0,0 → 1,1939 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
#include "main.h" |
#include "mymath.h" |
#include "isqrt.h" |
|
unsigned char h,m,s; |
unsigned int BaroExpandActive = 0; |
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
int TrimNick, TrimRoll; |
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
int Mittelwert_AccNick, Mittelwert_AccRoll; |
unsigned int NeutralAccX=0, NeutralAccY=0; |
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
int NeutralAccZ = 0; |
unsigned char ControlHeading = 0;// in 2° |
long IntegralNick = 0,IntegralNick2 = 0; |
long IntegralRoll = 0,IntegralRoll2 = 0; |
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
long Integral_Gier = 0; |
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
long SummeNick=0,SummeRoll=0; |
volatile long Mess_Integral_Hoch = 0; |
int KompassValue = -1; |
int KompassSollWert = 0; |
//int KompassRichtung = 0; |
char CalculateCompassTimer = 100; |
unsigned char KompassFusion = 32; |
unsigned int KompassSignalSchlecht = 50; |
unsigned char MAX_GAS,MIN_GAS; |
unsigned char HoehenReglerAktiv = 0; |
unsigned char TrichterFlug = 0; |
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
long ErsatzKompass; |
int ErsatzKompassInGrad; // Kompasswert in Grad |
int GierGyroFehler = 0; |
char GyroFaktor,GyroFaktorGier; |
char IntegralFaktor,IntegralFaktorGier; |
int DiffNick,DiffRoll; |
int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
volatile unsigned char SenderOkay = 0; |
char MotorenEin = 0,StartTrigger = 0; |
long HoehenWert = 0; |
long SollHoehe = 0; |
signed int AltitudeSetpointTrimming = 0; |
long FromNC_AltitudeSetpoint = 0; |
unsigned char FromNC_AltitudeSpeed = 0; |
unsigned char carefree_old = 50; // to make the Beep when switching |
signed char WaypointTrimming = 0; |
int CompassGierSetpoint = 0; |
unsigned char CalibrationDone = 0; |
char NeueKompassRichtungMerken = 0; |
int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
//float Ki = FAKTOR_I; |
int Ki = 10300 / 33; |
unsigned char Looping_Nick = 0,Looping_Roll = 0; |
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
|
unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
unsigned char Parameter_HoehenSchalter = 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_Hoehe_GPS_Z = 64; // Wert : 0-250 |
unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
unsigned char Parameter_UserParam1 = 0; |
unsigned char Parameter_UserParam2 = 0; |
unsigned char Parameter_UserParam3 = 0; |
unsigned char Parameter_UserParam4 = 0; |
unsigned char Parameter_UserParam5 = 0; |
unsigned char Parameter_UserParam6 = 0; |
unsigned char Parameter_UserParam7 = 0; |
unsigned char Parameter_UserParam8 = 0; |
unsigned char Parameter_ServoNickControl = 100; |
unsigned char Parameter_ServoRollControl = 100; |
unsigned char Parameter_LoopGasLimit = 70; |
unsigned char Parameter_AchsKopplung1 = 90; |
unsigned char Parameter_AchsKopplung2 = 65; |
unsigned char Parameter_CouplingYawCorrection = 64; |
//unsigned char Parameter_AchsGegenKopplung1 = 0; |
unsigned char Parameter_DynamicStability = 100; |
unsigned char Parameter_J16Bitmask; // for the J16 Output |
unsigned char Parameter_J16Timing; // for the J16 Output |
unsigned char Parameter_J17Bitmask; // for the J17 Output |
unsigned char Parameter_J17Timing; // for the J17 Output |
unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
unsigned char Parameter_NaviGpsGain; |
unsigned char Parameter_NaviGpsP; |
unsigned char Parameter_NaviGpsI; |
unsigned char Parameter_NaviGpsD; |
unsigned char Parameter_NaviGpsACC; |
unsigned char Parameter_NaviOperatingRadius; |
unsigned char Parameter_NaviWindCorrection; |
unsigned char Parameter_NaviSpeedCompensation; |
unsigned char Parameter_ExternalControl; |
unsigned char Parameter_GlobalConfig; |
unsigned char Parameter_ExtraConfig; |
unsigned char Parameter_MaximumAltitude; |
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
unsigned char CareFree = 0; |
const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
|
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
int MaxStickNick = 0,MaxStickRoll = 0; |
unsigned int modell_fliegt = 0; |
volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
long GIER_GRAD_FAKTOR = 1291; |
signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
signed int tmp_motorwert[MAX_MOTORS]; |
char VarioCharacter = ' '; |
unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
void CopyDebugValues(void) |
{ |
DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
DebugOut.Analog[5] = HoehenWert/5; |
DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
DebugOut.Analog[8] = KompassValue; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[11] = ErsatzKompassInGrad; |
DebugOut.Analog[12] = Motor[0].SetPoint; |
DebugOut.Analog[13] = Motor[1].SetPoint; |
DebugOut.Analog[14] = Motor[2].SetPoint; |
DebugOut.Analog[15] = Motor[3].SetPoint; |
DebugOut.Analog[20] = ServoNickValue; |
DebugOut.Analog[22] = Capacity.ActualCurrent; |
DebugOut.Analog[23] = Capacity.UsedCapacity; |
DebugOut.Analog[24] = SollHoehe/5; |
// DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
// DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
DebugOut.Analog[27] = KompassSollWert; |
DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
DebugOut.Analog[30] = GPS_Nick; |
DebugOut.Analog[31] = GPS_Roll; |
if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
} |
|
|
|
void Piep(unsigned char Anzahl, unsigned int dauer) |
