WebSVN - FlightCtrl - Path Comparison - / Rev 1249 and / Rev 1250

Ignore whitespace Rev 1249 → Rev 1250

 /branches/FC_075b_ACC-HH_MartinR/Flight-Ctrl_MEGA644_V0_75b_MartinR.hex
 ,0 → 1,3344
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 ,7 → 578,7
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 ,7 → 625,7
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 ,9 → 635,9
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 ,17 → 668,17
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 ,24 → 707,24
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 ,19 → 731,19
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 ,24 → 753,24
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 ,7 → 806,7
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 :103260000CF4039695958795959587959093FB0318
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 :1032B00038F08CED95E09093FF038093FE030DC0F2
 ,7 → 819,7
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 :103330008091F503882331F08091B204853B10F031
 :10334000469801C0469A80910204982F9F5F9093FF
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 :103380009093FF038093FE0331C02091FE033091A0
 ,7 → 832,7
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 :103400003F912F910F900FBE0F901F901895109223
 :103410007C008FEC80937A0008950F931F93CF93D5
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 :1034400090E00E948115809123039091240382557E
 :10345000934010F4C0E0D0E0CA3FD105D0F405ECB1
 ,7 → 839,7
 :1034600012E0C7BD82E390E00E9481151F930F9385
 :103470001F920E94FE110F900F900F9080912303D6
 :10348000909124038255934020F02196CA3FD105A4
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 :1034B0000895DF92EF92FF920F931F93CF93DF93C4
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 /branches/FC_075b_ACC-HH_MartinR/analog.c
 ,7 → 284,8
             kanal = AD_DRUCK;
             break;
                 case 3:
-            tmpLuftdruck = ADC;
+                        tmpLuftdruck += ADC;
+                        messanzahl_Druck ++;
             kanal = AD_NICK;
             break;
 ,9 → 362,22
                         // MartinR: neu
                         tmpLuftdruck += ADC;
-                        MessLuftdruck = tmpLuftdruck / 2;
-                        //Luftdruck = (MessLuftdruck + 7 * Luftdruck + 4) / 8;
-                        Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
+                        //MessLuftdruck = tmpLuftdruck / 2;
+                        MessLuftdruck = ADC;
+                        if(++messanzahl_Druck >= 5)
+                        {
+                                tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step
+                                tmpLuftdruck /= 2;
+                messanzahl_Druck = 0;
+                                //HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32;  // D-Anteil = neuerWert - AlterWert
+                Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
+                HoehenWert = StartLuftdruck - Luftdruck;
+                //tmpLuftdruck /= 2;
+                                tmpLuftdruck = 0;
+                        }
+                        // Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8;
             // HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; // MartinR: zu Höhenregler
             kanal = AD_NICK;

