| /beta/Code Redesign killagreg/eeprom.c |
|---|
| 163,6 → 163,7 |
| ParamSet.GyroI = 150; |
| ParamSet.GyroYawP = 80; |
| ParamSet.GyroYawI = 150; |
| ParamSet.GyroStability = 6; // Value : 1-8 |
| ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
| ParamSet.EmergencyGas = 35; |
| ParamSet.EmergencyGasDuration = 60; |
| 270,6 → 271,7 |
| ParamSet.GyroI = 120; |
| ParamSet.GyroYawP = 90; |
| ParamSet.GyroYawI = 120; |
| ParamSet.GyroStability = 6; // Value : 1-8 |
| ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
| ParamSet.EmergencyGas = 35; |
| ParamSet.EmergencyGasDuration = 60; |
| 377,6 → 379,7 |
| ParamSet.GyroI = 120; |
| ParamSet.GyroYawP = 100; |
| ParamSet.GyroYawI = 120; |
| ParamSet.GyroStability = 6; // Value : 1-8 |
| ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
| ParamSet.EmergencyGas = 35; |
| ParamSet.EmergencyGasDuration = 60; |
| /beta/Code Redesign killagreg/eeprom.h |
|---|
| 4,6 → 4,11 |
| #include <inttypes.h> |
| #include "twimaster.h" |
| #define EEPARAM_REVISION 84 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
| #define EEBLCONFIG_REVISON 35 // is count up, if blconfig stucture has changed (compatibility to BLs!) |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_EE_REVISION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| 90,9 → 95,6 |
| #define CH_POTI7 10 |
| #define CH_POTI8 11 |
| #define EEPARAM_REVISION 83 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
| #define EEBLCONFIG_REVISON 35 // is count up, if blconfig stucture has changed (compatibility to BLs!) |
| // values above 247 representing poti1 to poti8 |
| // poti1 = 255 |
| 131,6 → 133,7 |
| uint8_t GyroD; // Value : 0-247 |
| uint8_t GyroYawP; // Value : 10-247 |
| uint8_t GyroYawI; // Value : 0-247 |
| uint8_t GyroStability; // Value : 0-16 |
| uint8_t LowVoltageWarning; // Value : 0-247 |
| uint8_t EmergencyGas; // Value : 0-247 //Gaswert bei Empängsverlust |
| uint8_t EmergencyGasDuration; // Value : 0-247 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| /beta/Code Redesign killagreg/fc.c |
|---|
| 101,6 → 101,8 |
| int16_t TrimNick, TrimRoll; |
| int32_t IPartNick = 0, IPartRoll = 0; |
| // attitude gyro integrals |
| int32_t IntegralGyroNick = 0,IntegralGyroNick2 = 0; |
| int32_t IntegralGyroRoll = 0,IntegralGyroRoll2 = 0; |
| 699,8 → 701,8 |
| // PID controller variables |
| int16_t DiffNick, DiffRoll; |
| int16_t PDPartNick, PDPartRoll, PDPartYaw, PPartNick, PPartRoll; |
| static int32_t IPartNick = 0, IPartRoll = 0; |
| static int16_t SetPointYaw = 0; // yawing derived from yaw stick value |
| static int32_t IntegralGyroNickError = 0, IntegralGyroRollError = 0; |
| static int32_t CorrectionNick, CorrectionRoll; |
| 1519,7 → 1521,8 |
| PDPartYaw = (int32_t)(GyroYaw * 2 * (int32_t)GyroYawPFactor) / (256L / STICK_GAIN) + (int32_t)(IntegralGyroYaw * GyroYawIFactor) / (2 * (44000 / STICK_GAIN)); |
| // limit control feedback |
| #define SENSOR_LIMIT (4096 * 4) |
| //#define SENSOR_LIMIT (4096 * STICK_GAIN) |
| #define SENSOR_LIMIT 4096 |
| LIMIT_MIN_MAX(PDPartNick, -SENSOR_LIMIT, SENSOR_LIMIT); |
| LIMIT_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
| LIMIT_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
| 1899,7 → 1902,6 |
| tmp_int1 = ParamSet.GasMax * STICK_GAIN; |
| LIMIT_MIN_MAX(YawMixFraction, -(tmp_int1 - GasMixFraction), (tmp_int1 - GasMixFraction)); |
