WebSVN - FlightCtrl - Path Comparison - / Rev 2366 and / Rev 2367

Ignore whitespace Rev 2366 → Rev 2367

 /trunk/analog.c
 ,8 → 68,14
 volatile unsigned int ZaehlMessungen = 0;
 unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
 volatile unsigned char AdReady = 1;
+unsigned int BaroStep = 500;
+long ExpandBaroStep = 0;
 volatile long HoehenWertF = 0;
+#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
+unsigned char CalAthmospheare = 16;
+#endif
 //#######################################################################################
 void ADC_Init(void)
 //#######################################################################################
 ,58 → 84,49
     ANALOG_ON;
 }
-#define DESIRED_H_ADC 800
+#define DESIRED_H_ADC 850
+void CalcExpandBaroStep(void)
+{
+  if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro;
+  else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4;
+}
 void SucheLuftruckOffset(void)
 {
  unsigned int off;
  ExpandBaro = 0;
-#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
- {
-  unsigned char off2;
-  OCR0A = 150;
-  off2 = GetParamByte(PID_PRESSURE_OFFSET);
-  if(off2 < 230) off2 += 10;
-  OCR0B = off2;
-  Delay_ms_Mess(100);
-  if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;
-  for(; off2 >= 5; off2 -= 5)
-   {
-   OCR0B = off2;
-   Delay_ms_Mess(50);
-   printf("*");
-   if(MessLuftdruck > DESIRED_H_ADC) break;
-   }
-   SetParamByte(PID_PRESSURE_OFFSET, off2);
-  if(off2 >= 15) off = 140; else off = 0;
-  for(; off < 250;off++)
-   {
-   OCR0A = off;
-   Delay_ms_Mess(50);
-   printf(".");
-   if(MessLuftdruck < DESIRED_H_ADC) break;
-   }
-   DruckOffsetSetting = off;
- }
-#else
+ CalcExpandBaroStep();
   off = GetParamByte(PID_PRESSURE_OFFSET);
   if(off > 20) off -= 10;
   OCR0A = off;
-  Delay_ms_Mess(100);
+  OCR0B = 255-off;
+  Delay_ms_Mess(150);
   if(MessLuftdruck < DESIRED_H_ADC) off = 0;
   for(; off < 250;off++)
    {
    OCR0A = off;
-   Delay_ms_Mess(50);
+   OCR0B = 255-off;
+   Delay_ms_Mess(100);
    printf(".");
    if(MessLuftdruck < DESIRED_H_ADC) break;
    }
    DruckOffsetSetting = off;
    SetParamByte(PID_PRESSURE_OFFSET, off);
+ if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 5 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
+#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + correction of the altitude error in higher altitudes
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ CalAthmospheare = 16;
+ if(ACC_AltitudeControl)
+  {
+   if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; }
+   else { if(off < 170) CalAthmospheare += (188 - off) / 19; }
+  }
+ Luftdruck = MessLuftdruck * CalAthmospheare;
 #endif
- if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
- OCR0A = off;
  Delay_ms_Mess(300);
 }
 ,8 → 344,10
 #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                         if(ACC_AltitudeControl)
                         {
-                                tmpLuftdruck = MessLuftdruck - 523 * (long)ExpandBaro;  // -523 counts per offset step
-                                Luftdruck -= Luftdruck/16;
+//                              ExpandBaroStep = BaroStep * (long)ExpandBaro; // wird in fc.c aufgerufen
+//                              tmpLuftdruck = MessLuftdruck - BaroStep * (long)ExpandBaro;  // -523 counts per offset step
+                                tmpLuftdruck = MessLuftdruck - ExpandBaroStep;  // -523 counts per offset step
+                                Luftdruck -= Luftdruck / CalAthmospheare; // 16
                                 Luftdruck += tmpLuftdruck;
                                 HoehenWert = StartLuftdruck - Luftdruck;        // cm
                         }
 ,7 → 358,9
                                 if(++messanzahl_Druck >= 16) // war bis 0.86 "18"
                                 {
                             signed int tmp;
-                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
+//                              Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * BaroStep) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
+//                              ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; // wird in fc.c aufgerufen
+                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8;  // -523.19 counts per 10 counts offset step
                                 HoehenWert = StartLuftdruck - Luftdruck;
                                 SummenHoehe -= SummenHoehe/SM_FILTER;
                                 SummenHoehe += HoehenWert;