{ |
unsigned int wait = 0; |
if(MotorenEin) return; //auf keinen Fall im Flug! |
GRN_OFF; |
while(Anzahl--) |
{ |
beeptime = dauer; |
wait = dauer; |
while(beeptime || wait) |
{ |
if(UpdateMotor) |
{ |
UpdateMotor = 0; |
if(!beeptime) wait--; |
LIBFC_Polling(); |
}; |
} |
} |
GRN_ON; |
} |
|
//############################################################################ |
// Messwerte beim Ermitteln der Nullage |
void CalibrierMittelwert(void) |
//############################################################################ |
{ |
unsigned char i; |
if(PlatinenVersion == 13) SucheGyroOffset(); |
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
ANALOG_OFF; |
MesswertNick = AdWertNick; |
MesswertRoll = AdWertRoll; |
MesswertGier = AdWertGier; |
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
// ADC einschalten |
ANALOG_ON; |
for(i=0;i<8;i++) |
{ |
int tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
LIMIT_MIN_MAX(tmp, 0, 255); |
if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
} |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
} |
|
//############################################################################ |
// Nullwerte ermitteln |
void SetNeutral(unsigned char AccAdjustment) |
//############################################################################ |
{ |
unsigned char i; |
unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
VersionInfo.HardwareError[0] = 0; |
// HEF4017Reset_ON; |
NeutralAccX = 0; |
NeutralAccY = 0; |
NeutralAccZ = 0; |
|
AdNeutralNick = 0; |
AdNeutralRoll = 0; |
AdNeutralGier = 0; |
|
Parameter_AchsKopplung1 = 0; |
Parameter_AchsKopplung2 = 0; |
|
ExpandBaro = 0; |
|
CalibrierMittelwert(); |
Delay_ms_Mess(100); |
|
CalibrierMittelwert(); |
|
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
#define NEUTRAL_FILTER 32 |
for(i=0; i<NEUTRAL_FILTER; i++) |
{ |
Delay_ms_Mess(10); |
gier_neutral += AdWertGier; |
nick_neutral += AdWertNick; |
roll_neutral += AdWertRoll; |
} |
AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
|
StartNeutralRoll = AdNeutralRoll; |
StartNeutralNick = AdNeutralNick; |
|
if(AccAdjustment) |
{ |
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
NeutralAccZ = Aktuell_az; |
|
// Save ACC neutral settings to eeprom |
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
} |
else |
{ |
// restore from eeprom |
NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
// strange settings? |
if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
{ |
printf("\n\rACC not calibrated!\r\n"); |
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
NeutralAccZ = Aktuell_az; |
} |
} |
|
MesswertNick = 0; |
MesswertRoll = 0; |
MesswertGier = 0; |
Delay_ms_Mess(100); |
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
Mess_IntegralNick = IntegralNick; |
Mess_IntegralRoll = IntegralRoll; |
Mess_Integral_Gier = 0; |
StartLuftdruck = Luftdruck; |
VarioMeter = 0; |
Mess_Integral_Hoch = 0; |
KompassSollWert = KompassValue; |
KompassSignalSchlecht = 100; |
beeptime = 50; |
Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
ExternHoehenValue = 0; |
ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
GierGyroFehler = 0; |
LED_Init(); |
FC_StatusFlags |= FC_STATUS_CALIBRATE; |
FromNaviCtrl_Value.Kalman_K = -1; |
FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
for(i=0;i<8;i++) |
{ |
Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
} |
SenderOkay = 100; |
if(ServoActive) |
{ |
DDRD |=0x80; // enable J7 -> Servo signal |
} |
else |
{ |
// if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
// else |
NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
} |
|
if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
carefree_old = 70; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
LIBFC_HoTT_Clear(); |
#endif |
} |
|
|
//############################################################################ |
// Bearbeitet die Messwerte |
void Mittelwert(void) |
//############################################################################ |
{ |
static signed long tmpl,tmpl2,tmpl3,tmpl4; |
static signed int oldNick, oldRoll, d2Roll, d2Nick; |
signed long winkel_nick, winkel_roll; |
MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
MesswertNick = (signed int) AdWertNickFilter / 8; |
MesswertRoll = (signed int) AdWertRollFilter / 8; |
RohMesswertNick = MesswertNick; |
RohMesswertRoll = MesswertRoll; |
|
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
NaviAccNick += AdWertAccNick; |
NaviAccRoll += AdWertAccRoll; |
NaviCntAcc++; |
IntegralAccZ += Aktuell_az - NeutralAccZ; |
|
//++++++++++++++++++++++++++++++++++++++++++++++++ |
// ADC einschalten |
ANALOG_ON; |
AdReady = 0; |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
else winkel_roll = Mess_IntegralRoll; |
|
if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
else winkel_nick = Mess_IntegralNick; |
|
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_Integral_Gier += MesswertGier; |
ErsatzKompass += MesswertGier; |
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
{ |
tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
tmpl3 *= Parameter_AchsKopplung2; //65 |
tmpl3 /= 4096L; |
tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
tmpl4 *= Parameter_AchsKopplung2; //65 |
tmpl4 /= 4096L; |
KopplungsteilNickRoll = tmpl3; |
KopplungsteilRollNick = tmpl4; |
tmpl4 -= tmpl3; |
ErsatzKompass += tmpl4; |
if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
|
tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
tmpl *= Parameter_AchsKopplung1; // 90 |
tmpl /= 4096L; |
tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
tmpl2 *= Parameter_AchsKopplung1; |
tmpl2 /= 4096L; |
if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
} |
else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
TrimRoll = tmpl - tmpl2 / 100L; |
TrimNick = -tmpl2 + tmpl / 100L; |
// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
if(Mess_IntegralRoll > Umschlag180Roll) |
{ |
Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
if(Mess_IntegralRoll <-Umschlag180Roll) |
{ |
Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_IntegralNick2 += MesswertNick + TrimNick; |
Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
if(Mess_IntegralNick > Umschlag180Nick) |
{ |
Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
if(Mess_IntegralNick <-Umschlag180Nick) |
{ |
Mess_IntegralNick = (Umschlag180Nick - 25000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
|
Integral_Gier = Mess_Integral_Gier; |
IntegralNick = Mess_IntegralNick; |
IntegralRoll = Mess_IntegralRoll; |
IntegralNick2 = Mess_IntegralNick2; |
IntegralRoll2 = Mess_IntegralRoll2; |
|
#define D_LIMIT 128 |
|
MesswertNick = HiResNick / 8; |
MesswertRoll = HiResRoll / 8; |
|
if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
|
if(Parameter_Gyro_D) |
{ |
d2Nick = HiResNick - oldNick; |
oldNick = (oldNick + HiResNick)/2; |
if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
|
d2Roll = HiResRoll - oldRoll; |
oldRoll = (oldRoll + HiResRoll)/2; |
if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
|
MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
} |
|
if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
|
if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
{ |
if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
} |
} |
|
//############################################################################ |
// Senden der Motorwerte per I2C-Bus |
void SendMotorData(void) |
//############################################################################ |
{ |
unsigned char i; |
if(!MotorenEin) |
{ |
FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
for(i=0;i<MAX_MOTORS;i++) |
{ |
if(!PC_MotortestActive) MotorTest[i] = 0; |
Motor[i].SetPoint = MotorTest[i]; |
Motor[i].SetPointLowerBits = 0; |
/* |
Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
*/ |
} |
if(PC_MotortestActive) PC_MotortestActive--; |
} |
else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
|
if(I2C_TransferActive) |
{ |
I2C_TransferActive = 0; // enable for the next time |
} |
else |
{ |
motor_write = 0; |
I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
} |
} |
|
|
|
//############################################################################ |
// Trägt ggf. das Poti als Parameter ein |
void ParameterZuordnung(void) |
//############################################################################ |
{ |
unsigned char tmp,i; |
for(i=0;i<8;i++) |
{ |
int tmp2; |
tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
tmp2 = PPM_in[tmp] + 127; |
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
|
if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
else |
if(tmp2 != Poti[i]) |
{ |
Poti[i] += (tmp2 - Poti[i]) / 4; |
if(Poti[i] > tmp2) Poti[i]--; |
else Poti[i]++; |
} |
} |
CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
|
if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
|
if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
|
CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
Ki = 10300 / (Parameter_I_Faktor + 1); |
MAX_GAS = EE_Parameter.Gas_Max; |
MIN_GAS = EE_Parameter.Gas_Min; |
|
tmp = EE_Parameter.CareFreeModeControl; |
if(tmp > 50) |
{ |
CareFree = 1; |
if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
if(carefree_old != CareFree) |
{ |
if(carefree_old < 3) |
{ |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
#else |
if(CareFree) beeptime = 1500; |
else beeptime = 200; |
#endif |
NeueKompassRichtungMerken = 5; |
carefree_old = CareFree; |
} else carefree_old--; |
} |
if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
} |
else |
{ |
CareFree = 0; |
carefree_old = 10; |
} |
|
if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
{ |
beeptime = 15000; |
BeepMuster = 0xA400; |
CareFree = 0; |
} |
if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
} |
|
//############################################################################ |
// |
void MotorRegler(void) |
//############################################################################ |
{ |
int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
int GierMischanteil,GasMischanteil; |
static long sollGier = 0,tmp_long,tmp_long2; |
static long IntegralFehlerNick = 0; |
static long IntegralFehlerRoll = 0; |
static unsigned int RcLostTimer; |
static unsigned char delay_neutral = 0; |
static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
static signed char move_safety_switch = 0; |
static long ausgleichNick, ausgleichRoll; |
int IntegralNickMalFaktor,IntegralRollMalFaktor; |
unsigned char i; |
Mittelwert(); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
{ |
if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
{ |
if(HoverGas && HoverGas < 150 * STICK_GAIN) |
{ |
HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
} |
else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
} else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
} |
