/trunk/eeprom.c |
---|
138,8 → 138,7 |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.BitConfig = 0; // Looping usw. |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP; |
EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;//CFG3_VARIO_FAILSAFE; |
EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE; |
EE_Parameter.Receiver = RECEIVER_HOTT; |
EE_Parameter.MotorSafetySwitch = 0; |
EE_Parameter.ExternalControl = 0; |
149,7 → 148,7 |
EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(ACC_AltitudeControl) |
{ |
159,6 → 158,8 |
EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;// |
EE_Parameter.FailSafeTime = 30; // 0 = off |
} |
else |
#endif |
169,6 → 170,8 |
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL; |
EE_Parameter.FailSafeTime = 0; // 0 = off |
} |
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
211,7 → 214,7 |
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
228,13 → 231,12 |
EE_Parameter.NaviAngleLimitation = 140; |
EE_Parameter.NaviPH_LoginTime = 5; |
EE_Parameter.OrientationAngle = 0; |
EE_Parameter.CareFreeModeControl = 0; |
EE_Parameter.CareFreeChannel = 0; |
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.MotorSmooth = 0; |
EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
EE_Parameter.FailSafeTime = 0; // 0 = off |
EE_Parameter.MaxAltitude = 150; // 0 = off |
EE_Parameter.AchsKopplung1 = 125; |
EE_Parameter.AchsKopplung2 = 52; |
/trunk/eeprom.h |
---|
4,7 → 4,7 |
#include <inttypes.h> |
#include "twimaster.h" |
#define EEPARAM_REVISION 94 // is count up, if paramater stucture has changed (compatibility) |
#define EEPARAM_REVISION 95 // is count up, if paramater stucture has changed (compatibility) |
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
#define EEPROM_ADR_PARAM_BEGIN 0 |
144,7 → 144,7 |
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
unsigned char Hoehe_MinGas; // Wert : 0-100 |
unsigned char Luftdruck_D; // Wert : 0-250 |
unsigned char MaxHoehe; // Wert : 0-32 |
unsigned char HoeheChannel; // Wert : 0-32 |
unsigned char Hoehe_P; // Wert : 0-32 |
unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
214,7 → 214,7 |
unsigned char WARN_J17_Bitmask; // for the J17 Output |
//---NaviCtrl--------------------------------------------- |
unsigned char NaviOut1Parameter; // for the J16 Output |
unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
unsigned char NaviGpsModeChannel; // Parameters for the Naviboard |
unsigned char NaviGpsGain; |
unsigned char NaviGpsP; |
unsigned char NaviGpsI; |
234,7 → 234,7 |
unsigned char ExternalControl; // for serial Control |
//---CareFree--------------------------------------------- |
unsigned char OrientationAngle; // Where is the front-direction? |
unsigned char CareFreeModeControl; // switch for CareFree |
unsigned char CareFreeChannel; // switch for CareFree |
unsigned char MotorSafetySwitch; |
unsigned char MotorSmooth; |
unsigned char ComingHomeAltitude; |
/trunk/fc.c |
---|
118,7 → 118,7 |
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_HoehenSchalter = 0; // 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 |
152,7 → 152,6 |
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; |
602,8 → 601,15 |
} |
} |
unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
{ |
int tmp2; |
if(ch == 0) return(0); |
tmp2 = PPM_in[ch] + 127; |
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
return(tmp2); |
} |
//############################################################################ |
// Trägt ggf. das Poti als Parameter ein |
void ParameterZuordnung(void) |
639,9 → 645,8 |
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); |
Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
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); |
677,11 → 682,11 |
MAX_GAS = EE_Parameter.Gas_Max; |
MIN_GAS = EE_Parameter.Gas_Min; |
tmp = EE_Parameter.CareFreeModeControl; |
if(tmp > 50) |
if(EE_Parameter.CareFreeChannel) |
{ |
CareFree = 1; |
if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0; |
// if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
if(carefree_old != CareFree) |
{ |
if(carefree_old < 3) |
795,6 → 800,7 |
if(PPM_in[EE_Parameter.StartLandChannel] > 50) |
{ |
if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
old_switch = 150; |
} |
else |
801,6 → 807,7 |
if(PPM_in[EE_Parameter.StartLandChannel] < -50) |
{ |
if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
old_switch = 50; |
} |
else |
960,7 → 967,7 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gas ist unten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < -100) |
{ |
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
else |
968,7 → 975,7 |
// 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))) |
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) && ((!(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))) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979,6 → 986,7 |
HoehenWertF = 0; |
HoehenWert = 0; |
SummenHoehe = 0; |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
if(++delay_einschalten > 253) |
{ |
delay_einschalten = 0; |
1018,17 → 1026,29 |
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))) |
