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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = 0; |
80 | int KompassValue = 0; |
81 | int KompassStartwert = 0; |
81 | int KompassStartwert = 0; |
82 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
83 | unsigned int KompassSignalSchlecht = 500; |
83 | unsigned int KompassSignalSchlecht = 500; |
84 | unsigned char MAX_GAS,MIN_GAS; |
84 | unsigned char MAX_GAS,MIN_GAS; |
85 | unsigned char HoehenReglerAktiv = 0; |
85 | unsigned char HoehenReglerAktiv = 0; |
86 | unsigned char TrichterFlug = 0; |
86 | unsigned char TrichterFlug = 0; |
87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
88 | long ErsatzKompass; |
88 | long ErsatzKompass; |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
90 | int GierGyroFehler = 0; |
90 | int GierGyroFehler = 0; |
91 | char GyroFaktor,GyroFaktorGier; |
91 | char GyroFaktor,GyroFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
93 | int DiffNick,DiffRoll; |
93 | int DiffNick,DiffRoll; |
94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
96 | volatile unsigned char SenderOkay = 0; |
96 | volatile unsigned char SenderOkay = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
98 | char MotorenEin = 0,StartTrigger = 0; |
98 | char MotorenEin = 0,StartTrigger = 0; |
99 | long HoehenWert = 0; |
99 | long HoehenWert = 0; |
100 | long SollHoehe = 0; |
100 | long SollHoehe = 0; |
101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
102 | //float Ki = FAKTOR_I; |
102 | //float Ki = FAKTOR_I; |
103 | int Ki = 10300 / 33; |
103 | int Ki = 10300 / 33; |
104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
106 | 106 | ||
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
120 | unsigned char Parameter_UserParam1 = 0; |
120 | unsigned char Parameter_UserParam1 = 0; |
121 | unsigned char Parameter_UserParam2 = 0; |
121 | unsigned char Parameter_UserParam2 = 0; |
122 | unsigned char Parameter_UserParam3 = 0; |
122 | unsigned char Parameter_UserParam3 = 0; |
123 | unsigned char Parameter_UserParam4 = 0; |
123 | unsigned char Parameter_UserParam4 = 0; |
124 | unsigned char Parameter_UserParam5 = 0; |
124 | unsigned char Parameter_UserParam5 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
126 | unsigned char Parameter_UserParam7 = 0; |
126 | unsigned char Parameter_UserParam7 = 0; |
127 | unsigned char Parameter_UserParam8 = 0; |
127 | unsigned char Parameter_UserParam8 = 0; |
128 | unsigned char Parameter_ServoNickControl = 100; |
128 | unsigned char Parameter_ServoNickControl = 100; |
129 | unsigned char Parameter_ServoRollControl = 100; |
129 | unsigned char Parameter_ServoRollControl = 100; |
130 | unsigned char Parameter_LoopGasLimit = 70; |
130 | unsigned char Parameter_LoopGasLimit = 70; |
131 | unsigned char Parameter_AchsKopplung1 = 90; |
131 | unsigned char Parameter_AchsKopplung1 = 90; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
133 | unsigned char Parameter_CouplingYawCorrection = 64; |
133 | unsigned char Parameter_CouplingYawCorrection = 64; |
134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
135 | unsigned char Parameter_DynamicStability = 100; |
135 | unsigned char Parameter_DynamicStability = 100; |
136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
139 | unsigned char Parameter_J17Timing; // for the J17 Output |
139 | unsigned char Parameter_J17Timing; // for the J17 Output |
140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
141 | unsigned char Parameter_NaviGpsGain; |
141 | unsigned char Parameter_NaviGpsGain; |
142 | unsigned char Parameter_NaviGpsP; |
142 | unsigned char Parameter_NaviGpsP; |
143 | unsigned char Parameter_NaviGpsI; |
143 | unsigned char Parameter_NaviGpsI; |
144 | unsigned char Parameter_NaviGpsD; |
144 | unsigned char Parameter_NaviGpsD; |
145 | unsigned char Parameter_NaviGpsACC; |
145 | unsigned char Parameter_NaviGpsACC; |
146 | unsigned char Parameter_NaviOperatingRadius; |
146 | unsigned char Parameter_NaviOperatingRadius; |
147 | unsigned char Parameter_NaviWindCorrection; |
147 | unsigned char Parameter_NaviWindCorrection; |
148 | unsigned char Parameter_NaviSpeedCompensation; |
148 | unsigned char Parameter_NaviSpeedCompensation; |
149 | unsigned char Parameter_ExternalControl; |
149 | unsigned char Parameter_ExternalControl; |
150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
151 | unsigned char CareFree = 0; |
151 | unsigned char CareFree = 0; |
152 | 152 | ||
153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
154 | int MaxStickNick = 0,MaxStickRoll = 0; |
154 | int MaxStickNick = 0,MaxStickRoll = 0; |
155 | unsigned int modell_fliegt = 0; |
155 | unsigned int modell_fliegt = 0; |
156 | volatile unsigned char FCFlags = 0; |
156 | volatile unsigned char FCFlags = 0; |
157 | long GIER_GRAD_FAKTOR = 1291; |
157 | long GIER_GRAD_FAKTOR = 1291; |
158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
159 | signed int tmp_motorwert[MAX_MOTORS]; |
159 | signed int tmp_motorwert[MAX_MOTORS]; |
160 | char VarioCharacter = ' '; |
160 | char VarioCharacter = ' '; |
161 | 161 | ||
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
165 | 165 | ||
166 | 166 | ||
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // Debugwerte zuordnen |
168 | // Debugwerte zuordnen |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | void CopyDebugValues(void) |
170 | void CopyDebugValues(void) |
171 | { |
171 | { |
172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
177 | DebugOut.Analog[5] = HoehenWert/5; |
177 | DebugOut.Analog[5] = HoehenWert/5; |
178 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
178 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
179 | DebugOut.Analog[8] = KompassValue; |
179 | DebugOut.Analog[8] = KompassValue; |
180 | DebugOut.Analog[9] = UBat; |
180 | DebugOut.Analog[9] = UBat; |
181 | DebugOut.Analog[10] = SenderOkay; |
181 | DebugOut.Analog[10] = SenderOkay; |
182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
- | 183 | DebugOut.Analog[12] = Motor[0].SetPoint; |
|
- | 184 | DebugOut.Analog[13] = Motor[1].SetPoint; |
|
- | 185 | DebugOut.Analog[14] = Motor[2].SetPoint; |
|
- | 186 | DebugOut.Analog[15] = Motor[3].SetPoint; |
|
183 | DebugOut.Analog[20] = ServoNickValue; |
187 | DebugOut.Analog[20] = ServoNickValue; |
184 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
188 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
185 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
189 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
186 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
190 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
187 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
191 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
188 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
192 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
189 | DebugOut.Analog[30] = GPS_Nick; |
193 | DebugOut.Analog[30] = GPS_Nick; |
190 | DebugOut.Analog[31] = GPS_Roll; |
194 | DebugOut.Analog[31] = GPS_Roll; |
- | 195 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
|
191 | } |
196 | } |
192 | 197 | ||
193 | void Piep(unsigned char Anzahl, unsigned int dauer) |
198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
194 | { |
199 | { |
195 | if(MotorenEin) return; //auf keinen Fall im Flug! |
200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
196 | while(Anzahl--) |
201 | while(Anzahl--) |
197 | { |
202 | { |
198 | beeptime = dauer; |
203 | beeptime = dauer; |
199 | while(beeptime); |
204 | while(beeptime); |
200 | Delay_ms(dauer * 2); |
205 | Delay_ms(dauer * 2); |
201 | } |
206 | } |
202 | } |
207 | } |
203 | 208 | ||
204 | //############################################################################ |
209 | //############################################################################ |
205 | // Messwerte beim Ermitteln der Nullage |
210 | // Messwerte beim Ermitteln der Nullage |
206 | void CalibrierMittelwert(void) |
211 | void CalibrierMittelwert(void) |
207 | //############################################################################ |
212 | //############################################################################ |
208 | { |
213 | { |
209 | unsigned char i; |
214 | unsigned char i; |
210 | if(PlatinenVersion == 13) SucheGyroOffset(); |
215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
211 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
212 | ANALOG_OFF; |
217 | ANALOG_OFF; |
213 | MesswertNick = AdWertNick; |
218 | MesswertNick = AdWertNick; |
214 | MesswertRoll = AdWertRoll; |
219 | MesswertRoll = AdWertRoll; |
215 | MesswertGier = AdWertGier; |
220 | MesswertGier = AdWertGier; |
216 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
221 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
217 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
222 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
218 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
223 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
219 | // ADC einschalten |
224 | // ADC einschalten |
220 | ANALOG_ON; |
225 | ANALOG_ON; |
221 | for(i=0;i<8;i++) |
226 | for(i=0;i<8;i++) |
222 | { |
227 | { |
223 | int tmp; |
228 | int tmp; |
224 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
225 | LIMIT_MIN_MAX(tmp, 0, 255); |
230 | LIMIT_MIN_MAX(tmp, 0, 255); |
226 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
231 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
227 | } |
232 | } |
228 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
233 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
229 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
234 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
230 | } |
235 | } |
231 | 236 | ||
232 | //############################################################################ |
237 | //############################################################################ |
233 | // Nullwerte ermitteln |
238 | // Nullwerte ermitteln |
234 | void SetNeutral(unsigned char AccAdjustment) |
239 | void SetNeutral(unsigned char AccAdjustment) |
235 | //############################################################################ |
240 | //############################################################################ |
236 | { |
241 | { |
237 | unsigned char i; |
242 | unsigned char i; |
238 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
243 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
239 | - | ||
- | 244 | VersionInfo.HardwareError[0] = 0; |
|
240 | HEF4017R_ON; |
245 | HEF4017R_ON; |
241 | NeutralAccX = 0; |
246 | NeutralAccX = 0; |
242 | NeutralAccY = 0; |
247 | NeutralAccY = 0; |
243 | NeutralAccZ = 0; |
248 | NeutralAccZ = 0; |
244 | 249 | ||
245 | AdNeutralNick = 0; |
250 | AdNeutralNick = 0; |
246 | AdNeutralRoll = 0; |
251 | AdNeutralRoll = 0; |
247 | AdNeutralGier = 0; |
252 | AdNeutralGier = 0; |
248 | 253 | ||
249 | Parameter_AchsKopplung1 = 0; |
254 | Parameter_AchsKopplung1 = 0; |
250 | Parameter_AchsKopplung2 = 0; |
255 | Parameter_AchsKopplung2 = 0; |
251 | 256 | ||
252 | ExpandBaro = 0; |
257 | ExpandBaro = 0; |
253 | 258 | ||
254 | CalibrierMittelwert(); |
259 | CalibrierMittelwert(); |
255 | Delay_ms_Mess(100); |
260 | Delay_ms_Mess(100); |
256 | 261 | ||
257 | CalibrierMittelwert(); |
262 | CalibrierMittelwert(); |
258 | 263 | ||
259 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
264 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
260 | { |
265 | { |
261 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
266 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
262 | } |
267 | } |
263 | #define NEUTRAL_FILTER 32 |
268 | #define NEUTRAL_FILTER 32 |
264 | for(i=0; i<NEUTRAL_FILTER; i++) |
269 | for(i=0; i<NEUTRAL_FILTER; i++) |
265 | { |
270 | { |
266 | Delay_ms_Mess(10); |
271 | Delay_ms_Mess(10); |
267 | gier_neutral += AdWertGier; |
272 | gier_neutral += AdWertGier; |
268 | nick_neutral += AdWertNick; |
273 | nick_neutral += AdWertNick; |
269 | roll_neutral += AdWertRoll; |
274 | roll_neutral += AdWertRoll; |
270 | } |
275 | } |
271 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
276 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
272 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
277 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
273 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
278 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
274 | 279 | ||
275 | StartNeutralRoll = AdNeutralRoll; |
280 | StartNeutralRoll = AdNeutralRoll; |
276 | StartNeutralNick = AdNeutralNick; |
281 | StartNeutralNick = AdNeutralNick; |
277 | 282 | ||
278 | if(AccAdjustment) |
283 | if(AccAdjustment) |
279 | { |
284 | { |
280 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
285 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
281 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
286 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
282 | NeutralAccZ = Aktuell_az; |
287 | NeutralAccZ = Aktuell_az; |
283 | 288 | ||
284 | // Save ACC neutral settings to eeprom |
289 | // Save ACC neutral settings to eeprom |
285 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
290 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
286 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
291 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
287 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
292 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
288 | } |
293 | } |
289 | else |
294 | else |
290 | { |
295 | { |
291 | // restore from eeprom |
296 | // restore from eeprom |
292 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
297 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
293 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
298 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
294 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
299 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
295 | // strange settings? |
300 | // strange settings? |
296 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
301 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
297 | { |
302 | { |
298 | printf("\n\rACC not calibrated!\r\n"); |
303 | printf("\n\rACC not calibrated!\r\n"); |
299 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
300 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
301 | NeutralAccZ = Aktuell_az; |
306 | NeutralAccZ = Aktuell_az; |
302 | } |
307 | } |
303 | } |
308 | } |
304 | 309 | ||
305 | MesswertNick = 0; |
310 | MesswertNick = 0; |
306 | MesswertRoll = 0; |
311 | MesswertRoll = 0; |
307 | MesswertGier = 0; |
312 | MesswertGier = 0; |
308 | Delay_ms_Mess(100); |
313 | Delay_ms_Mess(100); |
309 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
314 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
310 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
315 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
311 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
316 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
312 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
317 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
313 | Mess_IntegralNick2 = IntegralNick; |
318 | Mess_IntegralNick2 = IntegralNick; |
314 | Mess_IntegralRoll2 = IntegralRoll; |
319 | Mess_IntegralRoll2 = IntegralRoll; |
315 | Mess_Integral_Gier = 0; |
320 | Mess_Integral_Gier = 0; |
316 | StartLuftdruck = Luftdruck; |
321 | StartLuftdruck = Luftdruck; |
317 | VarioMeter = 0; |
322 | VarioMeter = 0; |
318 | Mess_Integral_Hoch = 0; |
323 | Mess_Integral_Hoch = 0; |
319 | KompassStartwert = KompassValue; |
324 | KompassStartwert = KompassValue; |
320 | GPS_Neutral(); |
325 | GPS_Neutral(); |
321 | beeptime = 50; |
326 | beeptime = 50; |
322 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
327 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
323 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
328 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
324 | ExternHoehenValue = 0; |
329 | ExternHoehenValue = 0; |
325 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
330 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
326 | GierGyroFehler = 0; |
331 | GierGyroFehler = 0; |
327 | SendVersionToNavi = 1; |
332 | SendVersionToNavi = 1; |
328 | LED_Init(); |
333 | LED_Init(); |
329 | FCFlags |= FCFLAG_CALIBRATE; |
334 | FCFlags |= FCFLAG_CALIBRATE; |
330 | FromNaviCtrl_Value.Kalman_K = -1; |
335 | FromNaviCtrl_Value.Kalman_K = -1; |
331 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
336 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
332 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
337 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
333 | 338 | ||
334 | for(i=0;i<8;i++) |
339 | for(i=0;i<8;i++) |
335 | { |
340 | { |
336 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
341 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
337 | } |
342 | } |
338 | SenderOkay = 100; |
343 | SenderOkay = 100; |
339 | if(ServoActive) |
344 | if(ServoActive) |
340 | { |
345 | { |
341 | HEF4017R_ON; |
346 | HEF4017R_ON; |
342 | DDRD |=0x80; // enable J7 -> Servo signal |
347 | DDRD |=0x80; // enable J7 -> Servo signal |
343 | } |
348 | } |
- | 349 | ||
- | 350 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
|
- | 351 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
|
- | 352 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
|
- | 353 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
|
- | 354 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
|
- | 355 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
|
344 | } |
356 | } |
- | 357 | ||
345 | 358 | ||
346 | //############################################################################ |
359 | //############################################################################ |
347 | // Bearbeitet die Messwerte |
360 | // Bearbeitet die Messwerte |
348 | void Mittelwert(void) |
361 | void Mittelwert(void) |
349 | //############################################################################ |
362 | //############################################################################ |
350 | { |
363 | { |
351 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
364 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
352 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
365 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
353 | signed long winkel_nick, winkel_roll; |
366 | signed long winkel_nick, winkel_roll; |
354 | unsigned char i; |
367 | unsigned char i; |
355 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
368 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
356 | MesswertNick = (signed int) AdWertNickFilter / 8; |
369 | MesswertNick = (signed int) AdWertNickFilter / 8; |
357 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
370 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
358 | RohMesswertNick = MesswertNick; |
371 | RohMesswertNick = MesswertNick; |
359 | RohMesswertRoll = MesswertRoll; |
372 | RohMesswertRoll = MesswertRoll; |
360 | 373 | ||
361 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
374 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
362 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
375 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
363 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
376 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
364 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
377 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
365 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
378 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
366 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
379 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
367 | NaviAccNick += AdWertAccNick; |
380 | NaviAccNick += AdWertAccNick; |
368 | NaviAccRoll += AdWertAccRoll; |
381 | NaviAccRoll += AdWertAccRoll; |
369 | NaviCntAcc++; |
382 | NaviCntAcc++; |
370 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
383 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
371 | 384 | ||
372 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
385 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
373 | // ADC einschalten |
386 | // ADC einschalten |
374 | ANALOG_ON; |
387 | ANALOG_ON; |
375 | AdReady = 0; |
388 | AdReady = 0; |
376 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
389 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
377 | 390 | ||
378 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
391 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
379 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
392 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
380 | else winkel_roll = Mess_IntegralRoll; |
393 | else winkel_roll = Mess_IntegralRoll; |
381 | 394 | ||
382 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
395 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
383 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
396 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
384 | else winkel_nick = Mess_IntegralNick; |
397 | else winkel_nick = Mess_IntegralNick; |
385 | 398 | ||
386 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
399 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
387 | Mess_Integral_Gier += MesswertGier; |
400 | Mess_Integral_Gier += MesswertGier; |
388 | ErsatzKompass += MesswertGier; |
401 | ErsatzKompass += MesswertGier; |
389 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
402 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
390 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
403 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
391 | { |
404 | { |
392 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
405 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
393 | tmpl3 *= Parameter_AchsKopplung2; //65 |
406 | tmpl3 *= Parameter_AchsKopplung2; //65 |
394 | tmpl3 /= 4096L; |
407 | tmpl3 /= 4096L; |
395 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
408 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
396 | tmpl4 *= Parameter_AchsKopplung2; //65 |
409 | tmpl4 *= Parameter_AchsKopplung2; //65 |
397 | tmpl4 /= 4096L; |
410 | tmpl4 /= 4096L; |
398 | KopplungsteilNickRoll = tmpl3; |
411 | KopplungsteilNickRoll = tmpl3; |
399 | KopplungsteilRollNick = tmpl4; |
412 | KopplungsteilRollNick = tmpl4; |
400 | tmpl4 -= tmpl3; |
413 | tmpl4 -= tmpl3; |
401 | ErsatzKompass += tmpl4; |
414 | ErsatzKompass += tmpl4; |
402 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
415 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
403 | 416 | ||
404 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
417 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
405 | tmpl *= Parameter_AchsKopplung1; // 90 |
418 | tmpl *= Parameter_AchsKopplung1; // 90 |
406 | tmpl /= 4096L; |
419 | tmpl /= 4096L; |
407 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
420 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
408 | tmpl2 *= Parameter_AchsKopplung1; |
421 | tmpl2 *= Parameter_AchsKopplung1; |
409 | tmpl2 /= 4096L; |
422 | tmpl2 /= 4096L; |
410 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
423 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
411 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
424 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
412 | } |
425 | } |
413 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
426 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
414 | TrimRoll = tmpl - tmpl2 / 100L; |
427 | TrimRoll = tmpl - tmpl2 / 100L; |
415 | TrimNick = -tmpl2 + tmpl / 100L; |
428 | TrimNick = -tmpl2 + tmpl / 100L; |
416 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
429 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
417 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
430 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
418 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
431 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
419 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
432 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
420 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
433 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
421 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
434 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
422 | if(Mess_IntegralRoll > Umschlag180Roll) |
435 | if(Mess_IntegralRoll > Umschlag180Roll) |
423 | { |
436 | { |
424 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
437 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
425 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
438 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
426 | } |
439 | } |
427 | if(Mess_IntegralRoll <-Umschlag180Roll) |
440 | if(Mess_IntegralRoll <-Umschlag180Roll) |
428 | { |
441 | { |
429 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
442 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
430 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
443 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
431 | } |
444 | } |
432 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
445 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
433 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
446 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
434 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
447 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
435 | if(Mess_IntegralNick > Umschlag180Nick) |
448 | if(Mess_IntegralNick > Umschlag180Nick) |
436 | { |
449 | { |
437 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
450 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
438 | Mess_IntegralNick2 = Mess_IntegralNick; |
451 | Mess_IntegralNick2 = Mess_IntegralNick; |
439 | } |
452 | } |
440 | if(Mess_IntegralNick <-Umschlag180Nick) |
453 | if(Mess_IntegralNick <-Umschlag180Nick) |
441 | { |
454 | { |
442 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
455 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
443 | Mess_IntegralNick2 = Mess_IntegralNick; |
456 | Mess_IntegralNick2 = Mess_IntegralNick; |
444 | } |
457 | } |
445 | 458 | ||
446 | Integral_Gier = Mess_Integral_Gier; |
459 | Integral_Gier = Mess_Integral_Gier; |
447 | IntegralNick = Mess_IntegralNick; |
460 | IntegralNick = Mess_IntegralNick; |
448 | IntegralRoll = Mess_IntegralRoll; |
461 | IntegralRoll = Mess_IntegralRoll; |
449 | IntegralNick2 = Mess_IntegralNick2; |
462 | IntegralNick2 = Mess_IntegralNick2; |
450 | IntegralRoll2 = Mess_IntegralRoll2; |
463 | IntegralRoll2 = Mess_IntegralRoll2; |
451 | 464 | ||
452 | #define D_LIMIT 128 |
465 | #define D_LIMIT 128 |
453 | 466 | ||
454 | MesswertNick = HiResNick / 8; |
467 | MesswertNick = HiResNick / 8; |
455 | MesswertRoll = HiResRoll / 8; |
468 | MesswertRoll = HiResRoll / 8; |
456 | 469 | ||
457 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
470 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
458 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
471 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
459 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
472 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
460 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
473 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
461 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
474 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
462 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
475 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
463 | 476 | ||
464 | if(Parameter_Gyro_D) |
477 | if(Parameter_Gyro_D) |
465 | { |
478 | { |
466 | d2Nick = HiResNick - oldNick; |
479 | d2Nick = HiResNick - oldNick; |