 /branches/FC_075b_ACC-HH_MartinR/fc.c
 ,13 → 103,13
 volatile unsigned char SenderOkay = 0;
 int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
 char MotorenEin = 0;
-int HoehenWert = 0;
+long HoehenWert = 0;
-int HoehenWertalt = 0; //MartinR: Test
+long HoehenWertalt = 0; //MartinR: Test
 unsigned char iHoehe; // MartinR: Zähler für HoeheD
 signed long HoehenWertSumme = 0; // MartinR: für neuen Höhenregler D-Anteil
-int SollHoehe = 0;
+long SollHoehe = 0;
 int LageKorrekturRoll = 0,LageKorrekturNick = 0;
 //float Ki =  FAKTOR_I;
 int Ki = 10300 / 33;
 ,9 → 1439,10
     Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen // MartinR: zu Höhenregler in fc.c verschoben
         // MartinR: Änderungen HoheD Anfang :
-                HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
+                //HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;// wieder bei analog.c
                 HoehenWertSumme += HoehenWert ;
-                if (++ iHoehe >= 40) // MartinR: Wartezeit um auch kleine Änderungsgeschwindigkeiten erkennen zu können
+                //if (++ iHoehe >= 40) // MartinR: Wartezeit um auch kleine Änderungsgeschwindigkeiten erkennen zu können
+                if (++ iHoehe >= Parameter_UserParam5) // MartinR: Wartezeit einstellbar
                 {
                  HoehenWertSumme = HoehenWertSumme / iHoehe ; // MartinR: Mittelwert während der Wartezeit
                  HoeheD = (int) Parameter_Luftdruck_D * (HoehenWert - HoehenWertalt) ;
 ,26 → 1542,47
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung
   {
+    /*
+  // Vorschlag Killagreg Anfang
+  #define HOOVER_GAS_AVERAGE 4192 // 4192 * 2ms = 8.2s averaging
+  #define HEIGHT_CONTROL_GAS_AVERAGE 16
+        int16_t CosNick, CosRoll;
+        int16_t HeightControlGas;
+        static int16_t FilterHeightControlGas = 0;
+        static uint32_t HooverGasEstimation = 0;
+        //static uint8_t delay = 100;
+ // Ende Vorschlag Killagreg
+  */
     int tmp_int;
         static char delay = 100;
     if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
     {
       //if(Parameter_MaxHoehe < 50)  // MartinR :so war es
-          if(Parameter_MaxHoehe < 50  || (Parameter_UserParam1 > 140) )   // MartinR: Schalter aus oder HH über UsererParam1 an
+            if(Parameter_MaxHoehe < 50  || (Parameter_UserParam1 > 140) )   // MartinR: Schalter aus oder HH über UsererParam1 an
       {
-       if(!delay--)
+          // Höhenregler nicht aktiv
+           if(!delay--)
             {
-         if((MessLuftdruck > 1000) && OCR0A < 254)
+                 #define OPA_OFFSET_STEP 10
+         if((MessLuftdruck > 1000) && (OCR0A < (255 - OPA_OFFSET_STEP)) )
                   {
-                    if(OCR0A < 244)
-                     {
-                      ExpandBaro -= 10;
-                      OCR0A = DruckOffsetSetting - ExpandBaro;
-                         }
-                         else OCR0A = 254;
+                    ExpandBaro -= 1;
+                    OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro;
                 beeptime = 300;
             delay = 250;
                   }
+                  else if((MessLuftdruck < 100) && (OCR0A > OPA_OFFSET_STEP))
+                  {
+                    ExpandBaro += 1;
+                    OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro;
+                    beeptime = 300;
+            delay = 250;
+                  }
                   else
          if((MessLuftdruck < 100) && OCR0A > 1)
                   {
 ,7 → 1596,7
            delay = 250;
                   }
           else
-          {
+          {
                //SollHoehe = HoehenWert - 20;  // Parameter_MaxHoehe ist der PPM-Wert des Schalters // MartinR : so war es
                    SollHoehe = HoehenWert; // MartinR : geändert