if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
{ |
StickGas = 0; // Hold Gas down in that case |
HooverGasEmergencyPercent = MIN_GAS; |
} |
GasMischanteil = StickGas; |
if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Empfang schlecht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
{ |
if(RcLostTimer) RcLostTimer--; |
else |
{ |
MotorenEin = 0; |
modell_fliegt = 0; |
FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
} |
ROT_ON; |
if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = HooverGasEmergencyPercent; |
FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
} |
else |
{ |
MotorenEin = 0; |
} |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Emfang gut |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
RcLostTimer = EE_Parameter.NotGasZeit * 50; |
if(GasMischanteil > 40 && MotorenEin) |
{ |
if(modell_fliegt < 0xffff) modell_fliegt++; |
} |
if((modell_fliegt < 256)) |
{ |
SummeNick = 0; |
SummeRoll = 0; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
} else FC_StatusFlags |= FC_STATUS_FLY; |
|
if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// auf Nullwerte kalibrieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
delay_neutral = 0; |
modell_fliegt = 0; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
{ |
unsigned char setting=1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
SetActiveParamSet(setting); // aktiven Datensatz merken |
} |
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
{ |
WinkelOut.CalcState = 1; |
CalibrationDone = 0; |
beeptime = 1000; |
} |
else |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
LipoDetection(0); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
// ServoActive = 0; |
SetNeutral(0); |
CalibrationDone = 1; |
ServoActive = 1; |
DDRD |=0x80; // enable J7 -> Servo signal |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
SpeakHoTT = SPEAK_CALIBRATE; |
#endif |
Piep(GetActiveParamSet(),120); |
} |
} |
} |
else |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
SetNeutral(1); |
CalibrationDone = 1; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
SpeakHoTT = SPEAK_CALIBRATE; |
#endif |
Piep(GetActiveParamSet(),120); |
} |
} |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gas ist unten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
{ |
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
else |
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
// Motoren Starten |
if(!MotorenEin) |
{ |
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Einschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
if(++delay_einschalten > 253) |
{ |
delay_einschalten = 0; |
if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
{ |
modell_fliegt = 1; |
MotorenEin = 1; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
Mess_IntegralNick2 = IntegralNick; |
Mess_IntegralRoll2 = IntegralRoll; |
SummeNick = 0; |
SummeRoll = 0; |
// ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
NeueKompassRichtungMerken = 100; // 2 sekunden |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
SpeakHoTT = SPEAK_STARTING; |
#endif |
} |
else |
{ |
beeptime = 1500; // indicate missing calibration |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
#endif |
} |
} |
} |
else delay_einschalten = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Auschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
else // only if motors are running |
{ |
// if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
{ |
if(++delay_ausschalten > 250) // nicht sofort |
{ |
MotorenEin = 0; |
delay_ausschalten = 0; |
modell_fliegt = 0; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
SpeakHoTT = SPEAK_MK_OFF; |
#endif |
} |
} |
else delay_ausschalten = 0; |
} |
if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
} |
else // gas not at minimum |
{ |
move_safety_switch = 0; |
GasIsZeroCnt = 0; |
} |
} |
else // Empfang zwischen 100 und 140 -> schlecht |
{ |
if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
{ |
if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
{ |
GasIsZeroCnt = 30000; |
if(modell_fliegt > 1001) modell_fliegt = 1001; |
} |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
{ |
static int stick_nick,stick_roll; |
unsigned char stick_p; |
ParameterZuordnung(); |
stick_p = EE_Parameter.Stick_P; |
stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// CareFree und freie Wahl der vorderen Richtung |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(CareFree) |
{ |
signed int nick, roll; |
nick = stick_nick / 4; |
roll = stick_roll / 4; |
StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
} |
else |
{ |
FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
} |
|
StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
if(StickGier > 4) StickGier -= 4; else |
if(StickGier < -4) StickGier += 4; else StickGier = 0; |
|
if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
{ |
StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
} |
|
StickNick -= GPS_Nick; |
StickRoll -= GPS_Roll; |
StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
|
GyroFaktor = (Parameter_Gyro_P + 10.0); |
IntegralFaktor = Parameter_Gyro_I; |
GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
IntegralFaktorGier = Parameter_Gyro_Gier_I; |
|
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Analoge Steuerung per Seriell |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
{ |
StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
