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| 1 | /* |
1 | /* |
| 2 | Copyright 2008, by Michael Walter |
2 | Copyright 2008, by Michael Walter |
| 3 | 3 | ||
| 4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
| 5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
| 6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
| 7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
| 8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 9 | 9 | ||
| 10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
| 11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
| 12 | unless it is stated otherwise. |
12 | unless it is stated otherwise. |
| 13 | */ |
13 | */ |
| 14 | 14 | ||
| 15 | 15 | ||
| 16 | /***************************************************************************** |
16 | /***************************************************************************** |
| 17 | INCLUDES |
17 | INCLUDES |
| 18 | **************************************************************************** */ |
18 | **************************************************************************** */ |
| 19 | #include "kafi.h" |
19 | #include "kafi.h" |
| 20 | #include "FlightControl.h" |
20 | #include "FlightControl.h" |
| 21 | #include "main.h" |
21 | #include "main.h" |
| 22 | #include "mm3.h" |
22 | #include "mm3.h" |
| 23 | #include "main.h" |
23 | #include "main.h" |
| 24 | #include "eeprom.c" |
24 | #include "eeprom.c" |
| 25 | 25 | ||
| 26 | /***************************************************************************** |
26 | /***************************************************************************** |
| 27 | (SYMBOLIC) CONSTANTS |
27 | (SYMBOLIC) CONSTANTS |
| 28 | *****************************************************************************/ |
28 | *****************************************************************************/ |
| 29 | #define MAX_GAS 250 |
29 | #define MAX_GAS 250 |
| 30 | #define MIN_GAS 15 |
30 | #define MIN_GAS 15 |
| 31 | 31 | ||
| 32 | #define sin45 sin(45.F / 180.F * PI) |
32 | #define sin45 sin(45.F / 180.F * PI) |
| 33 | #define cos45 cos(45.F / 180.F * PI) |
33 | #define cos45 cos(45.F / 180.F * PI) |
| 34 | 34 | ||
| 35 | /***************************************************************************** |
35 | /***************************************************************************** |
| 36 | VARIABLES |
36 | VARIABLES |
| 37 | *****************************************************************************/ |
37 | *****************************************************************************/ |
| 38 | 38 | ||
| 39 | extern void GPSupdate(void); |
39 | extern void GPSupdate(void); |
| 40 | 40 | ||
| 41 | f32_t AdNeutralNick = 0.0F, AdNeutralRoll = 0.0F, AdNeutralGier = 0.0F; |
41 | f32_t AdNeutralNick = 0.0F, AdNeutralRoll = 0.0F, AdNeutralGier = 0.0F; |
| 42 | int NeutralAccX = 0, NeutralAccY = 0, NeutralAccZ = 0; |
42 | int NeutralAccX = 0, NeutralAccY = 0, NeutralAccZ = 0; |
| 43 | int AverageRoll = 0, AverageNick = 0, AverageGier = 0; |
43 | int AverageRoll = 0, AverageNick = 0, AverageGier = 0; |
| 44 | int AveragerACC_X = 0, AveragerACC_Y = 0, AveragerACC_Z = 0; |
44 | int AveragerACC_X = 0, AveragerACC_Y = 0, AveragerACC_Z = 0; |
| 45 | 45 | ||
| 46 | f32_t Roll_X_Offset = 0.F, Roll_Y_Offset = 0.F, Roll_Z_Offset = 0.F; |
46 | f32_t Roll_X_Offset = 0.F, Roll_Y_Offset = 0.F, Roll_Z_Offset = 0.F; |
| 47 | f32_t ACC_X_Offset = 0.F, ACC_Y_Offset = 0.F, ACC_Z_Offset = 0.F; |
47 | f32_t ACC_X_Offset = 0.F, ACC_Y_Offset = 0.F, ACC_Z_Offset = 0.F; |
| 48 | 48 | ||
| 49 | int DeltaAltitude = 0, CurrentAltitude = 0, LastAltitude = 0, InitialAltitude = 0; |
49 | int DeltaAltitude = 0, CurrentAltitude = 0, LastAltitude = 0, InitialAltitude = 0; |
| 50 | int SummeNick=0,SummeRoll=0, StickNick = 0,StickRoll = 0,StickGier = 0, sollGier = 0; |
50 | int SummeNick=0,SummeRoll=0, StickNick = 0,StickRoll = 0,StickGier = 0, sollGier = 0; |
| 51 | int GierMischanteil, GasMischanteil; |
51 | int GierMischanteil, GasMischanteil; |
| 52 | 52 | ||
| 53 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
53 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 54 | unsigned char MotorWert[5]; |
54 | unsigned char MotorWert[5]; |
| 55 | unsigned char SenderOkay = 0; |
55 | unsigned char SenderOkay = 0; |
| 56 | unsigned int I2CTimeout = 100; |
56 | unsigned int I2CTimeout = 100; |
| 57 | char MotorenEin = 0; |
57 | char MotorenEin = 0; |
| 58 | unsigned int modell_fliegt = 0; |
58 | unsigned int modell_fliegt = 0; |
| 59 | 59 | ||
| 60 | extern unsigned long maxDistance; |
60 | extern unsigned long maxDistance; |
| 61 | extern signed int GPS_Nick, GPS_Roll; |
61 | extern signed int GPS_Nick, GPS_Roll; |
| 62 | extern int RemoteLinkLost; |
62 | extern int RemoteLinkLost; |
| 63 | - | ||
| - | 63 | extern int InvalidAttitude; |
|
| 64 | struct mk_param_struct EE_Parameter; |
64 | struct mk_param_struct EE_Parameter; |
| 65 | 65 | ||
| 66 | /* **************************************************************************** |
66 | /* **************************************************************************** |
| 67 | Functionname: SetNeutral */ /*! |
67 | Functionname: SetNeutral */ /*! |
| 68 | Description: |
68 | Description: |
| 69 | 69 | ||
| 70 | @param[in] |
70 | @param[in] |
| 71 | 71 | ||
| 72 | @return void |
72 | @return void |
| 73 | @pre - |
73 | @pre - |
| 74 | @post - |
74 | @post - |
| 75 | @author Michael Walter |
75 | @author Michael Walter |
| 76 | **************************************************************************** */ |
76 | **************************************************************************** */ |
| 77 | void SetNeutral(void) |
77 | void SetNeutral(void) |
| 78 | { |
78 | { |
| 79 | beeptime = 2000; |
79 | beeptime = 2000; |
| 80 | Delay_ms(1000); |
80 | Delay_ms(1000); |
| 81 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
81 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 82 | { |
82 | { |
| 83 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
83 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
| 84 | { |
84 | { |
| 85 | SucheLuftruckOffset(); |
85 | SucheLuftruckOffset(); |
| 86 | } |
86 | } |
| 87 | } |
87 | } |
| 88 | 88 | ||
| 89 | LastAltitude = CurrentAltitude; |
89 | LastAltitude = CurrentAltitude; |
| 90 | Delay_ms_Mess(300); |
90 | Delay_ms_Mess(300); |
| 91 | 91 | ||
| 92 | ANALOG_OFF; |
92 | ANALOG_OFF; |
| 93 | AdNeutralNick = (f32_t) AdWertNick_Raw; |
93 | AdNeutralNick = (f32_t) AdWertNick_Raw; |
| 94 | AdNeutralRoll = (f32_t) AdWertRoll_Raw; |
94 | AdNeutralRoll = (f32_t) AdWertRoll_Raw; |
| 95 | AdNeutralGier = (f32_t) AdWertGier_Raw; |
95 | AdNeutralGier = (f32_t) AdWertGier_Raw; |
| 96 | NeutralAccY = AdWertAccRoll_Raw; |
96 | NeutralAccY = AdWertAccRoll_Raw; |
| 97 | NeutralAccX = AdWertAccNick_Raw; |
97 | NeutralAccX = AdWertAccNick_Raw; |
| 98 | NeutralAccZ = AdWertAccHoch_Raw; |
98 | NeutralAccZ = AdWertAccHoch_Raw; |
| 99 | 99 | ||
| 100 | Roll_X_Offset = 0.F; |
100 | Roll_X_Offset = 0.F; |
| 101 | Roll_Y_Offset = 0.F; |
101 | Roll_Y_Offset = 0.F; |
| 102 | Roll_Z_Offset = 0.F; |
102 | Roll_Z_Offset = 0.F; |
| 103 | ACC_X_Offset = 0.F; |
103 | ACC_X_Offset = 0.F; |
| 104 | ACC_Y_Offset = 0.F; |
104 | ACC_Y_Offset = 0.F; |
| 105 | ACC_Z_Offset = 0.F; |
105 | ACC_Z_Offset = 0.F; |
| 106 | 106 | ||
| 107 | AccumulatedACC_X = 0; |
107 | AccumulatedACC_X = 0; |
| 108 | AccumulatedACC_X_cnt = 0; |
108 | AccumulatedACC_X_cnt = 0; |
| 109 | AccumulatedACC_Y = 0; |
109 | AccumulatedACC_Y = 0; |
| 110 | AccumulatedACC_Y_cnt = 0; |
110 | AccumulatedACC_Y_cnt = 0; |
| 111 | AccumulatedACC_Z = 0; |
111 | AccumulatedACC_Z = 0; |
| 112 | AccumulatedACC_Z_cnt = 0; |
112 | AccumulatedACC_Z_cnt = 0; |
| 113 | 113 | ||
| 114 | AccumulatedRoll = 0; |
114 | AccumulatedRoll = 0; |
| 115 | AccumulatedRoll_cnt = 0; |
115 | AccumulatedRoll_cnt = 0; |
| 116 | AccumulatedNick = 0; |
116 | AccumulatedNick = 0; |
| 117 | AccumulatedNick_cnt = 0; |
117 | AccumulatedNick_cnt = 0; |
| 118 | AccumulatedGier = 0; |
118 | AccumulatedGier = 0; |
| 119 | AccumulatedGier_cnt = 0; |
119 | AccumulatedGier_cnt = 0; |
| 120 | 120 | ||
| 121 | AveragerACC_X = 0; |
121 | AveragerACC_X = 0; |
| 122 | AveragerACC_Y = 0; |
122 | AveragerACC_Y = 0; |
| 123 | AveragerACC_Z = 0; |
123 | AveragerACC_Z = 0; |
| 124 | 124 | ||
| 125 | AccumulatedACC_X = 0; |
125 | AccumulatedACC_X = 0; |
| 126 | AccumulatedACC_X_cnt = 0; |
126 | AccumulatedACC_X_cnt = 0; |
| 127 | AccumulatedACC_Y = 0; |
127 | AccumulatedACC_Y = 0; |
| 128 | AccumulatedACC_Y_cnt = 0; |
128 | AccumulatedACC_Y_cnt = 0; |
| 129 | AccumulatedACC_Z = 0; |
129 | AccumulatedACC_Z = 0; |
| 130 | AccumulatedACC_Z_cnt = 0; |
130 | AccumulatedACC_Z_cnt = 0; |
| 131 | ANALOG_ON; |
131 | ANALOG_ON; |
| 132 | 132 | ||
| 133 | SummeRoll = 0; |
133 | SummeRoll = 0; |
| 134 | SummeNick = 0; |
134 | SummeNick = 0; |
| 135 | 135 | ||
| 136 | sollGier = status.iPsi10; |
136 | sollGier = status.iPsi10; |
| 137 | InitialAltitude = AdWertAirPressure_Raw; |
137 | InitialAltitude = AdWertAirPressure_Raw; |
| - | 138 | ||
| - | 139 | InvalidAttitude = 0; |
|
| 138 | beeptime = 2000; |
140 | beeptime = 2000; |
| 139 | } |
141 | } |
| 140 | 142 | ||
| 141 | 143 | ||
| 142 | /* **************************************************************************** |
144 | /* **************************************************************************** |
| 143 | Functionname: GetMeasurements */ /*! |
145 | Functionname: GetMeasurements */ /*! |
| 144 | Description: CalculateAverage |
146 | Description: CalculateAverage |
| 145 | 147 | ||
| 146 | @param[in] |
148 | @param[in] |
| 147 | 149 | ||
| 148 | @return void |
150 | @return void |
| 149 | @pre - |
151 | @pre - |
| 150 | @post - |
152 | @post - |
| 151 | @author Michael Walter |
153 | @author Michael Walter |
| 152 | **************************************************************************** */ |
154 | **************************************************************************** */ |
| 153 | void GetMeasurements(void) |
155 | void GetMeasurements(void) |
| 154 | { |
156 | { |
| 155 | ANALOG_OFF; |
157 | ANALOG_OFF; |
| 156 | AverageRoll = AccumulatedRoll / AccumulatedRoll_cnt; |
158 | AverageRoll = AccumulatedRoll / AccumulatedRoll_cnt; |
| 157 | AverageNick = AccumulatedNick / AccumulatedNick_cnt; |
159 | AverageNick = AccumulatedNick / AccumulatedNick_cnt; |
| 158 | AverageGier = AccumulatedGier / AccumulatedGier_cnt; |
160 | AverageGier = AccumulatedGier / AccumulatedGier_cnt; |
| 159 | 161 | ||
| 160 | /* Get Pressure Differenz */ |
162 | /* Get Pressure Differenz */ |
| 161 | CurrentAltitude = InitialAltitude - AccumulatedAirPressure / AccumulatedAirPressure_cnt; |
163 | CurrentAltitude = InitialAltitude - AccumulatedAirPressure / AccumulatedAirPressure_cnt; |
| 162 | AccumulatedAirPressure_cnt = 0; |
164 | AccumulatedAirPressure_cnt = 0; |
| 163 | AccumulatedAirPressure = 0; |
165 | AccumulatedAirPressure = 0; |
| 164 | 166 | ||
| 165 | static char AirPressureCnt = 0; |
167 | static char AirPressureCnt = 0; |
| 166 | if (AirPressureCnt % 25 == 1) |
168 | if (AirPressureCnt % 25 == 1) |
| 167 | { |
169 | { |
| 168 | DeltaAltitude = CurrentAltitude - LastAltitude; |
170 | DeltaAltitude = CurrentAltitude - LastAltitude; |
| 169 | LastAltitude = CurrentAltitude; |
171 | LastAltitude = CurrentAltitude; |
| 170 | } |
172 | } |
| 171 | AirPressureCnt++; |
173 | AirPressureCnt++; |
| 172 | 174 | ||
| 173 | if(modell_fliegt < 0x250) |
175 | if(modell_fliegt < 0x250) |
| 174 | { |
176 | { |
| 175 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
177 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| 176 | AdNeutralNick = 0.998F * AdNeutralNick + 0.002F * AdWertNick_Raw; |
178 | AdNeutralNick = 0.998F * AdNeutralNick + 0.002F * AdWertNick_Raw; |
| 177 | AdNeutralRoll = 0.998F * AdNeutralRoll + 0.002F * AdWertRoll_Raw; |
179 | AdNeutralRoll = 0.998F * AdNeutralRoll + 0.002F * AdWertRoll_Raw; |
| 178 | if (abs(StickGier) < 15 || MotorenEin == 0) |
180 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 179 | { |
181 | { |
| 180 | AdNeutralGier = 0.998F * AdNeutralGier + 0.002F * AdWertGier_Raw; |
182 | AdNeutralGier = 0.998F * AdNeutralGier + 0.002F * AdWertGier_Raw; |
| 181 | } |
183 | } |
| 182 | } |
184 | } |
| 183 | else if(modell_fliegt < 0x2000) |
185 | else if(modell_fliegt < 0x2000) |
| 184 | { |
186 | { |
| 185 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
187 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| 186 | AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw; |
188 | AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw; |
| 187 | AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw; |
189 | AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw; |
| 188 | if (abs(StickGier) < 15 || MotorenEin == 0) |
190 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 189 | { |
191 | { |
| 190 | AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw; |
192 | AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw; |
| 191 | } |
193 | } |
| 192 | } |
194 | } |
| 193 | else |
195 | else |
| 194 | { |
196 | { |
| 195 | AdNeutralNick = 0.9995F * AdNeutralNick + 0.0005F * AdWertNick_Raw; |
197 | AdNeutralNick = 0.9995F * AdNeutralNick + 0.0005F * AdWertNick_Raw; |
| 196 | AdNeutralRoll = 0.9995F * AdNeutralRoll + 0.0005F * AdWertRoll_Raw; |
198 | AdNeutralRoll = 0.9995F * AdNeutralRoll + 0.0005F * AdWertRoll_Raw; |
| 197 | if (abs(StickGier) < 15 || MotorenEin == 0) |
199 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 198 | { |
200 | { |
| 199 | AdNeutralGier = 0.9995F * AdNeutralGier + 0.0005F * AdWertGier_Raw; |
201 | AdNeutralGier = 0.9995F * AdNeutralGier + 0.0005F * AdWertGier_Raw; |
| 200 | } |
202 | } |
| 201 | } |
203 | } |
| 202 | 204 | ||
| 203 | #if 1 |
205 | #if 1 |
| 204 | DebugOut.Analog[6] = AdWertNick_Raw; |
206 | DebugOut.Analog[6] = AdWertNick_Raw; |
| 205 | DebugOut.Analog[7] = AdWertRoll_Raw; |
207 | DebugOut.Analog[7] = AdWertRoll_Raw; |
| 206 | DebugOut.Analog[8] = AdWertGier_Raw; |
208 | DebugOut.Analog[8] = AdWertGier_Raw; |
| 207 | 209 | ||
| 208 | DebugOut.Analog[9] = AdNeutralNick; |
210 | DebugOut.Analog[9] = AdNeutralNick; |
| 209 | DebugOut.Analog[10] = AdNeutralRoll; |
211 | DebugOut.Analog[10] = AdNeutralRoll; |
| 210 | DebugOut.Analog[11] = AdNeutralGier; |
212 | DebugOut.Analog[11] = AdNeutralGier; |
| 211 | #endif |
213 | #endif |
| 212 | 214 | ||
| 213 | AccumulatedRoll = 0; |
215 | AccumulatedRoll = 0; |
| 214 | AccumulatedRoll_cnt = 0; |
216 | AccumulatedRoll_cnt = 0; |
| 215 | AccumulatedNick = 0; |
217 | AccumulatedNick = 0; |
| 216 | AccumulatedNick_cnt = 0; |
218 | AccumulatedNick_cnt = 0; |
| 217 | AccumulatedGier = 0; |
219 | AccumulatedGier = 0; |
| 218 | AccumulatedGier_cnt = 0; |
220 | AccumulatedGier_cnt = 0; |
| 219 | 221 | ||
| 220 | #if 0 |
222 | #if 0 |
| 221 | ACC_X_Offset = 0.9999F * ACC_X_Offset + 0.0001F * ((float) AccumulatedACC_X / (float) AccumulatedACC_X_cnt); |
223 | ACC_X_Offset = 0.9999F * ACC_X_Offset + 0.0001F * ((float) AccumulatedACC_X / (float) AccumulatedACC_X_cnt); |
| 222 | ACC_Y_Offset = 0.9999F * ACC_Y_Offset + 0.0001F * ((float) AccumulatedACC_Y / (float) AccumulatedACC_Y_cnt); |
224 | ACC_Y_Offset = 0.9999F * ACC_Y_Offset + 0.0001F * ((float) AccumulatedACC_Y / (float) AccumulatedACC_Y_cnt); |
| 223 | ACC_Z_Offset = 0.9999F * ACC_Z_Offset + 0.0001F * ((float) AccumulatedACC_Z / (float) AccumulatedACC_Z_cnt); |
225 | ACC_Z_Offset = 0.9999F * ACC_Z_Offset + 0.0001F * ((float) AccumulatedACC_Z / (float) AccumulatedACC_Z_cnt); |
| 224 | #endif |
226 | #endif |
| 225 | 227 | ||
| 226 | AveragerACC_X = AccumulatedACC_X / AccumulatedACC_X_cnt; |
228 | AveragerACC_X = AccumulatedACC_X / AccumulatedACC_X_cnt; |
| 227 | AveragerACC_Y = AccumulatedACC_Y / AccumulatedACC_Y_cnt; |
229 | AveragerACC_Y = AccumulatedACC_Y / AccumulatedACC_Y_cnt; |
| 228 | AveragerACC_Z = AccumulatedACC_Z / AccumulatedACC_Z_cnt; |
230 | AveragerACC_Z = AccumulatedACC_Z / AccumulatedACC_Z_cnt; |
| 229 | 231 | ||
| 230 | AccumulatedACC_X = 0; |
232 | AccumulatedACC_X = 0; |
| 231 | AccumulatedACC_X_cnt = 0; |
233 | AccumulatedACC_X_cnt = 0; |
| 232 | AccumulatedACC_Y = 0; |
234 | AccumulatedACC_Y = 0; |
| 233 | AccumulatedACC_Y_cnt = 0; |
235 | AccumulatedACC_Y_cnt = 0; |
| 234 | AccumulatedACC_Z = 0; |
236 | AccumulatedACC_Z = 0; |
| 235 | AccumulatedACC_Z_cnt = 0; |
237 | AccumulatedACC_Z_cnt = 0; |
| 236 | 238 | ||
| 237 | ANALOG_ON; |
239 | ANALOG_ON; |
| 238 | } |
240 | } |
| 239 | 241 | ||
| 240 | /* **************************************************************************** |
242 | /* **************************************************************************** |
| 241 | Functionname: SendMotorData */ /*! |
243 | Functionname: SendMotorData */ /*! |
| 242 | Description: Senden der Motorwerte per I2C-Bus |
244 | Description: Senden der Motorwerte per I2C-Bus |
| 243 | 245 | ||
| 244 | @return void |
246 | @return void |
| 245 | @pre - |
247 | @pre - |
| 246 | @post - |
248 | @post - |
| 247 | @author H. Buss / I. Busker |
249 | @author H. Buss / I. Busker |
| 248 | **************************************************************************** */ |
250 | **************************************************************************** */ |
| 249 | void SendMotorData(void) |
251 | void SendMotorData(void) |
| 250 | { |
252 | { |
| 251 | if(!MotorenEin) |
253 | if(!MotorenEin) |
| 252 | { |
254 | { |
| 253 | Motor_Hinten = 0; |
255 | Motor_Hinten = 0; |
| 254 | Motor_Vorne = 0; |
256 | Motor_Vorne = 0; |
| 255 | Motor_Rechts = 0; |
257 | Motor_Rechts = 0; |
| 256 | Motor_Links = 0; |
258 | Motor_Links = 0; |
| 257 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
259 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| 258 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
260 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| 259 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
261 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| 260 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
262 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| 261 | } |
263 | } |
| 262 | 264 | ||
| 263 | //Start I2C Interrupt Mode |
265 | //Start I2C Interrupt Mode |
| 264 | twi_state = 0; |
266 | twi_state = 0; |
| 265 | motor = 0; |
267 | motor = 0; |
| 266 | i2c_start(); |
268 | i2c_start(); |
| 267 | } |
269 | } |
| 268 | 270 | ||
| 269 | 271 | ||
| 270 | /* **************************************************************************** |
272 | /* **************************************************************************** |
| 271 | Functionname: RemoteControl */ /*! |
273 | Functionname: RemoteControl */ /*! |
| 272 | Description: |
274 | Description: |
| 273 | 275 | ||
| 274 | @return void |
276 | @return void |
| 275 | @pre - |
277 | @pre - |
| 276 | @post - |
278 | @post - |
| 277 | @author H. Buss / I. Busker |
279 | @author H. Buss / I. Busker |
| 278 | **************************************************************************** */ |
280 | **************************************************************************** */ |
| 279 | void RemoteControl(void) |
281 | void RemoteControl(void) |
| 280 | { |
282 | { |
| 281 | static unsigned char delay_neutral = 0; |
283 | static unsigned char delay_neutral = 0; |
| 282 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
284 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 283 | 285 | ||
| 284 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
286 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 285 | // Gaswert ermitteln |
287 | // Gaswert ermitteln |
| 286 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
288 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 287 | GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
289 | GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 288 | if(GasMischanteil < 0) |
290 | if(GasMischanteil < 0) |
| 289 | { |
291 | { |
| 290 | GasMischanteil = 0; |
292 | GasMischanteil = 0; |
| 291 | } |
293 | } |
| 292 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 293 | // Emfang schlecht |
295 | // Emfang schlecht |
| 294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 295 | if(SenderOkay < 100) |
297 | if(SenderOkay < 100) |
| 296 | { |
298 | { |
| 297 | if(!PcZugriff) |
299 | if(!PcZugriff) |
| 298 | { |
300 | { |
| 299 | if(BeepMuster == 0xffff) |
301 | if(BeepMuster == 0xffff) |
| 300 | { |
302 | { |
| 301 | beeptime = 15000; |
303 | beeptime = 15000; |
| 302 | BeepMuster = 0x0c00; |
304 | BeepMuster = 0x0c00; |
| 303 | } |
305 | } |
| 304 | } |
306 | } |
| 305 | } |
307 | } |
| 306 | else |
308 | else |
| 307 | { |
309 | { |
| 308 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
310 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 309 | // Emfang gut |
311 | // Emfang gut |
| 310 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
312 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 311 | if(SenderOkay > 140) |
313 | if(SenderOkay > 140) |
| 312 | { |
314 | { |
| 313 | if(GasMischanteil > 40) |
315 | if(GasMischanteil > 40) |
| 314 | { |
316 | { |
| 315 | if(modell_fliegt < 0xffff) |
317 | if(modell_fliegt < 0xffff) |
| 316 | { |
318 | { |
| 317 | modell_fliegt++; |
319 | modell_fliegt++; |
| 318 | } |
320 | } |
| 319 | } |
321 | } |
| 320 | 322 | ||
| 321 | 323 | ||
| 322 | if((GasMischanteil > 200) && |
324 | if((GasMischanteil > 200) && |
| 323 | (MotorenEin == 0)) |
325 | (MotorenEin == 0)) |
| 324 | { |
326 | { |
| 325 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
327 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 326 | // auf Nullwerte kalibrieren |
328 | // auf Nullwerte kalibrieren |
| 327 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
329 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 328 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
330 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 329 | { |
331 | { |
| 330 | if(++delay_neutral > 50) // nicht sofort |
332 | if(++delay_neutral > 50) // nicht sofort |
| 331 | { |
333 | { |
| 332 | MotorenEin = 0; |
334 | MotorenEin = 0; |
| 333 | delay_neutral = 0; |
335 | delay_neutral = 0; |
| 334 | modell_fliegt = 0; |
336 | modell_fliegt = 0; |
| 335 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
337 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 336 | { |
338 | { |
| 337 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
339 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
| 338 | { |
340 | { |
| 339 | SucheLuftruckOffset(); |
341 | SucheLuftruckOffset(); |
| 340 | } |
342 | } |
| 341 | } |
343 | } |
| 342 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
344 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 343 | SetNeutral(); |
345 | SetNeutral(); |
| 344 | } |
346 | } |
| 345 | } |
347 | } |
| 346 | else |
348 | else |
| 347 | { |
349 | { |
| 348 | delay_neutral = 0; |
350 | delay_neutral = 0; |
| 349 | } |
351 | } |
| 350 | } |
352 | } |
| 351 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
353 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 352 | // Gas ist unten |
354 | // Gas ist unten |
| 353 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
355 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 354 | if(GasMischanteil < 35) |
356 | if(GasMischanteil < 35) |
| 355 | { |
357 | { |
| 356 | // Starten |
358 | // Starten |
| 357 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
359 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| 358 | { |
360 | { |
| 359 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
361 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | // Einschalten |
362 | // Einschalten |
| 361 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
363 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 362 | if(++delay_einschalten > 100) |
364 | if(++delay_einschalten > 100) |
| 363 | { |
365 | { |
| 364 | MotorenEin = 1; |
366 | MotorenEin = 1; |
| 365 | modell_fliegt = 1; |
367 | modell_fliegt = 1; |
| 366 | delay_einschalten = 100; |
368 | delay_einschalten = 100; |
| 367 | } |
369 | } |
| 368 | } |
370 | } |
| 369 | else |
371 | else |
| 370 | { |
372 | { |
| 371 | delay_einschalten = 0; |
373 | delay_einschalten = 0; |
| 372 | } |
374 | } |
| 373 | //Auf Neutralwerte setzen |
375 | //Auf Neutralwerte setzen |
| 374 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
376 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 375 | // Auschalten |
377 | // Auschalten |
| 376 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
378 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 377 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
379 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| 378 | { |
380 | { |
| 379 | if(++delay_ausschalten > 50) // nicht sofort |
381 | if(++delay_ausschalten > 50) // nicht sofort |
| 380 | { |
382 | { |
| 381 | MotorenEin = 0; |
383 | MotorenEin = 0; |
| 382 | modell_fliegt = 0; |
384 | modell_fliegt = 0; |
| 383 | delay_ausschalten = 50; |
385 | delay_ausschalten = 50; |
| 384 | } |
386 | } |
| 385 | } |
387 | } |
| 386 | else |
388 | else |
| 387 | { |
389 | { |
| 388 | delay_ausschalten = 0; |
390 | delay_ausschalten = 0; |
| 389 | } |
391 | } |
| 390 | } |
392 | } |
| 391 | } |
393 | } |
| 392 | } |
394 | } |
| 393 | } |
395 | } |
| 394 | 396 | ||
| 395 | 397 | ||
| 396 | 398 | ||
| 397 | 399 | ||
| 398 | /* **************************************************************************** |
400 | /* **************************************************************************** |
| 399 | Functionname: PD_Regler */ /*! |
401 | Functionname: PD_Regler */ /*! |
| 400 | Description: |
402 | Description: |
| 401 | 403 | ||
| 402 | @return void |
404 | @return void |
| 403 | @pre - |
405 | @pre - |
| 404 | @post - |
406 | @post - |
| 405 | @author Michael Walter |
407 | @author Michael Walter |
| 406 | **************************************************************************** */ |
408 | **************************************************************************** */ |
| 407 | void PD_Regler(void) |
409 | void PD_Regler(void) |
| 408 | { |
410 | { |
| 409 | int StickNick45,StickRoll45; |
411 | int StickNick45,StickRoll45; |
| 410 | int DiffNick,DiffRoll, DiffGier; |
412 | int DiffNick,DiffRoll, DiffGier; |
| 411 | int motorwert = 0; |
413 | int motorwert = 0; |
| 412 | int pd_ergebnis; |
414 | int pd_ergebnis; |
| 413 | 415 | ||
| 414 | /***************************************************************************** |
416 | /***************************************************************************** |
| 415 | Update noimial attitude |
417 | Update noimial attitude |
| 416 | **************************************************************************** */ |
418 | **************************************************************************** */ |
| 417 | if(!NewPpmData--) |
419 | if(!NewPpmData--) |
| 418 | { |
420 | { |
| 419 | StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
421 | StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 420 | StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
422 | StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 421 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
423 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 422 | } // Ende neue Funken-Werte |
424 | } // Ende neue Funken-Werte |
| 423 | 425 | ||
| 424 | #ifdef USE_GPS |
426 | #ifdef USE_GPS |
| 425 | /* G P S U p d a t e */ |
427 | /* G P S U p d a t e */ |
| 426 | GPSupdate(); |
428 | GPSupdate(); |
| 427 | #endif |
429 | #endif |
| 428 | 430 | ||
| 429 | static float AverageGasMischanteil = 50.F; |
431 | static float AverageGasMischanteil = 50.F; |
| 430 | if((GasMischanteil > 30) && |
432 | if((GasMischanteil > 30) && |
| 431 | (MotorenEin == 1) && |
433 | (MotorenEin == 1) && |
| 432 | (RemoteLinkLost == 0) ) |
434 | (RemoteLinkLost == 0) ) |
| 433 | { /* Average the average throttle to find the hover setting */ |
435 | { /* Average the average throttle to find the hover setting */ |
| 434 | AverageGasMischanteil = 0.999F * AverageGasMischanteil + 0.001F * GasMischanteil; |
436 | AverageGasMischanteil = 0.999F * AverageGasMischanteil + 0.001F * GasMischanteil; |
| 435 | } |
437 | } |
| 436 | /* Overide GasMischanteil */ |
438 | /* Overide GasMischanteil */ |
| 437 | static unsigned int DescentCnt = 32000; |
439 | static unsigned int DescentCnt = 32000; |
| 438 | if ((RemoteLinkLost == 1) && |
440 | if ((RemoteLinkLost == 1) && |
| 439 | (MotorenEin == 1)) |
441 | (MotorenEin == 1)) |
| 440 | { |
442 | { |
| 441 | if ((UBat < 100) || /* Start to descent in case of low loltage or in case*/ |
443 | if ((UBat < 100) || /* Start to descent in case of low loltage or in case*/ |
| 442 | (maxDistance / 10 < 12)) /* we reached our target position */ |
444 | (maxDistance / 10 < 12)) /* we reached our target position */ |
| 443 | { |
445 | { |
| 444 | if (DescentCnt > 0) |
446 | if (DescentCnt > 0) |
| 445 | { |
447 | { |
| 446 | DescentCnt--; |
448 | DescentCnt--; |
| 447 | } |
449 | } |
| 448 | else |
450 | else |
| 449 | { /* We reached our target (hopefully) */ |
451 | { /* We reached our target (hopefully) */ |
| 450 | MotorenEin = 0; |
452 | MotorenEin = 0; |
| 451 | RemoteLinkLost = 0; |
453 | RemoteLinkLost = 0; |
| 452 | } |
454 | } |
| 453 | } |
455 | } |
| 454 | else |
456 | else |
| 455 | { |
457 | { |
| 456 | DescentCnt = 32000; |
458 | DescentCnt = 32000; |
| 457 | } |
459 | } |
| 458 | /* Bias the throttle for a slow descent */ |
460 | /* Bias the throttle for a slow descent */ |
| 459 | GasMischanteil = (int) ((AverageGasMischanteil + 5.0F) * (DescentCnt / 32000.F)); |
461 | GasMischanteil = (int) ((AverageGasMischanteil + 5.0F) * (DescentCnt / 32000.F)); |
| 460 | } |
462 | } |
| 461 | else |
463 | else |
| 462 | { |
464 | { |
| 463 | DescentCnt = 32000; |
465 | DescentCnt = 32000; |
| 464 | } |
466 | } |
| 465 | 467 | ||
| 466 | //DebugOut.Analog[13] = (int) GasMischanteil; |
468 | //DebugOut.Analog[13] = (int) GasMischanteil; |
| 467 | 469 | ||
| 468 | #ifdef X_FORMATION |
470 | #ifdef X_FORMATION |
| 469 | /* Overide in case the remote link got lost */ |
471 | /* Overide in case the remote link got lost */ |
| 470 | if (RemoteLinkLost == 0) |
472 | if (RemoteLinkLost == 0) |
| 471 | { /* We are flying in X-Formation */ |
473 | { /* We are flying in X-Formation */ |
| 472 | StickRoll45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) - 0.707F * (float)(StickNick - GPS_Nick)); |
474 | StickRoll45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) - 0.707F * (float)(StickNick - GPS_Nick)); |
| 473 | StickNick45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) + 0.707F * (float)(StickNick - GPS_Nick)); |
475 | StickNick45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) + 0.707F * (float)(StickNick - GPS_Nick)); |
| 474 | } |
476 | } |
| 475 | else |
477 | else |
| 476 | { /* GPS overide is aktive */ |