467 | oldNick = (oldNick + HiResNick)/2; |
480 | oldNick = (oldNick + HiResNick)/2; |
468 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
481 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
469 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
482 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
470 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
483 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
471 | d2Roll = HiResRoll - oldRoll; |
484 | d2Roll = HiResRoll - oldRoll; |
472 | oldRoll = (oldRoll + HiResRoll)/2; |
485 | oldRoll = (oldRoll + HiResRoll)/2; |
473 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
486 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
474 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
487 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
475 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
488 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
476 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
489 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
477 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
490 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
478 | } |
491 | } |
479 | 492 | ||
480 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
493 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
481 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
494 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
482 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
495 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
483 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
496 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
484 | 497 | ||
485 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
498 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
486 | { |
499 | { |
487 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
500 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
488 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
501 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
489 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
502 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
490 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
503 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
491 | } |
504 | } |
492 | for(i=0;i<8;i++) |
505 | for(i=0;i<8;i++) |
493 | { |
506 | { |
494 | int tmp; |
507 | int tmp; |
495 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
508 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
496 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
509 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
497 | if(tmp != Poti[i]) |
510 | if(tmp != Poti[i]) |
498 | { |
511 | { |
499 | Poti[i] += (tmp - Poti[i]) / 8; |
512 | Poti[i] += (tmp - Poti[i]) / 8; |
500 | if(Poti[i] > tmp) Poti[i]--; |
513 | if(Poti[i] > tmp) Poti[i]--; |
501 | else Poti[i]++; |
514 | else Poti[i]++; |
502 | } |
515 | } |
503 | } |
516 | } |
504 | } |
517 | } |
505 | 518 | ||
506 | //############################################################################ |
519 | //############################################################################ |
507 | // Senden der Motorwerte per I2C-Bus |
520 | // Senden der Motorwerte per I2C-Bus |
508 | void SendMotorData(void) |
521 | void SendMotorData(void) |
509 | //############################################################################ |
522 | //############################################################################ |
510 | { |
523 | { |
511 | unsigned char i; |
524 | unsigned char i; |
512 | if(!MotorenEin) |
525 | if(!MotorenEin) |
513 | { |
526 | { |
514 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
527 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
515 | for(i=0;i<MAX_MOTORS;i++) |
528 | for(i=0;i<MAX_MOTORS;i++) |
516 | { |
529 | { |
517 | if(!PC_MotortestActive) MotorTest[i] = 0; |
530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
518 | Motor[i].SetPoint = MotorTest[i]; |
531 | Motor[i].SetPoint = MotorTest[i]; |
519 | Motor[i].SetPointLowerBits = 0; |
532 | Motor[i].SetPointLowerBits = 0; |
520 | /* |
533 | /* |
521 | Motor[i].SetPoint = MotorTest[i] / 4; |
534 | Motor[i].SetPoint = MotorTest[i] / 4; |
522 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
523 | */ |
536 | */ |
524 | } |
537 | } |
525 | if(PC_MotortestActive) PC_MotortestActive--; |
538 | if(PC_MotortestActive) PC_MotortestActive--; |
526 | } |
539 | } |
527 | else FCFlags |= FCFLAG_MOTOR_RUN; |
540 | else FCFlags |= FCFLAG_MOTOR_RUN; |
528 | - | ||
529 | DebugOut.Analog[12] = Motor[0].SetPoint; |
- | |
530 | DebugOut.Analog[13] = Motor[1].SetPoint; |
- | |
531 | DebugOut.Analog[14] = Motor[2].SetPoint; |
- | |
532 | DebugOut.Analog[15] = Motor[3].SetPoint; |
- | |
533 | - | ||
534 | //Start I2C Interrupt Mode |
541 | //Start I2C Interrupt Mode |
535 | motor_write = 0; |
542 | motor_write = 0; |
536 | I2C_Start(TWI_STATE_MOTOR_TX); |
543 | I2C_Start(TWI_STATE_MOTOR_TX); |
537 | } |
544 | } |
538 | 545 | ||
539 | 546 | ||
540 | 547 | ||
541 | //############################################################################ |
548 | //############################################################################ |
542 | // Trägt ggf. das Poti als Parameter ein |
549 | // Trägt ggf. das Poti als Parameter ein |
543 | void ParameterZuordnung(void) |
550 | void ParameterZuordnung(void) |
544 | //############################################################################ |
551 | //############################################################################ |
545 | { |
552 | { |
546 | unsigned char tmp; |
553 | unsigned char tmp; |
547 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
554 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
548 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
555 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
549 | 556 | ||
550 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
557 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
551 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
558 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
552 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
559 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
553 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
560 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
554 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
561 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
555 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
562 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
556 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
563 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
557 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
564 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
558 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
565 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
559 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
566 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
560 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
567 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
561 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
568 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
562 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
569 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
563 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
570 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
564 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
571 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
565 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
572 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
566 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
573 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
567 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
574 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
568 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
575 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
569 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
576 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
570 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
577 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
571 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
578 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
572 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
579 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
573 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
580 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
574 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
581 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
575 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
582 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
576 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
583 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
577 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
584 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
578 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