StickGier += ExternControl.Gier; |
ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
} |
if(StickGas < 0) StickGas = 0; |
|
if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
|
if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
{ |
MaxStickNick = abs(StickNick)/STICK_GAIN; |
if(MaxStickNick > 100) MaxStickNick = 100; |
} |
else MaxStickNick--; |
if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
{ |
MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
if(MaxStickRoll > 100) MaxStickRoll = 100; |
} |
else MaxStickRoll--; |
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
else |
{ |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
else |
{ |
if(Looping_Rechts) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
} |
} |
|
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
else |
{ |
if(Looping_Oben) // Hysterese |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
else |
{ |
if(Looping_Unten) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 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; |
} // Ende neue Funken-Werte |
|
if(Looping_Roll || Looping_Nick) |
{ |
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
TrichterFlug = 1; |
} |
|
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Bei Empfangsausfall im Flug |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
{ |
StickNick = -GPS_Nick; |
StickRoll = -GPS_Roll; |
StickGas = StickGasHover; |
Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
Parameter_HoehenSchalter = 200; // switch on |
} |
else |
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
{ |
StickGier = 0; |
StickNick = 0; |
StickRoll = 0; |
GyroFaktor = 90; |
IntegralFaktor = 120; |
GyroFaktorGier = 90; |
IntegralFaktorGier = 120; |
Looping_Roll = 0; |
Looping_Nick = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Integrale auf ACC-Signal abgleichen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define ABGLEICH_ANZAHL 256L |
|
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
MittelIntegralRoll += IntegralRoll; |
MittelIntegralNick2 += IntegralNick2; |
MittelIntegralRoll2 += IntegralRoll2; |
|
if(Looping_Nick || Looping_Roll) |
{ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
Mess_IntegralNick2 = Mess_IntegralNick; |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
ZaehlMessungen = 0; |
LageKorrekturNick = 0; |
LageKorrekturRoll = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
{ |
long tmp_long, tmp_long2; |
if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
{ |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
{ |
tmp_long /= 2; |
tmp_long2 /= 2; |
} |
/* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
*/ if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
} |
else |
{ |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
tmp_long /= 16; |
tmp_long2 /= 16; |
if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
KompassFusion = 25; |
#define AUSGLEICH 32 |
if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
} |
|
Mess_IntegralNick -= tmp_long; |
Mess_IntegralRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
{ |
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 && !TrichterFlug && EE_Parameter.Driftkomp) |
{ |
MittelIntegralNick /= ABGLEICH_ANZAHL; |
MittelIntegralRoll /= ABGLEICH_ANZAHL; |
IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
#define MAX_I 0 |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
|
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
|
if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
{ |
LageKorrekturNick /= 2; |
LageKorrekturRoll /= 2; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
tmp_long = IntegralNick2 - IntegralNick; |
tmp_long2 = IntegralRoll2 - IntegralRoll; |
|
IntegralFehlerNick = tmp_long; |
IntegralFehlerRoll = tmp_long2; |
Mess_IntegralNick2 -= IntegralFehlerNick; |
Mess_IntegralRoll2 -= IntegralFehlerRoll; |
|
if(EE_Parameter.Driftkomp) |
{ |
if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
} |
GierGyroFehler = 0; |
|
#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
#define BEWEGUNGS_LIMIT 20000 |
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
{ |
if(IntegralFehlerNick > FEHLER_LIMIT2) |
{ |
if(last_n_p) |
{ |
cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick > 5000) ausgleichNick = 5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
} |
else last_n_p = 1; |
} else last_n_p = 0; |
if(IntegralFehlerNick < -FEHLER_LIMIT2) |
{ |
if(last_n_n) |
{ |
cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick < -5000) ausgleichNick = -5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
} |
else last_n_n = 1; |
} else last_n_n = 0; |
} |
else |
{ |
cnt = 0; |
KompassSignalSchlecht = 100; |
} |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
|
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
{ |
if(IntegralFehlerRoll > FEHLER_LIMIT2) |
{ |
if(last_r_p) |
{ |
cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
} |
else last_r_p = 1; |
} else last_r_p = 0; |
if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
{ |
if(last_r_n) |
{ |
cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
} |
else last_r_n = 1; |
} else last_r_n = 0; |
} else |
{ |
cnt = 0; |
KompassSignalSchlecht = 100; |
} |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
} |
else |
{ |
LageKorrekturRoll = 0; |
LageKorrekturNick = 0; |
TrichterFlug = 0; |
} |
|
if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick_Alt = MittelIntegralNick; |