 /trunk/analog.h
 ,12 → 25,13
 extern volatile char MessanzahlNick;
 extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier;
 extern volatile unsigned char AdReady;
+extern unsigned int BaroStep;
 volatile long HoehenWertF;
 unsigned int ReadADC(unsigned char adc_input);
 void         ADC_Init(void);
 void SucheLuftruckOffset(void);
 void SucheGyroOffset(void);
+void CalcExpandBaroStep(void);
 #define AD_GIER     0
 #define AD_ROLL     1

 /trunk/fc.c
 ,6 → 183,12
 signed int CosAttitude; // for projection of hoover gas
 unsigned char ACC_AltitudeControl = 0;
+#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
+#define OPA_OFFSET_STEP 5
+#else
+#define OPA_OFFSET_STEP 10
+#endif
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Debugwerte zuordnen
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 ,7 → 199,7
     DebugOut.Analog[2] = Mittelwert_AccNick / 4;
     DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
     DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
-    DebugOut.Analog[5] = HoehenWert/10;
+        DebugOut.Analog[5] = HoehenWert/10;
     DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512);
     DebugOut.Analog[8] = KompassValue;
     DebugOut.Analog[9] = UBat;
 ,7 → 285,7
 //############################################################################
 {
         unsigned char i, sucess = 1;
-        unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0;
+        unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest;
     VersionInfo.HardwareError[0] = 0;
 //    HEF4017Reset_ON;
         NeutralAccX = 0;
 ,9 → 309,13
     if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
      {
-      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+      if((MessLuftdruck > 950) || (MessLuftdruck < 750) || ExpandBaro) SucheLuftruckOffset();
      }
+        barotest = MessLuftdruck;
 #define NEUTRAL_FILTER 32
+        OCR0A += OPA_OFFSET_STEP;
+        OCR0B = 255 - OCR0A;
     for(i=0; i<NEUTRAL_FILTER; i++)
          {
           Delay_ms_Mess(10);
 ,6 → 324,9
           roll_neutral += AdWertRoll;
           acc_z_neutral += Aktuell_az;
          }
+        if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck;
+        OCR0A -= OPA_OFFSET_STEP;
+        OCR0B = 255 - OCR0A;
      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);
 ,7 → 362,7
         MesswertNick = 0;
     MesswertRoll = 0;
     MesswertGier = 0;
-    Delay_ms_Mess(100);
+    Delay_ms_Mess(200);
     Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
     Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
     IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
 ,9 → 370,6
     Mess_IntegralNick = IntegralNick;
     Mess_IntegralRoll = IntegralRoll;
     Mess_Integral_Gier = 0;
-    StartLuftdruck = Luftdruck;
-    VarioMeter = 0;
-        SummenHoehe = 0;    Mess_Integral_Hoch = 0;
     KompassSollWert = KompassValue;
         KompassSignalSchlecht = 100;
     beeptime = 50;
 ,6 → 424,10
         LIBFC_HoTT_Clear();
         ACC_AltitudeFusion(2); // initalisation
 #endif
+    StartLuftdruck = Luftdruck;
+    VarioMeter = 0;
+        SummenHoehe = 0;    Mess_Integral_Hoch = 0;
+        CalcExpandBaroStep();
  return(sucess);
 }
 ,13 → 1006,15
 // Einschalten
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                                                         if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START;
                                                         StartLuftdruck = Luftdruck;
                                                         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((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)
                                                         {
+if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20)  CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich
                                                                 delay_einschalten = 0;
                                                                 if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode)
                                                                 {
 ,18 → 1583,11
                 #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, GasReduction = 0;
                 static int HeightTrimming = 0;  // rate for change of height setpoint
                 static int HeightDeviation = 0, FilterHCGas = 0;
                 static unsigned long HoverGasFilter = 0;
                 static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
         // Expand the measurement
                 // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
           if(!BaroExpandActive)
 ,8 → 1598,10
                            {
                                 ExpandBaro -= 1;
                                 OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
+                                OCR0B = 255 - OCR0A;
                                 beeptime = 300;
                                 BaroExpandActive = 350;
+                                CalcExpandBaroStep();
                            }
                            else
                            {
 ,8 → 1616,10
                            {
                                 ExpandBaro += 1;
                                 OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
+                                OCR0B = 255 - OCR0A;
                                 beeptime = 300;
                                 BaroExpandActive = 350;
+                                CalcExpandBaroStep();
                            }
                            else
                            {