            HoehenReglerAktiv = 0;
 ,6 → 1653,75
     }
     if(Notlandung) SollHoehe = 0;
+        // Vorschlag von Killagerg:
+        /*
+        CosNick = IntegralNick/GIER_GRAD_FAKTOR; // nick angle in deg // =IntegralNick/GIER_GRAD_FAKTOR
+        LIMIT_MIN_MAX(CosNick, -60, 60); // limit nick angle
+        CosNick = c_cos_8192(CosNick);
+        CosRoll = IntegralRoll/GIER_GRAD_FAKTOR; // roll angle in deg
+        LIMIT_MIN_MAX(CosRoll, -60, 60); // limit roll angle
+        CosRoll = c_cos_8192(CosRoll);
+        */
+        /*
+        // calculate cos of nick and roll angle used for projection of the vertical hoover gas
+        CosNick = IntegralGyroNick/GYRO_DEG_FACTOR; // nick angle in deg // =IntegralNick/GIER_GRAD_FAKTOR
+        LIMIT_MIN_MAX(CosNick, -60, 60); // limit nick angle
+        CosNick = c_cos_8192(CosNick);
+        CosRoll = IntegralGyroRoll/GYRO_DEG_FACTOR; // roll angle in deg
+        LIMIT_MIN_MAX(CosRoll, -60, 60); // limit roll angle
+        CosRoll = c_cos_8192(CosRoll);
+        if(HeightControlActive)
+        {
+        if(HooverGasEstimation == 0) HeightControlGas = GasMixFraction; // take stick gas
+        else HeightControlGas = (int16_t)(HooverGasEstimation/HOOVER_GAS_AVERAGE); // take hoover point
+        HeightControlGas -= ((ReadingHeight - SetPointHeight) * (int16_t) FCParam.HeightP) / (16 / STICK_GAIN); // p-part
+        HeightControlGas -= (HeightD) / (8 / STICK_GAIN); // d-part
+        // acceleration sensor effect
+        tmp_int = ((ReadingIntegralTop / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN);
+        LIMIT_MIN_MAX(tmp_int, -(70 * STICK_GAIN), 70 * STICK_GAIN); // limit acceleration sensor effect
+        HeightControlGas -= tmp_int; // acc-part
+        // strech by actual attitude projection
+        tmp_long3 = (int32_t)HeightControlGas;
+        tmp_long3 *= 8192; tmp_long3 /= CosNick;
+        tmp_long3 *= 8192; tmp_long3 /= CosRoll;
+        HeightControlGas = (int16_t)tmp_long3;
+        // update height control gas averaging
+        FilterHeightControlGas = (FilterHeightControlGas * (HEIGHT_CONTROL_GAS_AVERAGE - 1) + HeightControlGas) / HEIGHT_CONTROL_GAS_AVERAGE;
+        // limit gas reduction
+        if(FilterHeightControlGas < ParamSet.HeightMinGas * STICK_GAIN)
+        {
+        if(GasMixFraction >= ParamSet.HeightMinGas * STICK_GAIN) FilterHeightControlGas = ParamSet.HeightMinGas * STICK_GAIN;
+        // allows landing also if gas stick is reduced below min gas on height control
+        if(GasMixFraction < ParamSet.HeightMinGas * STICK_GAIN) FilterHeightControlGas = GasMixFraction;
+        }
+        // limit gas to stick setting
+        LIMIT_MAX(FilterHeightControlGas ,GasMixFraction);
+        // set GasMixFraction to HeightControlGasFilter
+        GasMixFraction = FilterHeightControlGas;
+        } // EOF height control active
+        // Hoover 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(MKFlags & MKFLAG_FLY)
+        {
+        if(HooverGasEstimation == 0) HooverGasEstimation = HOOVER_GAS_AVERAGE * (uint32_t)GasMixFraction; // init estimation
+        if(abs((HeightD * 20) / FCParam.HeightD) < 5)
+        {
+        tmp_long3 = (int32_t)GasMixFraction; // take current thrust
+        tmp_long3 *= CosNick; // apply nick projection
+        tmp_long3 /= 8192; tmp_long3 *= CosRoll; // apply roll projection
+        tmp_long3 /= 8129; // average vertical projected thrust
+        HooverGasEstimation -= HooverGasEstimation/HOOVER_GAS_AVERAGE;
+        HooverGasEstimation += tmp_long3; DebugOut.Analog[16] = HooverGasEstimation/HOOVER_GAS_AVERAGE;
+        }
+        }
+        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
+        */
         // MartinR: so war es Anfang
         /*
     h = HoehenWert;

