro zu Kompass ist der Driftfehler
 
#define GIER_COMP_MAX 4
if (v > GIER_COMP_MAX) v= GIER_COMP_MAX;
if (v < -GIER_COMP_MAX) v= - GIER_COMP_MAX;
if (abs(w) > 1)
{
GyroGier_Comp = 0;
gyrogier_kompass = KompassValue; // Kompasswert merken
AdNeutralGier -= v;
}
}
}
else
{
gyrogier_kompass = KompassValue; // Kompasswert merken
cnt_stickgier_zero = 0;
GyroGier_Comp = 0;
}
 
magkompass_ok = 1; // Flag dass Magnetkompass stabil arbeitet
GyroKomp_Int = (GyroKomp_Int )/GYROKOMP_INC_GRAD_DEFAULT;
GyroKomp_Int = (GyroKomp_Int )/(long)GYROKOMP_INC_GRAD_DEFAULT;
 
w = KompassValue - GyroKomp_Int;
if ((w > 0) && (w < 180))
{
1022,18 → 1066,24
{
++GyroKomp_Int;
}
if (GyroKomp_Int < 0) GyroKomp_Int = GyroKomp_Int + 360;
GyroKomp_Int = (GyroKomp_Int%360) * GYROKOMP_INC_GRAD_DEFAULT; // An Magnetkompasswert annaehern
if (GyroKomp_Int < 0) GyroKomp_Int = GyroKomp_Int + 360L;
GyroKomp_Int = (GyroKomp_Int%360L) * (long)GYROKOMP_INC_GRAD_DEFAULT; // An Magnetkompasswert annaehern
}
}
else magkompass_ok = 0;
}
else
{
magkompass_ok = 0;
GyroGier_Comp = 0;
}
Kompass_Value_Old = KompassValue;
}
// Salvo End *************************
 
// Salvo 6.10.2007
// GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist
//GPS Hold Aktiveren wenn Knueppel in Ruhelage sind
if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(StickRoll) < GPS_STICK_HOLDOFF) && (abs(StickNick) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0))
if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) < GPS_STICK_HOLDOFF)
&& (abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0) && (GasMischanteil > 30))
{
if (Parameter_MaxHoehe > 200)
{
1056,8 → 1106,25
n= GPS_CRTL(gps_cmd); //GPS Lageregelung beenden
}
}
if (gps_state != GPS_CRTL_IDLE) LED_J16_OFF;
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 20) // war 35
{
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
}
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx²
tmp_int += (EE_Parameter.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;
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Kompass
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) && (Kompass_present > 0))
1083,6 → 1150,7
}
 
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1091,6 → 1159,13
if(!TimerWerteausgabe--)
{
TimerWerteausgabe = 24;
 
// Salvo 13.12.2007 Beleuchtung steuern
if (!(beeptime & BeepMuster)) LED_J16_FLASH;
else if (MotorenEin) LED_J16_ON;
else LED_J16_OFF;
// Salvo End
DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor;
DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor;
DebugOut.Analog[2] = Mittelwert_AccNick;
1110,14 → 1185,19
DebugOut.Analog[21] = StickNick;
DebugOut.Analog[22] = StickRoll;
DebugOut.Analog[23] = StickGier;
 
 
// GPS Debugging
DebugOut.Analog[26] = gps_rel_act_position.utm_east;
// DebugOut.Analog[10] = GPS_dist_2trgt/10;
// DebugOut.Analog[11] = GPS_hdng_rel_2trgt;
DebugOut.Analog[10] = Parameter_UserParam1;
DebugOut.Analog[11] = Parameter_UserParam3;
DebugOut.Analog[24] = GPS_Nick;
DebugOut.Analog[25] = GPS_Roll;
DebugOut.Analog[26] = gps_rel_act_position.utm_east; //in 10cm ausgeben
DebugOut.Analog[27] = gps_rel_act_position.utm_north;
DebugOut.Analog[28] = gps_rel_act_position.utm_alt;
DebugOut.Analog[29] = gps_sub_state+(20*gps_cmd);
 