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) && ((!(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((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
{ |
delay_ausschalten = 0; |
} |
else |
{ |
SummeNick = 0; |
SummeRoll = 0; |
StickNick = 0; |
StickRoll = 0; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
SpeakHoTT = SPEAK_MK_OFF; |
#endif |
} |
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 |
FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
} |
} |
else delay_ausschalten = 0; |
/trunk/fc.h |
---|
38,6 → 38,7 |
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
extern void ParameterZuordnung(void); |
extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel |
#define Poti1 Poti[0] |
#define Poti2 Poti[1] |
123,7 → 124,7 |
extern signed char WaypointTrimming; |
extern int HoverGas; |
extern unsigned char Parameter_Luftdruck_D; |
extern unsigned char Parameter_MaxHoehe; |
//extern unsigned char Parameter_MaxHoehe; |
extern unsigned char Parameter_Hoehe_P; |
extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
extern unsigned char Parameter_KompassWirkung; |
/trunk/hottmenu.c |
---|
705,7 → 705,7 |
HoTT_printf("DISABLED"); |
break; |
case 3: HoTT_printfxy(0,3,"CF:"); |
if(!EE_Parameter.CareFreeModeControl) HoTT_printf("DISABLED") |
if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED") |
else |
{ |
if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
716,7 → 716,7 |
if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
else |
{ |
CHK_POTI(tmp,EE_Parameter.NaviGpsModeControl); |
tmp = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
if(tmp < 50) HoTT_printf("(FREE)") |
else |
if(tmp >= 180) HoTT_printf("(HOME)") |
/trunk/libfc1284.a |
---|
Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
/trunk/libfc644.a |
---|
Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
/trunk/main.c |
---|
381,6 → 381,7 |
{ |
NaviDataOkay--; |
VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
} |
else |
{ |
401,6 → 402,9 |
FromNaviCtrl.AccErrorN = 0; |
FromNaviCtrl.AccErrorR = 0; |
FromNaviCtrl.CompassValue = -1; |
FromNC_AltitudeSpeed = 0; |
FromNC_AltitudeSetpoint = 0; |
VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
NaviDataOkay = 0; |
} |
if(UBat < BattLowVoltageWarning) |
/trunk/makefile |
---|
6,10 → 6,10 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 91 |
VERSION_PATCH = 0 |
VERSION_PATCH = 2 |
VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
VERSION_SERIAL_MINOR = 0 # Serial Protocol |
NC_SPI_COMPATIBLE = 54 # Navi-Kompatibilität |
NC_SPI_COMPATIBLE = 55 # Navi-Kompatibilität |
LIB_FC_COMPATIBLE = 2 # Library |
#------------------------------------------------------------------- |
# ATMEGA644: 63487 is maximum |
/trunk/rc.c |
---|
75,9 → 75,9 |
if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127; |
PPM_diff[i] = 0; |
} |
PPM_in[PPM_IN_MAX] = +127; |
PPM_in[PPM_IN_OFF] = -127; |
PPM_in[PPM_IN_MID] = 0; |
PPM_in[PPM_IN_MAX] = +127; |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
AdNeutralNick = 0; |
/trunk/rc.h |
---|
34,8 → 34,8 |
#define SERIAL_POTI_START 17 |
#define WP_EVENT_PPM_IN 29 |
#define PPM_IN_OFF 30 |
#define PPM_IN_MID 31 |
#define PPM_IN_MAX 32 |
#define PPM_IN_MAX 31 |
#define PPM_IN_MID 32 |
#define FromNC_WP_EventChannel PPM_in[WP_EVENT_PPM_IN] // WP_EVENT-Channel-Value |
/trunk/spi.c |
---|
180,7 → 180,7 |
ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsModeControl; // GPS-Mode |
ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
ToNaviCtrl.Param.Byte[7] = motorindex; |
ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
/trunk/uart.c |
---|
680,8 → 680,9 |
VersionInfo.SWMinor = VERSION_MINOR; |
VersionInfo.SWPatch = VERSION_PATCH; |
VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
VersionInfo.reserved1 = 0; |
VersionInfo.reserved2 = 0; |
VersionInfo.HWMajor = PlatinenVersion; |
pRxData = 0; |
RxDataLen = 0; |
} |
/trunk/uart.h |
---|
85,14 → 85,24 |
#define FC_ERROR1_RES2 0x40 |
#define FC_ERROR1_RES3 0x80 |
// for FlightCtrl |
//VersionInfo.Flags |
#define FC_VERSION_FLAG_NC_PRESENT 0x01 |
// for NaviCtrl |
#define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
struct str_VersionInfo |
{ |
unsigned char SWMajor; |
unsigned char SWMinor; |
unsigned char ProtoMajor; |
unsigned char ProtoMinor; |
unsigned char reserved1; |
unsigned char SWPatch; |
unsigned char HardwareError[5]; |
unsigned char HardwareError[2]; |
unsigned char HWMajor; |
unsigned char reserved2; |
unsigned char Flags; |
}; |
extern struct str_VersionInfo VersionInfo; |
/trunk/version.txt |
---|
589,7 → 589,11 |
- Checking the ACC-Z value in flight and report ACC-Z if out of range |
- disable Altitude hold in case of ACC-Z error |
0.91b |
0.91c |
- Move NICK/Roll Sticks for switching on / off |
- Move the Stick > 100 instead > 75 for switch on / off |
- Failsafe active if ACC-Upgarde |
- AltitudeMode, GPS_Mode & Carefree_Mode are now direct channels instead of Poti-Values (NaviGpsModeChannel,CareFreeChannel,HoeheChannel) |
- NC-SPI communication from 25Hz to 41Hz |
- MotorTemperature and GPS-Mode-Switch more often to NC |
- Auto-Start/Landing |