MittelIntegralRoll_Alt = MittelIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
IntegralAccZ = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
ZaehlMessungen = 0; |
} // ZaehlMessungen >= ABGLEICH_ANZAHL |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(abs(StickGier) > 3) // war 15 |
{ |
// KompassSignalSchlecht = 1000; |
if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
{ |
NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
}; |
} |
tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
tmp_int += CompassGierSetpoint; |
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 >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
{ |
if(CalculateCompassTimer-- == 1) |
{ |
int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
CalculateCompassTimer = 13; // falls keine Navi-Daten |
// max. Korrekturwert schätzen |
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
v = abs(IntegralRoll /512); |
if(v > w) w = v; // grösste Neigung ermitteln |
// korrektur = w / 4 + 1; |
korrektur = w / 8 + 2; |
ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
// Kompassfehlerwert bestimmen |
fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
// GIER_GRAD_FAKTOR ist ca. 1200 |
// Kompasswert einloggen |
if(KompassSignalSchlecht) KompassSignalSchlecht--; |
else |
if(w < 25) |
{ |
GierGyroFehler += fehler; |
if(NeueKompassRichtungMerken) |
{ |
if(--NeueKompassRichtungMerken == 0) |
{ |
KompassSollWert = ErsatzKompassInGrad; |
} |
} |
} |
// Kompass fusionieren |
if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
// MK Gieren |
if(!NeueKompassRichtungMerken) |
{ |
r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
CompassGierSetpoint = v / 16; |
} |
else CompassGierSetpoint = 0; |
} // CalculateCompassTimer |
} |
else CompassGierSetpoint = 0; |
|
//DebugOut.Analog[16] = KompassFusion; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
|
if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
|
#define TRIM_MAX 200 |
if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
|
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
|
// Maximalwerte abfangen |
#define MAX_SENSOR (4096) |
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; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Höhenregelung |
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
GasMischanteil *= STICK_GAIN; |
// if height control is activated |
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
{ |
#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
|
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
#define OPA_OFFSET_STEP 15 |
#else |
#define OPA_OFFSET_STEP 10 |
#endif |
int HCGas, HeightDeviation = 0,GasReduction = 0; |
static int HeightTrimming = 0; // rate for change of height setpoint |
static int FilterHCGas = 0; |
static unsigned long HoverGasFilter = 0; |
static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
int CosAttitude; // for projection of hoover gas |
|
// get the current hooverpoint |
DebugOut.Analog[21] = HoverGas; |
|
// Expand the measurement |
// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
if(!BaroExpandActive) |
{ |
if(MessLuftdruck > 920) |
{ // increase offset |
if(OCR0A < (255 - OPA_OFFSET_STEP)) |
{ |
ExpandBaro -= 1; |
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
beeptime = 300; |
BaroExpandActive = 350; |
} |
else |
{ |
BaroAtLowerLimit = 1; |
} |
} |
// measurement of air pressure close to lower limit and |
else |
if(MessLuftdruck < 100) |
{ // decrease offset |
if(OCR0A > OPA_OFFSET_STEP) |
{ |
ExpandBaro += 1; |
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
beeptime = 300; |
BaroExpandActive = 350; |
} |
else |
{ |
BaroAtUpperLimit = 1; |
} |
} |
else |
{ |
BaroAtUpperLimit = 0; |
BaroAtLowerLimit = 0; |
} |
} |
else // delay, because of expanding the Baro-Range |
{ |
// now clear the D-values |
SummenHoehe = HoehenWert * SM_FILTER; |
VarioMeter = 0; |
BaroExpandActive--; |
} |
|
// if height control is activated by an rc channel |
if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
{ // check if parameter is less than activation threshold |
if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
{ //height control not active |
if(!delay--) |
{ |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
#endif |
HoehenReglerAktiv = 0; // disable height control |
SollHoehe = HoehenWert; // update SetPoint with current reading |
delay = 1; |
} |
} |
else |
if(Parameter_HoehenSchalter > 70) |
{ //height control is activated |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
#endif |
delay = 200; |
HoehenReglerAktiv = 1; // enable height control |
} |
} |
else // no switchable height control |
{ |
SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
HoehenReglerAktiv = 1; |
} |
// calculate cos of nick and roll angle used for projection of the vertical hoover gas |
tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
VarioCharacter = ' '; |
AltitudeSetpointTrimming = 0; |
if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
{ |
#define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
// Holger original version |
// start of height control algorithm |
// the height control is only an attenuation of the actual gas stick. |
// I.e. it will work only if the gas stick is higher than the hover gas |
// and the hover height will be allways larger than height setpoint. |
FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
{ // old version |
HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
HeightTrimming = 0; |
AltitudeSetpointTrimming = 0; |
// set both flags to indicate no vario mode |
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
} |
else |
{ |
// alternative height control |
// PD-Control with respect to hoover point |
// the thrust loss out of horizontal attitude is compensated |
// the setpoint will be fine adjusted with the gas stick position |
if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
{ // gas stick is above hoover point |
if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
{ |
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
{ |
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
} |
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
// Limit the maximum Altitude |
if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
else |
{ |
// SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
// HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
VarioCharacter = '+'; |
} |
WaypointTrimming = 0; |
} // gas stick is below hoover point |
else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
{ |
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
{ |
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
} |
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
// HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
VarioCharacter = '-'; |
WaypointTrimming = 0; |
} |
else // Gas Stick in Hover Range |
{ |
VarioCharacter = '='; |
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
{ |
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
//HeightTrimming += FromNC_AltitudeSpeed; |
WaypointTrimming = 10; |
VarioCharacter = '^'; |
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
{ |
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
} |
} |
else |
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
{ |
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
//HeightTrimming -= FromNC_AltitudeSpeed; |
WaypointTrimming = -10; |
VarioCharacter = 'v'; |
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
{ |
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
} |
} |
else |
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
{ |
if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
else WaypointTrimming = 0; |
FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
HeightTrimming = 0; |
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
if(!StartTrigger && HoehenWert > 50) |
{ |
StartTrigger = 1; |
} |
} |
} |
// Trim height set point |
HeightTrimming += AltitudeSetpointTrimming; |
if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
{ |
if(WaypointTrimming) |
{ |
if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
else SollHoehe += WaypointTrimming; |
} |
else |
{ |
if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
} |
HeightTrimming = 0; |
LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
//update hoover gas stick value when setpoint is shifted |
if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
{ |
StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
if(StickGasHover < 70) StickGasHover = 70; |
else if(StickGasHover > 150) StickGasHover = 150; |
} |
} |
if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
} //if FCFlags & MKFCFLAG_FLY |
else |
{ |
SollHoehe = HoehenWert - 400; |
if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
else StickGasHover = 120; |
HoverGas = GasMischanteil; |
VarioCharacter = '.'; |
} |
HCGas = HoverGas; // take hover gas (neutral point) |
} |
if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
{ |
// from this point the Heigth Control Algorithm is identical for both versions |
if(BaroExpandActive) // baro range expanding active |
{ |
HCGas = HoverGas; // hover while expanding baro adc range |
HeightDeviation = 0; |
} // EOF // baro range expanding active |
else // valid data from air pressure sensor |
{ |
// ------------------------- P-Part ---------------------------- |
tmp_long = (HoehenWert - SollHoehe); // positive when too high |
LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
HeightDeviation = (int)(tmp_long); // positive when too high |
tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
GasReduction = tmp_long; |
// ------------------------- D-Part 1: Vario Meter ---------------------------- |
tmp_int = VarioMeter / 8; |
LIMIT_MIN_MAX(tmp_int, -127, 128); |
tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
else |
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
GasReduction += tmp_int; |
} // EOF no baro range expanding |
// ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
if(Parameter_Hoehe_ACC_Wirkung) |
{ |
tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
GasReduction += tmp_long; |
} |
// ------------------------ D-Part 3: GpsZ ---------------------------------- |
tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
GasReduction += tmp_int; |
GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
// ------------------------ ---------------------------------- |
HCGas -= GasReduction; |
// limit deviation from hoover point within the target region |
if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
{ |
unsigned int tmp; |
tmp = abs(HeightDeviation); |
if(tmp <= 60) |
{ |
LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
} |
else |
{ |
tmp = (tmp - 60) / 32; |
if(tmp > 15) tmp = 15; |
if(HeightDeviation > 0) |
{ |
tmp = (HoverGasMin * (16 - tmp)) / 16; |
LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
} |