585 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
579 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
586 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
580 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
587 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
581 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
588 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
582 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
589 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
583 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
590 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
584 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
591 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
585 | Ki = 10300 / (Parameter_I_Faktor + 1); |
592 | Ki = 10300 / (Parameter_I_Faktor + 1); |
586 | MAX_GAS = EE_Parameter.Gas_Max; |
593 | MAX_GAS = EE_Parameter.Gas_Max; |
587 | MIN_GAS = EE_Parameter.Gas_Min; |
594 | MIN_GAS = EE_Parameter.Gas_Min; |
588 | 595 | ||
589 | tmp = EE_Parameter.OrientationModeControl; |
596 | tmp = EE_Parameter.OrientationModeControl; |
590 | if(tmp > 50) |
597 | if(tmp > 50) |
591 | { |
598 | { |
592 | #ifdef SWITCH_LEARNS_CAREFREE |
599 | #ifdef SWITCH_LEARNS_CAREFREE |
593 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
600 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
594 | #endif |
601 | #endif |
595 | CareFree = 1; |
602 | CareFree = 1; |
596 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
603 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
- | 604 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
|
597 | } |
605 | } |
598 | else CareFree = 0; |
606 | else CareFree = 0; |
599 | 607 | ||
600 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
608 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
601 | { |
609 | { |
602 | beeptime = 15000; |
610 | beeptime = 15000; |
603 | BeepMuster = 0xA400; |
611 | BeepMuster = 0xA400; |
604 | CareFree = 0; |
612 | CareFree = 0; |
605 | } |
613 | } |
- | 614 | ||
606 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
615 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
607 | } |
616 | } |
608 | 617 | ||
609 | //############################################################################ |
618 | //############################################################################ |
610 | // |
619 | // |
611 | void MotorRegler(void) |
620 | void MotorRegler(void) |
612 | //############################################################################ |
621 | //############################################################################ |
613 | { |
622 | { |
614 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
623 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
615 | int GierMischanteil,GasMischanteil; |
624 | int GierMischanteil,GasMischanteil; |
616 | static long sollGier = 0,tmp_long,tmp_long2; |
625 | static long sollGier = 0,tmp_long,tmp_long2; |
617 | static long IntegralFehlerNick = 0; |
626 | static long IntegralFehlerNick = 0; |
618 | static long IntegralFehlerRoll = 0; |
627 | static long IntegralFehlerRoll = 0; |
619 | static unsigned int RcLostTimer; |
628 | static unsigned int RcLostTimer; |
620 | static unsigned char delay_neutral = 0; |
629 | static unsigned char delay_neutral = 0; |
621 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
622 | static unsigned char calibration_done = 0; |
631 | static unsigned char calibration_done = 0; |
623 | static char NeueKompassRichtungMerken = 0; |
632 | static char NeueKompassRichtungMerken = 0; |
624 | static long ausgleichNick, ausgleichRoll; |
633 | static long ausgleichNick, ausgleichRoll; |
625 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
634 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
626 | unsigned char i; |
635 | unsigned char i; |
627 | Mittelwert(); |
636 | Mittelwert(); |
628 | GRN_ON; |
637 | GRN_ON; |
629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
630 | // Gaswert ermitteln |
639 | // Gaswert ermitteln |
631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
640 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
632 | GasMischanteil = StickGas; |
641 | GasMischanteil = StickGas; |
633 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
642 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
634 | 643 | ||
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
636 | // Empfang schlecht |
645 | // Empfang schlecht |
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | if(SenderOkay < 100) |
647 | if(SenderOkay < 100) |
639 | { |
648 | { |
640 | if(RcLostTimer) RcLostTimer--; |
649 | if(RcLostTimer) RcLostTimer--; |
641 | else |
650 | else |
642 | { |
651 | { |
643 | MotorenEin = 0; |
652 | MotorenEin = 0; |
644 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
653 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
645 | } |
654 | } |
646 | ROT_ON; |
655 | ROT_ON; |
647 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
656 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
648 | { |
657 | { |
649 | GasMischanteil = EE_Parameter.NotGas; |
658 | GasMischanteil = EE_Parameter.NotGas; |
650 | FCFlags |= FCFLAG_NOTLANDUNG; |
659 | FCFlags |= FCFLAG_NOTLANDUNG; |
651 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
660 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
652 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
661 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
653 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
662 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
654 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
663 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
655 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
664 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
656 | } |
665 | } |
657 | else MotorenEin = 0; |
666 | else MotorenEin = 0; |
658 | } |
667 | } |
659 | else |
668 | else |
660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | // Emfang gut |
670 | // Emfang gut |
662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | if(SenderOkay > 140) |
672 | if(SenderOkay > 140) |
664 | { |
673 | { |
665 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
674 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
666 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
675 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
667 | if(GasMischanteil > 40 && MotorenEin) |
676 | if(GasMischanteil > 40 && MotorenEin) |
668 | { |
677 | { |
669 | if(modell_fliegt < 0xffff) modell_fliegt++; |
678 | if(modell_fliegt < 0xffff) modell_fliegt++; |
670 | } |
679 | } |
671 | if((modell_fliegt < 256)) |
680 | if((modell_fliegt < 256)) |
672 | { |
681 | { |
673 | SummeNick = 0; |
682 | SummeNick = 0; |
674 | SummeRoll = 0; |
683 | SummeRoll = 0; |
675 | sollGier = 0; |
684 | sollGier = 0; |
676 | Mess_Integral_Gier = 0; |
685 | Mess_Integral_Gier = 0; |
677 | if(modell_fliegt == 250) |
686 | if(modell_fliegt == 250) |
678 | { |
687 | { |
679 | NeueKompassRichtungMerken = 1; |
688 | NeueKompassRichtungMerken = 1; |
680 | // Mess_Integral_Gier2 = 0; |
689 | // Mess_Integral_Gier2 = 0; |
681 | } |
690 | } |
682 | } else FCFlags |= FCFLAG_FLY; |
691 | } else FCFlags |= FCFLAG_FLY; |
683 | 692 | ||
684 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
693 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
685 | { |
694 | { |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | // auf Nullwerte kalibrieren |
696 | // auf Nullwerte kalibrieren |
688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
698 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
690 | { |
699 | { |
691 | if(++delay_neutral > 200) // nicht sofort |
700 | if(++delay_neutral > 200) // nicht sofort |
692 | { |
701 | { |
693 | GRN_OFF; |
702 | GRN_OFF; |
694 | MotorenEin = 0; |
703 | MotorenEin = 0; |
695 | delay_neutral = 0; |
704 | delay_neutral = 0; |
696 | modell_fliegt = 0; |
705 | modell_fliegt = 0; |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
706 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
698 | { |
707 | { |
699 | unsigned char setting=1; |
708 | unsigned char setting=1; |
700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
701 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
711 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
712 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
713 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
705 | SetActiveParamSet(setting); // aktiven Datensatz merken |
714 | SetActiveParamSet(setting); // aktiven Datensatz merken |
706 | } |
715 | } |
707 | // else |
716 | // else |
708 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
717 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
709 | { |
718 | { |
710 | WinkelOut.CalcState = 1; |
719 | WinkelOut.CalcState = 1; |
711 | beeptime = 1000; |
720 | beeptime = 1000; |
712 | } |
721 | } |
713 | else |
722 | else |
714 | { |
723 | { |
715 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
724 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
716 | LipoDetection(0); |
725 | LipoDetection(0); |
717 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
726 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