DebugOut.Analog[29] = gps_state + (gps_sub_state*10)+(50*gps_cmd);
DebugOut.Analog[30] = GPS_dist_2trgt;
DebugOut.Analog[31] = (int) GyroGier_Comp;
/* DebugOut.Analog[16] = motor_rx[0];
DebugOut.Analog[17] = motor_rx[1];
DebugOut.Analog[18] = motor_rx[2];
1153,8 → 1233,8
MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2;
 
//DebugOut.Analog[28] = MesswertRoll;
DebugOut.Analog[25] = IntegralRoll * IntegralFaktor;
DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor);
//DebugOut.Analog[25] = IntegralRoll * IntegralFaktor;
//DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor);
 
// Maximalwerte abfangen
#define MAX_SENSOR 2048
/branches/salvo_gps/Basis_v0067g/tags/v0002/fc.h
13,8 → 13,8
#define ACC_WAAGRECHT_LIMIT 100 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage
// Salvo End
//Salvo 2.9.2007 Ersatzkompass: Gyroincrements/Grad als Defaultwert *****
// Laut Datenblatt sind die Werte ueber Zeit und Temperatur sehr stabil.
#define GYROKOMP_INC_GRAD_DEFAULT 1250 // Gyroincrements/Grad als Defaultwert
// Laut Datenblatt sind di; Werte ueber Zeit und Temperatur sehr stabil.
#define GYROKOMP_INC_GRAD_DEFAULT 1300 // Gyroincrements/Grad als Defaultwert
// Salvo End
 
extern unsigned char Sekunde,Minute;
40,9 → 40,10
 
 
//Salvo 2.9.2007 Ersatzkompass
extern volatile long GyroKomp_Int;
extern volatile int GyroKomp_Inc_Grad;
extern volatile int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass
extern long GyroKomp_Int;
extern long int GyroGier_Comp;
extern int GyroKomp_Inc_Grad;
extern int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass
// Salvo End
 
void MotorRegler(void);
/branches/salvo_gps/Basis_v0067g/tags/v0002/flightctrl.aws
1,0 → 0,0
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/branches/salvo_gps/Basis_v0067g/tags/v0002/gps.h
5,6 → 5,9
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
extern signed int GPS_Nick;
extern signed int GPS_Roll;
extern signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel
extern signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters
 
extern void GPS_Neutral(void);
 
extern void Get_Ublox_Msg(uint8_t rx) ;
62,7 → 65,7
typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position)
int utm_east; // UTM Ost in 10 cm
int utm_north; // UTM Nord in 10 cm
int utm_alt ; // UTM Altiude in 10 cm
int utm_alt ; // UTM Altitude in 10 cm
uint8_t status; // 0: keine gueltigen Daten 1: alles ok
 
} GPS_REL_POSITION_t;
84,6 → 87,10
extern signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position
extern long int dist_flown;
 
 
#define GPS_USR_PAR_FKT 8 //Faktor durch den die Userparameter getielt werden
 
 
// Zustaende der zentralen GPS statemachine
#define GPS_CRTL_IDLE 0 //
#define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv
110,7 → 117,7
// GPS Lageregler
#define GPS_NICKROLL_MAX 40 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll
#define GPS_DIST_MAX 400 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm)
#define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert
#define GPS_STICK_HOLDOFF 15 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert
#define GPS_V 8 // Teilerfaktor Regelabweichung zu Ausgabewert
 
// Differenzierer Kennwerte fuer von Distanz abhaengige Verstaerkung, abhaengig vom Modus.
/branches/salvo_gps/Basis_v0067g/tags/v0002/main.c
96,7 → 96,9
PORTB = 0x00;
for(timer = 0; timer < 1000; timer++); // verzögern
if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10;
DDRC = 0x81; // SCL
// Salvo 9.12.2007 PC6 als Ausgang
// DDRC = 0x81; // SCL
DDRC = 0xCD; // SCL und PC2,PC3, PC6 als Ausgang
PORTC = 0xff; // Pullup SDA
DDRB = 0x1B; // LEDs und Druckoffset
PORTB = 0x01; // LED_Rot
115,7 → 117,9
StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
 