else |
{ |
tmp = (HoverGasMax * (tmp + 16)) / 16; |
LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
} |
} |
} |
// strech control output by inverse attitude projection 1/cos |
// + 1/cos(angle) ++++++++++++++++++++++++++ |
tmp_long2 = (int32_t)HCGas; |
tmp_long2 *= 8192L; |
tmp_long2 /= CosAttitude; |
HCGas = (int16_t)tmp_long2; |
// update height control gas averaging |
FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
// limit height control gas pd-control output |
LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
// set GasMischanteil to HeightControlGasFilter |
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
{ // old version |
LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
GasMischanteil = FilterHCGas; |
} |
else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
} |
}// EOF height control active |
else // HC not active |
{ |
//update hoover gas stick value when HC is not active |
if(!EE_Parameter.Hoehe_StickNeutralPoint) |
{ |
StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
} |
else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
FilterHCGas = GasMischanteil; |
// set both flags to indicate no vario mode |
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
} |
// Hover gas estimation by averaging gas control output on small z-velocities |
// this is done only if height contol option is selected in global config and aircraft is flying |
if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
{ |
if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
if(StartTrigger == 1) StartTrigger = 2; |
tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
tmp_long2 *= CosAttitude; // apply attitude projection |
tmp_long2 /= 8192; |
// average vertical projected thrust |
if(modell_fliegt < 4000) // the first 8 seconds |
{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
HoverGasFilter += 16L * tmp_long2; |
} |
if(modell_fliegt < 8000) // the first 16 seconds |
{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
HoverGasFilter += 4L * tmp_long2; |
} |
else //later |
if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
{ |
HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
HoverGasFilter += tmp_long2; |
} |
HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
if(EE_Parameter.Hoehe_HoverBand) |
{ |
int16_t band; |
band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
HoverGasMin = HoverGas - band; |
HoverGasMax = HoverGas + band; |
} |
else |
{ // no limit |
HoverGasMin = 0; |
HoverGasMax = 1023; |
} |
} |
else |
{ |
StartTrigger = 0; |
HoverGasFilter = 0; |
HoverGas = 0; |
} |
}// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
else |
{ |
// set undefined state to indicate vario off |
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
} // EOF no height control |
|
// Linits the maximum gas in case of "Out of Range emergency landing" |
if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
{ |
if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
beeptime = 15000; |
BeepMuster = 0x0E00; |
} |
// limit gas to parameter setting |
LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// all BL-Ctrl connected? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
{ |
modell_fliegt = 1; |
GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mischer und PI-Regler |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = GasMischanteil; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gier-Anteil |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
#define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
if(GasMischanteil > MIN_GIERGAS) |
{ |
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
} |
else |
{ |
if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
} |
tmp_int = MAX_GAS*STICK_GAIN; |
if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
else SummeNick += DiffNick; // I-Anteil bei HH |
if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
|
if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
pd_ergebnis_nick += SummeNick / Ki; |
|
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Roll-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
else SummeRoll += DiffRoll; // I-Anteil bei HH |
if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
|
if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
pd_ergebnis_roll += SummeRoll / Ki; |
|
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Universal Mixer |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
for(i=0; i<MAX_MOTORS; i++) |
{ |
signed int tmp_int; |
if(Mixer.Motor[i][0] > 0) |
{ |
// Gas |
if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
// Nick |
if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
// Roll |
if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
// Gier |
if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
|
if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
// else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
else |
{ |
if(EE_Parameter.MotorSmooth == 0) |
{ |
tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
} |
else // 1 means tmp_int = tmp_int; |
if(EE_Parameter.MotorSmooth > 1) |
{ |
// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
} |
} |
|
LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
Motor[i].SetPoint = tmp_int / 4; |
Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
tmp_motorwert[i] = tmp_int; |
} |
else |
{ |
Motor[i].SetPoint = 0; |
Motor[i].SetPointLowerBits = 0; |
} |
} |
} |
//DebugOut.Analog[16] |