718 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
727 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
719 | { |
728 | { |
720 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
729 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
721 | } |
730 | } |
722 | ServoActive = 0; |
731 | ServoActive = 0; |
723 | SetNeutral(0); |
732 | SetNeutral(0); |
724 | calibration_done = 1; |
733 | calibration_done = 1; |
725 | ServoActive = 1; |
734 | ServoActive = 1; |
726 | DDRD |=0x80; // enable J7 -> Servo signal |
735 | DDRD |=0x80; // enable J7 -> Servo signal |
727 | Piep(GetActiveParamSet(),120); |
736 | Piep(GetActiveParamSet(),120); |
728 | } |
737 | } |
729 | } |
738 | } |
730 | } |
739 | } |
731 | else |
740 | else |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
741 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
733 | { |
742 | { |
734 | if(++delay_neutral > 200) // nicht sofort |
743 | if(++delay_neutral > 200) // nicht sofort |
735 | { |
744 | { |
736 | GRN_OFF; |
745 | GRN_OFF; |
737 | MotorenEin = 0; |
746 | MotorenEin = 0; |
738 | delay_neutral = 0; |
747 | delay_neutral = 0; |
739 | modell_fliegt = 0; |
748 | modell_fliegt = 0; |
740 | SetNeutral(1); |
749 | SetNeutral(1); |
741 | calibration_done = 1; |
750 | calibration_done = 1; |
742 | Piep(GetActiveParamSet(),120); |
751 | Piep(GetActiveParamSet(),120); |
743 | } |
752 | } |
744 | } |
753 | } |
745 | else delay_neutral = 0; |
754 | else delay_neutral = 0; |
746 | } |
755 | } |
747 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
748 | // Gas ist unten |
757 | // Gas ist unten |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
759 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
751 | { |
760 | { |
752 | // Motoren Starten |
761 | // Motoren Starten |
753 | if(!MotorenEin) |
762 | if(!MotorenEin) |
754 | { |
763 | { |
755 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
764 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
756 | { |
765 | { |
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // Einschalten |
767 | // Einschalten |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
760 | if(++delay_einschalten > 200) |
769 | if(++delay_einschalten > 200) |
761 | { |
770 | { |
762 | delay_einschalten = 0; |
771 | delay_einschalten = 0; |
763 | if(calibration_done) |
772 | if(!VersionInfo.HardwareError[0] && calibration_done) |
764 | { |
773 | { |
765 | modell_fliegt = 1; |
774 | modell_fliegt = 1; |
766 | MotorenEin = 1; |
775 | MotorenEin = 1; |
767 | sollGier = 0; |
776 | sollGier = 0; |
768 | Mess_Integral_Gier = 0; |
777 | Mess_Integral_Gier = 0; |
769 | Mess_Integral_Gier2 = 0; |
778 | Mess_Integral_Gier2 = 0; |
770 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
779 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
771 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
780 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
772 | Mess_IntegralNick2 = IntegralNick; |
781 | Mess_IntegralNick2 = IntegralNick; |
773 | Mess_IntegralRoll2 = IntegralRoll; |
782 | Mess_IntegralRoll2 = IntegralRoll; |
774 | SummeNick = 0; |
783 | SummeNick = 0; |
775 | SummeRoll = 0; |
784 | SummeRoll = 0; |
776 | FCFlags |= FCFLAG_START; |
785 | FCFlags |= FCFLAG_START; |
777 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
786 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
778 | } |
787 | } |
779 | else |
788 | else |
780 | { |
789 | { |
781 | beeptime = 1500; // indicate missing calibration |
790 | beeptime = 1500; // indicate missing calibration |
782 | } |
791 | } |
783 | } |
792 | } |
784 | } |
793 | } |
785 | else delay_einschalten = 0; |
794 | else delay_einschalten = 0; |
786 | } |
795 | } |
787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
788 | // Auschalten |
797 | // Auschalten |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | else // only if motors are running |
799 | else // only if motors are running |
791 | { |
800 | { |
792 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
801 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
793 | { |
802 | { |
794 | if(++delay_ausschalten > 200) // nicht sofort |
803 | if(++delay_ausschalten > 200) // nicht sofort |
795 | { |
804 | { |
796 | MotorenEin = 0; |
805 | MotorenEin = 0; |
797 | delay_ausschalten = 0; |
806 | delay_ausschalten = 0; |
798 | modell_fliegt = 0; |
807 | modell_fliegt = 0; |
799 | } |
808 | } |
800 | } |
809 | } |
801 | else delay_ausschalten = 0; |
810 | else delay_ausschalten = 0; |
802 | } |
811 | } |
803 | } |
812 | } |
804 | } |
813 | } |
805 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
806 | // neue Werte von der Funke |
815 | // neue Werte von der Funke |
807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
808 | 817 | ||
809 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
818 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
810 | { |
819 | { |
811 | static int stick_nick,stick_roll; |
820 | static int stick_nick,stick_roll; |
812 | ParameterZuordnung(); |
821 | ParameterZuordnung(); |
813 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
822 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
814 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
823 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
815 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
824 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
816 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
825 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
817 | 826 | ||
818 | 827 | ||
819 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
828 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
820 | 829 | ||
821 | if(CareFree) |
830 | if(CareFree) |
822 | { |
831 | { |
823 | signed int nick, roll; |
832 | signed int nick, roll; |
824 | nick = stick_nick / 4; |
833 | nick = stick_nick / 4; |
825 | roll = stick_roll / 4; |
834 | roll = stick_roll / 4; |
826 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
835 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
827 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
836 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
828 | } |
837 | } |
829 | else |
838 | else |
830 | { |
839 | { |
831 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
840 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
832 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
841 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
833 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
842 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
834 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
843 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
835 | } |
844 | } |
836 | 845 | ||
837 | 846 | ||
838 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
847 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
839 | if(StickGier > 2) StickGier -= 2; else |
848 | if(StickGier > 2) StickGier -= 2; else |
840 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
849 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
841 | 850 | ||
842 | StickNick -= (GPS_Nick + GPS_Nick2); |
851 | StickNick -= (GPS_Nick + GPS_Nick2); |
843 | StickRoll -= (GPS_Roll + GPS_Roll2); |
852 | StickRoll -= (GPS_Roll + GPS_Roll2); |
844 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
853 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
845 | 854 | ||
846 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
855 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
847 | IntegralFaktor = Parameter_Gyro_I; |
856 | IntegralFaktor = Parameter_Gyro_I; |
848 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
857 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
849 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
858 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
850 | 859 | ||
851 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
860 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
852 | //+ Analoge Steuerung per Seriell |
861 | //+ Analoge Steuerung per Seriell |
853 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
862 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
863 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
855 | { |
864 | { |
856 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
865 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
857 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
866 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
858 | StickGier += ExternControl.Gier; |
867 | StickGier += ExternControl.Gier; |
859 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
868 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
860 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
869 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
861 | } |
870 | } |
862 | if(StickGas < 0) StickGas = 0; |
871 | if(StickGas < 0) StickGas = 0; |
863 | 872 | ||
864 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
873 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
865 | //if(GyroFaktor < 0) GyroFaktor = 0; |
874 | //if(GyroFaktor < 0) GyroFaktor = 0; |
866 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
875 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
867 | 876 | ||
868 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
877 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
869 | { |
878 | { |
870 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
879 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
871 | if(MaxStickNick > 100) MaxStickNick = 100; |
880 | if(MaxStickNick > 100) MaxStickNick = 100; |
872 | } |
881 | } |
873 | else MaxStickNick--; |
882 | else MaxStickNick--; |
874 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
883 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
875 | { |
884 | { |
876 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
885 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
877 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
886 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
878 | } |
887 | } |
879 | else MaxStickRoll--; |
888 | else MaxStickRoll--; |
880 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
889 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
881 | 890 | ||
882 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
891 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
883 | // Looping? |
892 | // Looping? |
884 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
893 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
894 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
886 | else |
895 | else |
887 | { |
896 | { |
888 | { |
897 | { |
889 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
898 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
890 | } |
899 | } |
891 | } |
900 | } |
892 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
901 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
893 | else |
902 | else |
894 | { |
903 | { |
895 | if(Looping_Rechts) // Hysterese |
904 | if(Looping_Rechts) // Hysterese |
896 | { |
905 | { |
897 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
906 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
898 | } |
907 | } |
899 | } |
908 | } |
900 | 909 | ||
901 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
910 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
902 | else |
911 | else |
903 | { |
912 | { |
904 | if(Looping_Oben) // Hysterese |
913 | if(Looping_Oben) // Hysterese |
905 | { |
914 | { |
906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
915 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
907 | } |
916 | } |
908 | } |
917 | } |
909 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
918 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
910 | else |
919 | else |
911 | { |
920 | { |
912 | if(Looping_Unten) // Hysterese |
921 | if(Looping_Unten) // Hysterese |
913 | { |
922 | { |
914 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
923 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
915 | } |
924 | } |
916 | } |
925 | } |
917 | 926 | ||
918 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
927 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
919 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
928 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
920 | } // Ende neue Funken-Werte |
929 | } // Ende neue Funken-Werte |
921 | 930 | ||
922 | if(Looping_Roll || Looping_Nick) |
931 | if(Looping_Roll || Looping_Nick) |
923 | { |
932 | { |
924 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
933 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
925 | TrichterFlug = 1; |
934 | TrichterFlug = 1; |
926 | } |
935 | } |
927 | 936 | ||
928 | 937 | ||
929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
938 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
930 | // Bei Empfangsausfall im Flug |
939 | // Bei Empfangsausfall im Flug |
931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
940 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
932 | if(FCFlags & FCFLAG_NOTLANDUNG) |
941 | if(FCFlags & FCFLAG_NOTLANDUNG) |
933 | { |
942 | { |
934 | StickGier = 0; |
943 | StickGier = 0; |
935 | StickNick = 0; |
944 | StickNick = 0; |
936 | StickRoll = 0; |
945 | StickRoll = 0; |
937 | GyroFaktor = 90; |
946 | GyroFaktor = 90; |
938 | IntegralFaktor = 120; |
947 | IntegralFaktor = 120; |
939 | GyroFaktorGier = 90; |
948 | GyroFaktorGier = 90; |
940 | IntegralFaktorGier = 120; |
949 | IntegralFaktorGier = 120; |
941 | Looping_Roll = 0; |
950 | Looping_Roll = 0; |
942 | Looping_Nick = 0; |
951 | Looping_Nick = 0; |
943 | } |
952 | } |
944 | 953 | ||
945 | 954 | ||
946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
955 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
947 | // Integrale auf ACC-Signal abgleichen |
956 | // Integrale auf ACC-Signal abgleichen |
948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | #define ABGLEICH_ANZAHL 256L |
958 | #define ABGLEICH_ANZAHL 256L |
950 | 959 | ||
951 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
960 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
952 | MittelIntegralRoll += IntegralRoll; |
961 | MittelIntegralRoll += IntegralRoll; |
953 | MittelIntegralNick2 += IntegralNick2; |
962 | MittelIntegralNick2 += IntegralNick2; |
954 | MittelIntegralRoll2 += IntegralRoll2; |
963 | MittelIntegralRoll2 += IntegralRoll2; |
955 | 964 | ||
956 | if(Looping_Nick || Looping_Roll) |
965 | if(Looping_Nick || Looping_Roll) |
957 | { |
966 | { |
958 | IntegralAccNick = 0; |
967 | IntegralAccNick = 0; |
959 | IntegralAccRoll = 0; |
968 | IntegralAccRoll = 0; |
960 | MittelIntegralNick = 0; |
969 | MittelIntegralNick = 0; |
961 | MittelIntegralRoll = 0; |
970 | MittelIntegralRoll = 0; |
962 | MittelIntegralNick2 = 0; |
971 | MittelIntegralNick2 = 0; |
963 | MittelIntegralRoll2 = 0; |
972 | MittelIntegralRoll2 = 0; |
964 | Mess_IntegralNick2 = Mess_IntegralNick; |
973 | Mess_IntegralNick2 = Mess_IntegralNick; |
965 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
974 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
966 | ZaehlMessungen = 0; |
975 | ZaehlMessungen = 0; |
967 | LageKorrekturNick = 0; |
976 | LageKorrekturNick = 0; |
968 | LageKorrekturRoll = 0; |
977 | LageKorrekturRoll = 0; |
969 | } |
978 | } |
970 | 979 | ||
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
981 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
973 | { |
982 | { |
974 | long tmp_long, tmp_long2; |
983 | long tmp_long, tmp_long2; |
975 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
984 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
976 | { |
985 | { |
977 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
986 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
978 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
987 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
979 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
988 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
980 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
989 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
981 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
990 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
982 | { |
991 | { |
983 | tmp_long /= 2; |
992 | tmp_long /= 2; |
984 | tmp_long2 /= 2; |
993 | tmp_long2 /= 2; |
985 | } |
994 | } |
986 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
995 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
987 | { |
996 | { |
988 | tmp_long /= 3; |
997 | tmp_long /= 3; |
989 | tmp_long2 /= 3; |
998 | tmp_long2 /= 3; |
990 | } |
999 | } |
991 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1000 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
992 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1001 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
993 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1002 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
994 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1003 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
995 | } |
1004 | } |
996 | else |
1005 | else |
997 | { |
1006 | { |
998 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1007 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
999 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1008 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1000 | tmp_long /= 16; |
1009 | tmp_long /= 16; |
1001 | tmp_long2 /= 16; |
1010 | tmp_long2 /= 16; |
1002 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1011 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1003 | { |
1012 | { |
1004 | tmp_long /= 3; |
1013 | tmp_long /= 3; |
1005 | tmp_long2 /= 3; |
1014 | tmp_long2 /= 3; |
1006 | } |
1015 | } |
1007 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1016 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1008 | { |
1017 | { |
1009 | tmp_long /= 3; |
1018 | tmp_long /= 3; |
1010 | tmp_long2 /= 3; |
1019 | tmp_long2 /= 3; |
1011 | } |
1020 | } |
1012 | 1021 | ||
1013 | #define AUSGLEICH 32 |
1022 | #define AUSGLEICH 32 |
1014 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1023 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1015 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1024 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1016 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1025 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1017 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1026 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1018 | } |