/trunk/fc.h
146,5 → 146,6
extern unsigned char Parameter_ExtraConfig;
extern signed char MixerTable[MAX_MOTORS][4];
extern const signed char sintab[31];

#endif //_FC_H

/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
 ,7 → 132,7
          }
      else
      {
-          PlatinenVersion = 23; ACC_AltitudeControl = 1;
+          PlatinenVersion = 25; ACC_AltitudeControl = 1;
          }
 #else
         if(PINB & 0x01)

 /trunk/main.h
 ,8 → 11,8
 #define ROT_OFF   {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB &=~0x01; else  PORTB |= 0x01;}
 #define ROT_ON    {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB |= 0x01; else  PORTB &=~0x01;}
 #define ROT_FLASH PORTB ^= 0x01
-#define GRN_OFF   {if((PlatinenVersion < 12) || PlatinenVersion == 23) PORTB &=~0x02; else PORTB |= 0x02;}
-#define GRN_ON    {if((PlatinenVersion < 12) || PlatinenVersion == 23) PORTB |= 0x02; else PORTB &=~0x02;}
+#define GRN_OFF   {if((PlatinenVersion < 12) || PlatinenVersion == 25) PORTB &=~0x02; else PORTB |= 0x02;}
+#define GRN_ON    {if((PlatinenVersion < 12) || PlatinenVersion == 25) PORTB |= 0x02; else PORTB &=~0x02;}
 #define GRN_FLASH PORTB ^= 0x02
 #define SYSCLK F_CPU

/trunk/menu.c
127,7 → 127,7
LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
LCD_printfxy(0,3,"Offset: %5i",OCR0A);
#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl) LCD_printfxy(17,3,"(A)",OCR0A);
if(ACC_AltitudeControl) LCD_printfxy(17,2,"(A)");
#endif
}
else
208,6 → 208,7
for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]);
break;
case 12:
#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
LCD_printfxy(0,0,"Servo " );
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl);
LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4);
220,6 → 221,7
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config);
break;
*/
#endif
case 13:
LCD_printfxy(0,0,"BL-Ctrl Errors " );
for(i=0;i<3;i++)

 /trunk/timer0.c
 ,9 → 235,10
 {
     tim_main = SetDelay(10);
     TCCR0B = CK8;
-    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
-    OCR0A =  0;
-    OCR0B = 180;
+//    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM
+    TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM
+    OCR0B =  255;
+    OCR0A = 180;
     TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE;  // reload
     //OCR1  = 0x00;
     TIMSK0 |= _BV(TOIE0);

 /trunk/version.txt
 ,5 → 620,10
  - some changes in ACC-Altitude hold to reduce climbing in fast foreward fly
  - UserParameter1 > 100 disables camera nick control (for BL-Gimbals with self-alignments)
  - Beep at motor off (1sek)
+.00c
+ - Do not start if MK is moving
+ - Full Range of altitude measure expansion (3000m flight instead of 950m)
+ - compensation of the atmospheric altitude error

Subversion Repositories FlightCtrl

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Ignore whitespace Rev 2366 → Rev 2367