ROT_OFF;
 
 
 
Timer_Init();
UART_Init();
rc_sum_init();
170,7 → 174,10
SetNeutral();
 
ROT_OFF;
// Salvo 9.12.2007 Defaultwert fuer Umschaltsignal fuer RX: Bluettooth Modul aktiv
RX_SWTCH_OFF;
// Salvo End
beeptime = 2000;
DebugIn.Analog[1] = 1000;
DebugIn.Digital[0] = 0x55;
186,7 → 193,7
I2CTimeout = 5000;
while (1)
{
if (UpdateMotor) // ReglerIntervall
if (UpdateMotor) // ReglerIntervall
{
// SPI_TransmitByte();
UpdateMotor=0;
195,6 → 202,7
//PORTD &= ~0x08;
SendMotorData();
ROT_OFF;
 
if(PcZugriff) PcZugriff--;
else
{
/branches/salvo_gps/Basis_v0067g/tags/v0002/main.h
19,6 → 19,15
#define GRN_ON PORTB |= 0x02
#define GRN_FLASH PORTB ^= 0x02
 
 
//Salvo 9.12.2007 Umschaltsignal fuer Bluetooth bzw. GPS Daten auf PC7
#define RX_SWTCH_ON PORTC |= 0x40
#define RX_SWTCH_OFF PORTC &= ~0x40
#define LED_J16_ON PORTC |= 0x04
#define LED_J16_OFF PORTC &= ~0x04
#define LED_J16_FLASH PORTC ^= 0x04
//Salvo End
 
#define F_CPU SYSCLK
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
/branches/salvo_gps/Basis_v0067g/tags/v0002/makefile
4,7 → 4,7
F_CPU = 20000000
#-------------------------------------------------------------------
HAUPT_VERSION = 0
NEBEN_VERSION = 02
NEBEN_VERSION = 01
VERSION_INDEX = 0
 
VERSION_KOMPATIBEL = 7 # PC-Kompatibilität
/branches/salvo_gps/Basis_v0067g/tags/v0002/timer0.c
27,8 → 27,6
 
// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007
/*
Driftkompensation fuer Gyros verbessert
Linearsensor mit fixem Neutralwert
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
*/
SIGNAL (SIG_OVERFLOW0) // 8kHz
86,7 → 84,7
{
// Salvo Kompassoffset 30.8.2007 und 21.9.2007 ***********
Kompass_present = 255;
Kompass_Value_Old = KompassValue;
// Kompass_Value_Old = KompassValue;
KompassValue = cntKompass -KOMPASS_OFFSET;
 
if (KompassValue < 0)
/branches/salvo_gps/Basis_v0067g/tags/v0002/uart.c
31,7 → 31,7
struct str_VersionInfo VersionInfo;
int Debug_Timer;
//Salvo 26.10.2007
int dataset_cnt=0; //Zahelt die uebertragenen Debugdaten
int dataset_cnt=0; //Zaehlt die uebertragenen Debugdaten
//Salvo End
 
const unsigned char ANALOG_TEXT[32][16] =
47,8 → 47,8
"Gas ",
"KompassValue ",
"Ersatzkompass ",
"Empfang ", //10
"Analog11 ",
"Usr_Par1 ", //10
"Usr_par3 ",
"Motor_Vorne ",
"Motor_Hinten ",
"Motor_Links ",
61,14 → 61,14
"Stick_Nick ",
"Stick_Roll ",
"Stick_Gier ",
"RollOffset ",
"IntRoll*Faktor ", //25
"GPS_Nick ",
"GPS_Roll ", //25
"utm_east ",
"utm_north ",
"utm_alt ",
"gps_state ",
"I-LageRoll ", //30
"StickRoll "
"GPS_dist_2trgt ", //30
"GyroGier_Comp "
};