 /branches/FC_075b_ACC-HH_MartinR/fc.h
 ,8 → 37,8
 extern int  TrimNick, TrimRoll;
 extern long  ErsatzKompass;
 extern int   ErsatzKompassInGrad; // Kompasswert in Grad
-extern int HoehenWert;
-extern int SollHoehe;
+extern long HoehenWert; // MartinR: war int
+extern long SollHoehe; // MartinR: war int
 extern int MesswertNick,MesswertRoll,MesswertGier;
 extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
 extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;

 /branches/FC_075b_ACC-HH_MartinR/mymath.c
 ,0 → 1,100
+#include <stdlib.h>
+#include <avr/pgmspace.h>
+#include "mymath.h"
+// discrete mathematics
+// Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
+const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192};
+int16_t c_sin_8192(int16_t angle)
+{
+        int8_t m,n;
+        int16_t sinus;
+        // avoid negative angles
+        if (angle < 0)
+        {
+                m = -1;
+                angle = abs(angle);
+        }
+        else m = +1;
+        // fold angle to intervall 0 to 359
+        angle %= 360;
+        // check quadrant
+        if (angle <= 90) n=1; // first quadrant
+        else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant
+        else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant
+        else {angle = 360 - angle; n = -1;}     //fourth quadrant
+        // get lookup value
+        sinus = pgm_read_word(&pgm_sinlookup[angle]);
+        // calculate sinus value
+        return (sinus * m * n);
+}
+// Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
+int16_t c_cos_8192(int16_t angle)
+{
+        return (c_sin_8192(90 - angle));
+}
+// Arcustangens returns degree in a range of +/. 180 deg
+const uint8_t pgm_atanlookup[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
+int16_t c_atan2(int16_t y, int16_t x)
+{
+        int16_t index, angle;
+        int8_t m;
+        if (!x && !y) return 0;         //atan2(0, 0) is undefined
+        if (y < 0) m = -1;
+        else m = 1;
+        if (!x) return (90 * m);                // atan2(y,0) = +/- 90 deg
+        index = (int16_t)(((int32_t)y * 64) / x);// calculate index for lookup table
+        if (index < 0) index = -index;
+        if (index < 346) angle = pgm_read_byte(&pgm_atanlookup[index]); // lookup for 0 deg to 79 deg
+        else if (index > 7334) angle = 90;                                              // limit is 90 deg
+        else if (index > 2444) angle = 89;                                              // 89 deg to 80 deg is mapped via intervalls
+        else if (index > 1465) angle = 88;
+        else if (index > 1046) angle = 87;
+        else if (index > 813) angle = 86;
+        else if (index > 664) angle = 85;
+        else if (index > 561) angle = 84;
+        else if (index > 486) angle = 83;
+        else if (index > 428) angle = 82;
+        else if (index > 382) angle = 81;
+        else angle = 80; // (index>345)
+        if (x > 0) return (angle * m);  // 1st and 4th quadrant
+        else if ((x < 0) && (m > 0)) return (180 - angle);      // 2nd quadrant
+        else return (angle - 180); // ( (x < 0) && (y < 0))     3rd quadrant
+}
+// integer square root
+uint32_t c_sqrt(uint32_t number)
+{
+        if(!number) return 0;
+        uint32_t s1, s2;
+        uint8_t iter = 0;
+        // initialization of iteration
+        s2 = number;
+        do // iterative formula to solve x^2 - n = 0
+        {
+                s1 = s2;
+                s2 = number / s1;
+                s2 += s1;
+                s2 /= 2;
+                iter++;
+                //if(iter > 40) break;
+        }while( ( (s1-s2) > 1) && (iter < 40));
+        return s2;
+}

 /branches/FC_075b_ACC-HH_MartinR/mymath.h
 ,0 → 1,11
+#ifndef _MYMATH_H
+#define _MYMATH_H
+#include <inttypes.h>
+extern int16_t c_sin_8192(int16_t angle);
+extern int16_t c_cos_8192(int16_t angle);
+extern int16_t c_atan2(int16_t y, int16_t x);
+extern uint32_t c_sqrt(uint32_t number);
+#endif // _MYMATH_H

 /branches/FC_075b_ACC-HH_MartinR/version.txt
 ,4 → 321,9
           Der Rest (Setup etc.) hat alles wie gewohnt funktioniert.
  Bisher getestet auf FC V1.0 und V2.0 ME  Hardware,  aber keine Gewähr!!
+.07.2009
+  - Ermittlung Höhenwert ähnlich wie Original 0.75b
+  - WICHTIG !!!!   unbedingt beachten:
+     Wartezeit bei Ermittlung von HoeheD ist nun auf UserParameter5!! Bisher war der Wert fest auf 40

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