| #define ATTENUATE_PD 2 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1908,7 → 1910,7 |
| else IPartNick += DiffNick; // I-part for head holding |
| LIMIT_MIN_MAX(IPartNick, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
| if(FCParam.UserParam5 > 50) |
| NickMixFraction = DiffNick/ATTENUATE_PD + (IPartNick / Ki); // PID-controller for nick |
| NickMixFraction = (ParamSet.GyroStability * DiffNick)/8 + (IPartNick / Ki); // PID-controller for nick |
| else |
| NickMixFraction = DiffNick + (IPartNick / Ki); // PID-controller for nick |
| 1920,7 → 1922,7 |
| else IPartRoll += DiffRoll; // I-part for head holding |
| LIMIT_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
| if(FCParam.UserParam5 > 50) |
| RollMixFraction = DiffRoll/ATTENUATE_PD + (IPartRoll / Ki); // PID-controller for roll |
| RollMixFraction = (ParamSet.GyroStability * DiffRoll)/8 + (IPartRoll / Ki); // PID-controller for roll |
| else |
| RollMixFraction = DiffRoll + (IPartRoll / Ki); // PID-controller for roll |
| /beta/Code Redesign killagreg/fc.h |
|---|
| 136,6 → 136,8 |
| extern int8_t VarioCharacter; |
| extern uint16_t ModelIsFlying; |
| extern int32_t IPartNick; |
| extern int32_t IPartRoll; |
| // FCFlags |
| #define FCFLAG_MOTOR_RUN 0x01 |
| /beta/Code Redesign killagreg/libfc1284.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /beta/Code Redesign killagreg/makefile |
|---|
| 6,7 → 6,7 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 79 |
| VERSION_PATCH = 10 |
| VERSION_PATCH = 11 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol Minor Version |
| /beta/Code Redesign killagreg/uart0.c |
|---|
| 771,16 → 771,19 |
| SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| Request_DebugData = FALSE; |
| } |
| else if( (((Data3D_Interval > 0) && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) |
| } |
| else if( (((Data3D_Interval > 0) && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) |
| { |
| SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D.AngleNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| Data3D.AngleRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| Data3D.Heading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| Data3D.Centroid[0] = IPartNick >> 9; |
| Data3D.Centroid[1] = IPartRoll >> 9; |
| Data3D.Centroid[2] = IntegralGyroYaw >> 9; |
| SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D_Timer = SetDelay(Data3D_Interval); |
| Request_Data3D = FALSE; |
| } |
| } |
| else if(Request_ExternalControl && txd_complete) |
| { |
| SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
| /beta/Code Redesign killagreg/uart0.h |
|---|
| 41,7 → 41,8 |
| int16_t AngleNick; // in 0.1 deg |
| int16_t AngleRoll; // in 0.1 deg |
| int16_t Heading; // in 0.1 deg |
| uint8_t reserve[8]; |
| int8_t Centroid[3]; |
| uint8_t reserve[5]; |
| } __attribute__((packed)) Data3D_t; |
| /beta/Code Redesign killagreg/version.txt |
|---|
| 410,10 → 410,14 |
| - Piepen, wenn NC-Kommunikation wegfällt |
| - Da kann man mit UserParameter5 wieder das Verhalten der 0.79b herstellen |
| 0.79l H.Buss |
| - Schwerpunktanzeige in den 3D-Daten |
| - Gyro Stability |
| - EEPROM-Kompatibilität auf 84 |
| Anpassungen bzgl. V0.79j |
| G.Stobrawa 24.6.2010 |
| Anpassunge n bzgl. V0.79l |
| G.Stobrawa 26.6.2010 |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |