Subversion Repositories FlightCtrl

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Ignore whitespace Rev 552 → Rev 553

/branches/salvo_gps/Basis_v0067g/trunk/Flight-Ctrl_MEGA644_V0_01a.hex
1,10 → 1,10
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/branches/salvo_gps/Basis_v0067g/trunk/fc.c
94,9 → 94,12
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;
200,6 → 203,7
MesswertNick = 0;
MesswertRoll = 0;
MesswertGier = 0;
GyroGier_Comp =0;
StartLuftdruck = Luftdruck;
HoeheD = 0;
Mess_Integral_Hoch = 0;
237,7 → 241,8
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;
997,35 → 1002,82
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 **********************
 
// 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(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))
{
if (Parameter_MaxHoehe > 200)
{
if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet
else gps_cmd = GPS_CMD_REQ_HOME;
n = GPS_CRTL(gps_cmd);
}
else
{
if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet
else gps_cmd = GPS_CMD_REQ_HOLD;
n= GPS_CRTL(gps_cmd);
}
}
else
{
if (gps_cmd != GPS_CMD_STOP)
{
gps_cmd = GPS_CMD_STOP;
n= GPS_CRTL(gps_cmd); //GPS Lageregelung beenden
}
}
} // 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
 
w = w -v; //Differenz Gyro zu Kompass ist der Driftfehler
 
#define GIER_COMP_MAX 4
if (w > GIER_COMP_MAX) w= GIER_COMP_MAX;
if (w < -GIER_COMP_MAX) w= - GIER_COMP_MAX;
if (!(w == 0))
{
GyroGier_Comp = 0;
gyrogier_kompass = KompassValue; // Kompasswert merken
AdNeutralGier -= w;
}
}
}
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))
{
1043,43 → 1095,36
{
++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(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))
{
if (Parameter_MaxHoehe > 200)
{
if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet
else gps_cmd = GPS_CMD_REQ_HOME;
n = GPS_CRTL(gps_cmd);
}
else
{
if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet
else gps_cmd = GPS_CMD_REQ_HOLD;
n= GPS_CRTL(gps_cmd);
}
}
else
{
if (gps_cmd != GPS_CMD_STOP)
{
gps_cmd = GPS_CMD_STOP;
n= GPS_CRTL(gps_cmd); //GPS Lageregelung beenden
}
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 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))
1105,6 → 1150,7
}
 
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1112,6 → 1158,13
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!TimerWerteausgabe--)
{
 
// Salvo 13.12.2007 Beleuchtung steuern
if (!(beeptime & BeepMuster)) LED_J16_FLASH;
else if (MotorenEin) LED_J16_ON;
else LED_J16_OFF;
// Salvo End
TimerWerteausgabe = 24;
DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor;
DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor;
1143,6 → 1196,7
DebugOut.Analog[27] = gps_rel_act_position.utm_north/10;
DebugOut.Analog[28] = gps_rel_act_position.utm_alt/10;
DebugOut.Analog[29] = gps_sub_state+(20*gps_cmd);
DebugOut.Analog[31] = (int) GyroGier_Comp;
 
/* DebugOut.Analog[16] = motor_rx[0];
DebugOut.Analog[17] = motor_rx[1];
/branches/salvo_gps/Basis_v0067g/trunk/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/trunk/flightctrl.aws
1,0 → 0,0
<AVRWorkspace><IOSettings><CurrentRegisters><JTAG><register register="OCDR" group="JTAG" display="1" locked="0"/></JTAG><JTAG><register register="MCUCR" group="JTAG" display="1" locked="0"/></JTAG><JTAG><register register="MCUSR" group="JTAG" display="1" locked="0"/></JTAG></CurrentRegisters></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.c" Position="266 101 1248 593" LineCol="65 0" State="Maximized"/><File00001 Name="G:\Mikrokopter\Flight_Crtl\v0067g\analog.h" Position="288 130 1262 592" LineCol="0 0" State="Maximized"/><File00002 Name="G:\Mikrokopter\Flight_Crtl\v0067g\makefile" Position="310 159 1284 621" LineCol="6 0" State="Maximized"/><File00003 Name="G:\Mikrokopter\Flight_Crtl\v0067g\main.c" Position="332 188 1306 650" LineCol="101 0" State="Maximized"/><File00004 Name="G:\Mikrokopter\Flight_Crtl\v0067g\fc.c" Position="354 217 1328 679" LineCol="978 0" State="Maximized"/><File00005 Name="G:\Mikrokopter\Flight_Crtl\v0067g\eeprom.c" Position="262 71 1402 774" LineCol="36 45" State="Maximized"/></Files></AVRWorkspace>
<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.c" Position="266 101 1248 593" LineCol="87 0" State="Maximized"/><File00001 Name="G:\Mikrokopter\Flight_Crtl\v0067g\analog.h" Position="288 130 1262 592" LineCol="0 0" State="Maximized"/><File00002 Name="G:\Mikrokopter\Flight_Crtl\v0067g\makefile" Position="310 159 1284 621" LineCol="6 0" State="Maximized"/><File00003 Name="G:\Mikrokopter\Flight_Crtl\v0067g\main.c" Position="332 188 1306 650" LineCol="244 0" State="Maximized"/><File00004 Name="G:\Mikrokopter\Flight_Crtl\v0067g\fc.c" Position="262 71 1402 774" LineCol="1072 48" State="Maximized"/></Files></AVRWorkspace>
/branches/salvo_gps/Basis_v0067g/trunk/main.c
98,7 → 98,7
if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10;
// Salvo 9.12.2007 PC6 als Ausgang
// DDRC = 0x81; // SCL
DDRC = 0xC1; // SCL und PC6 als Ausgang
DDRC = 0xCD; // SCL und PC2,PC3, PC6 als Ausgang
PORTC = 0xff; // Pullup SDA
DDRB = 0x1B; // LEDs und Druckoffset
PORTB = 0x01; // LED_Rot
193,7 → 193,7
I2CTimeout = 5000;
while (1)
{
if (UpdateMotor) // ReglerIntervall
if (UpdateMotor) // ReglerIntervall
{
// SPI_TransmitByte();
UpdateMotor=0;
202,6 → 202,7
//PORTD &= ~0x08;
SendMotorData();
ROT_OFF;
 
if(PcZugriff) PcZugriff--;
else
{
/branches/salvo_gps/Basis_v0067g/trunk/main.h
19,9 → 19,13
#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
/branches/salvo_gps/Basis_v0067g/trunk/timer0.c
84,7 → 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/trunk/uart.c
70,7 → 70,7
"utm_alt ",
"gps_state ",
"I-LageRoll ", //30
"StickRoll "
"GyroGier_Comp "
};