478 | { /* GPS overide is aktive */ |
| 477 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
479 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
| 478 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
480 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
| 479 | StickGier = 0; |
481 | StickGier = 0; |
| 480 | } |
482 | } |
| 481 | #else |
483 | #else |
| 482 | /* Overide in case the remote link got lost */ |
484 | /* Overide in case the remote link got lost */ |
| 483 | if (RemoteLinkLost == 0) |
485 | if (RemoteLinkLost == 0) |
| 484 | { /* We are flying in X-Formation */ |
486 | { /* We are flying in X-Formation */ |
| 485 | StickRoll45 = StickRoll - GPS_Roll; |
487 | StickRoll45 = StickRoll - GPS_Roll; |
| 486 | StickNick45 = StickNick - GPS_Nick; |
488 | StickNick45 = StickNick - GPS_Nick; |
| 487 | } |
489 | } |
| 488 | else |
490 | else |
| 489 | { /* GPS overide is aktive */ |
491 | { /* GPS overide is aktive */ |
| 490 | StickRoll45 = -GPS_Roll; |
492 | StickRoll45 = -GPS_Roll; |
| 491 | StickNick45 = -GPS_Nick; |
493 | StickNick45 = -GPS_Nick; |
| 492 | StickGier = 0; |
494 | StickGier = 0; |
| 493 | } |
495 | } |
| 494 | #endif |
496 | #endif |
| 495 | 497 | ||
| 496 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 497 | // Yaw |
499 | // Yaw |
| 498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 499 | 501 | ||
| 500 | if(GasMischanteil < 20) |
502 | if(GasMischanteil < 20) |
| 501 | { |
503 | { |
| 502 | sollGier = status.iPsi10; |
504 | sollGier = status.iPsi10; |
| 503 | SummeRoll = 0; |
505 | SummeRoll = 0; |
| 504 | SummeNick = 0; |
506 | SummeNick = 0; |
| 505 | } |
507 | } |
| 506 | 508 | ||
| 507 | /* Gier-Anteil */ |
509 | /* Gier-Anteil */ |
| 508 | if (abs(StickGier) > 4) |
510 | if (abs(StickGier) > 4) |
| 509 | { |
511 | { |
| 510 | sollGier = status.iPsi10 + 4 * StickGier; |
512 | sollGier = status.iPsi10 + 4 * StickGier; |
| 511 | } |
513 | } |
| 512 | DiffGier = (sollGier - status.iPsi10); |
514 | DiffGier = (sollGier - status.iPsi10); |
| 513 | GierMischanteil = (int) (-4 * DiffGier - 4* (AdWertGier_Raw - (int) AdNeutralGier)) / 10; |
515 | GierMischanteil = (int) (-4 * DiffGier - 4* (AdWertGier_Raw - (int) AdNeutralGier)) / 10; |
| 514 | 516 | ||
| 515 | #define MUL_G 0.8 |
517 | #define MUL_G 0.8 |
| 516 | if(GierMischanteil > MUL_G * GasMischanteil) |
518 | if(GierMischanteil > MUL_G * GasMischanteil) |
| 517 | { |
519 | { |
| 518 | GierMischanteil = MUL_G * GasMischanteil; |
520 | GierMischanteil = MUL_G * GasMischanteil; |
| 519 | } |
521 | } |
| 520 | if(GierMischanteil < -MUL_G * GasMischanteil) |
522 | if(GierMischanteil < -MUL_G * GasMischanteil) |
| 521 | { |
523 | { |
| 522 | GierMischanteil = -MUL_G * GasMischanteil; |
524 | GierMischanteil = -MUL_G * GasMischanteil; |
| 523 | } |
525 | } |
| 524 | if(GierMischanteil > 50) |
526 | if(GierMischanteil > 50) |
| 525 | { |
527 | { |
| 526 | GierMischanteil = 50; |
528 | GierMischanteil = 50; |
| 527 | } |
529 | } |
| 528 | if(GierMischanteil < -50) |
530 | if(GierMischanteil < -50) |
| 529 | { |
531 | { |
| 530 | GierMischanteil = -50; |
532 | GierMischanteil = -50; |
| 531 | } |
533 | } |
| 532 | 534 | ||
| 533 | /***************************************************************************** |
535 | /***************************************************************************** |
| 534 | PD-Control |
536 | PD-Control |
| 535 | **************************************************************************** */ |
537 | **************************************************************************** */ |
| 536 | int scale_p; |
538 | int scale_p; |
| 537 | int scale_d; |
539 | int scale_d; |
| 538 | 540 | ||
| 539 | scale_p = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 20); |
541 | scale_p = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 20); |
| 540 | scale_d = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 20); |
542 | scale_d = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 20); |
| 541 | 543 | ||
| 542 | scale_p = 6; |
544 | scale_p = 6; |
| 543 | scale_d = 7; |
545 | scale_d = 7; |
| 544 | 546 | ||
| 545 | //DebugOut.Analog[14] = scale_p; |
547 | //DebugOut.Analog[14] = scale_p; |
| 546 | //DebugOut.Analog[15] = scale_d; |
548 | //DebugOut.Analog[15] = scale_d; |
| 547 | 549 | ||
| 548 | /* Pitch */ |
550 | /* Pitch */ |
| 549 | DiffNick = -(status.iTheta10 + StickNick45); |
551 | DiffNick = -(status.iTheta10 + StickNick45); |
| 550 | /* R o l l */ |
552 | /* R o l l */ |
| 551 | DiffRoll = -(status.iPhi10 + StickRoll45); |
553 | DiffRoll = -(status.iPhi10 + StickRoll45); |
| 552 | 554 | ||
| 553 | SummeNick += DiffNick; |
555 | SummeNick += DiffNick; |
| 554 | if(SummeNick > 10000) |
556 | if(SummeNick > 10000) |
| 555 | { |
557 | { |
| 556 | SummeNick = 10000; |
558 | SummeNick = 10000; |
| 557 | } |
559 | } |
| 558 | if(SummeNick < -10000) |
560 | if(SummeNick < -10000) |
| 559 | { |
561 | { |
| 560 | SummeNick = -10000; |
562 | SummeNick = -10000; |
| 561 | } |
563 | } |
| 562 | 564 | ||
| 563 | SummeRoll += DiffRoll; |
565 | SummeRoll += DiffRoll; |
| 564 | if(SummeRoll > 10000) |
566 | if(SummeRoll > 10000) |
| 565 | { |
567 | { |
| 566 | SummeRoll = 10000; |
568 | SummeRoll = 10000; |
| 567 | } |
569 | } |
| 568 | if(SummeRoll < -10000) |
570 | if(SummeRoll < -10000) |
| 569 | { |
571 | { |
| 570 | SummeRoll = -10000; |
572 | SummeRoll = -10000; |
| 571 | } |
573 | } |
| 572 | 574 | ||
| 573 | pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick_Raw - (int) AdNeutralNick)) / 10) ; // + (int)(SummeNick / 2000); |
575 | pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick_Raw - (int) AdNeutralNick)) / 10) ; // + (int)(SummeNick / 2000); |
| 574 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
576 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 575 | { |
577 | { |
| 576 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
578 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 577 | } |
579 | } |
| 578 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
580 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 579 | { |
581 | { |
| 580 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
582 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 581 | } |
583 | } |
| 582 | 584 | ||
| 583 | /* M o t o r V o r n */ |
585 | /* M o t o r V o r n */ |
| 584 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
586 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
| 585 | if ((motorwert < 0)) |
587 | if ((motorwert < 0)) |
| 586 | { |
588 | { |
| 587 | motorwert = 0; |
589 | motorwert = 0; |
| 588 | } |
590 | } |
| 589 | else if(motorwert > MAX_GAS) |
591 | else if(motorwert > MAX_GAS) |
| 590 | { |
592 | { |
| 591 | motorwert = MAX_GAS; |
593 | motorwert = MAX_GAS; |
| 592 | } |
594 | } |
| 593 | if (motorwert < MIN_GAS) |
595 | if (motorwert < MIN_GAS) |
| 594 | { |
596 | { |
| 595 | motorwert = MIN_GAS; |
597 | motorwert = MIN_GAS; |
| 596 | } |
598 | } |
| 597 | Motor_Vorne = motorwert; |
599 | Motor_Vorne = motorwert; |
| 598 | 600 | ||
| 599 | /* M o t o r H e c k */ |
601 | /* M o t o r H e c k */ |
| 600 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
602 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| 601 | if ((motorwert < 0)) |
603 | if ((motorwert < 0)) |
| 602 | { |
604 | { |
| 603 | motorwert = 0; |
605 | motorwert = 0; |
| 604 | } |
606 | } |
| 605 | else if(motorwert > MAX_GAS) |
607 | else if(motorwert > MAX_GAS) |
| 606 | { |
608 | { |
| 607 | motorwert = MAX_GAS; |
609 | motorwert = MAX_GAS; |
| 608 | } |
610 | } |
| 609 | if (motorwert < MIN_GAS) |
611 | if (motorwert < MIN_GAS) |
| 610 | { |
612 | { |
| 611 | motorwert = MIN_GAS; |
613 | motorwert = MIN_GAS; |
| 612 | } |
614 | } |
| 613 | Motor_Hinten = motorwert; |
615 | Motor_Hinten = motorwert; |
| 614 | 616 | ||
| 615 | pd_ergebnis = ((scale_p * DiffRoll + scale_d * (AdWertRoll_Raw - (int) AdNeutralRoll)) / 10) ; //+ (int)(SummeRoll / 2000); |
617 | pd_ergebnis = ((scale_p * DiffRoll + scale_d * (AdWertRoll_Raw - (int) AdNeutralRoll)) / 10) ; //+ (int)(SummeRoll / 2000); |
| 616 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
618 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 617 | { |
619 | { |
| 618 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
620 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 619 | } |
621 | } |
| 620 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
622 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 621 | { |
623 | { |
| 622 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
624 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 623 | } |
625 | } |
| 624 | 626 | ||
| 625 | /* M o t o r L i n k s */ |
627 | /* M o t o r L i n k s */ |
| 626 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
628 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| 627 | if(motorwert > MAX_GAS) |
629 | if(motorwert > MAX_GAS) |
| 628 | { |
630 | { |
| 629 | motorwert = MAX_GAS; |
631 | motorwert = MAX_GAS; |
| 630 | } |
632 | } |
| 631 | if (motorwert < MIN_GAS) |
633 | if (motorwert < MIN_GAS) |
| 632 | { |
634 | { |
| 633 | motorwert = MIN_GAS; |
635 | motorwert = MIN_GAS; |
| 634 | } |
636 | } |
| 635 | Motor_Links = motorwert; |
637 | Motor_Links = motorwert; |
| 636 | 638 | ||
| 637 | /* M o t o r R e c h t s */ |
639 | /* M o t o r R e c h t s */ |
| 638 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
640 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| 639 | if(motorwert > MAX_GAS) |
641 | if(motorwert > MAX_GAS) |
| 640 | { |
642 | { |
| 641 | motorwert = MAX_GAS; |
643 | motorwert = MAX_GAS; |
| 642 | } |
644 | } |
| 643 | if (motorwert < MIN_GAS) |
645 | if (motorwert < MIN_GAS) |
| 644 | { |
646 | { |
| 645 | motorwert = MIN_GAS; |
647 | motorwert = MIN_GAS; |
| 646 | } |
648 | } |
| 647 | Motor_Rechts = motorwert; |
649 | Motor_Rechts = motorwert; |
| 648 | 650 | ||
| 649 | #if 1 |
651 | #if 1 |
| 650 | DebugOut.Analog[0] = status.iTheta10; |
652 | DebugOut.Analog[0] = status.iTheta10; |
| 651 | DebugOut.Analog[1] = status.iPhi10; |
653 | DebugOut.Analog[1] = status.iPhi10; |
| 652 | DebugOut.Analog[2] = status.iPsi10 / 10; |
654 | DebugOut.Analog[2] = status.iPsi10 / 10; |
| 653 | #endif |
655 | #endif |
| 654 | } |
656 | } |
| 655 | 657 | ||