1027 | } |
1019 | 1028 | ||
1020 | Mess_IntegralNick -= tmp_long; |
1029 | Mess_IntegralNick -= tmp_long; |
1021 | Mess_IntegralRoll -= tmp_long2; |
1030 | Mess_IntegralRoll -= tmp_long2; |
1022 | } |
1031 | } |
1023 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1032 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1024 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1033 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1025 | { |
1034 | { |
1026 | static int cnt = 0; |
1035 | static int cnt = 0; |
1027 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1036 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1028 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1037 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1029 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1038 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1030 | { |
1039 | { |
1031 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1040 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1032 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1041 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1033 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1042 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1034 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1043 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1035 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1044 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1036 | #define MAX_I 0//(Poti2/10) |
1045 | #define MAX_I 0//(Poti2/10) |
1037 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1046 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1038 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1047 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1039 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1048 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1040 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1049 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1041 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1050 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1042 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1051 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1043 | 1052 | ||
1044 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1053 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1045 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1054 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1046 | 1055 | ||
1047 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1056 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1048 | { |
1057 | { |
1049 | LageKorrekturNick /= 2; |
1058 | LageKorrekturNick /= 2; |
1050 | LageKorrekturRoll /= 2; |
1059 | LageKorrekturRoll /= 2; |
1051 | } |
1060 | } |
1052 | 1061 | ||
1053 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1054 | // Gyro-Drift ermitteln |
1063 | // Gyro-Drift ermitteln |
1055 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1064 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1056 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1065 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1057 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1066 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1058 | tmp_long = IntegralNick2 - IntegralNick; |
1067 | tmp_long = IntegralNick2 - IntegralNick; |
1059 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1068 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1060 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1069 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1061 | 1070 | ||
1062 | IntegralFehlerNick = tmp_long; |
1071 | IntegralFehlerNick = tmp_long; |
1063 | IntegralFehlerRoll = tmp_long2; |
1072 | IntegralFehlerRoll = tmp_long2; |
1064 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1073 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1065 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1074 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1066 | 1075 | ||
1067 | if(EE_Parameter.Driftkomp) |
1076 | if(EE_Parameter.Driftkomp) |
1068 | { |
1077 | { |
1069 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1078 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1070 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1079 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1071 | } |
1080 | } |
1072 | GierGyroFehler = 0; |
1081 | GierGyroFehler = 0; |
1073 | 1082 | ||
1074 | 1083 | ||
1075 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1084 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1076 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1085 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1077 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1086 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1078 | #define BEWEGUNGS_LIMIT 20000 |
1087 | #define BEWEGUNGS_LIMIT 20000 |
1079 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1088 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1080 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1089 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1081 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1090 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1082 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1091 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1083 | { |
1092 | { |
1084 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1093 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1085 | { |
1094 | { |
1086 | if(last_n_p) |
1095 | if(last_n_p) |
1087 | { |
1096 | { |
1088 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1097 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1089 | ausgleichNick = IntegralFehlerNick / 8; |
1098 | ausgleichNick = IntegralFehlerNick / 8; |
1090 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1099 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1091 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1100 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1092 | } |
1101 | } |
1093 | else last_n_p = 1; |
1102 | else last_n_p = 1; |
1094 | } else last_n_p = 0; |
1103 | } else last_n_p = 0; |
1095 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1104 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1096 | { |
1105 | { |
1097 | if(last_n_n) |
1106 | if(last_n_n) |
1098 | { |
1107 | { |
1099 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1108 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1100 | ausgleichNick = IntegralFehlerNick / 8; |
1109 | ausgleichNick = IntegralFehlerNick / 8; |
1101 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1110 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1102 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1111 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1103 | } |
1112 | } |
1104 | else last_n_n = 1; |
1113 | else last_n_n = 1; |
1105 | } else last_n_n = 0; |
1114 | } else last_n_n = 0; |
1106 | } |
1115 | } |
1107 | else |
1116 | else |
1108 | { |
1117 | { |
1109 | cnt = 0; |
1118 | cnt = 0; |
1110 | KompassSignalSchlecht = 1000; |
1119 | KompassSignalSchlecht = 1000; |
1111 | } |
1120 | } |
1112 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1121 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1113 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1122 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1114 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1123 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1115 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1124 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1116 | 1125 | ||
1117 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1126 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1118 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1127 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1119 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1128 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1120 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1129 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1121 | { |
1130 | { |
1122 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1131 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1123 | { |
1132 | { |
1124 | if(last_r_p) |
1133 | if(last_r_p) |
1125 | { |
1134 | { |
1126 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1135 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1127 | ausgleichRoll = IntegralFehlerRoll / 8; |
1136 | ausgleichRoll = IntegralFehlerRoll / 8; |
1128 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1137 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1129 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1138 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1130 | } |
1139 | } |
1131 | else last_r_p = 1; |
1140 | else last_r_p = 1; |
1132 | } else last_r_p = 0; |
1141 | } else last_r_p = 0; |
1133 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1142 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1134 | { |
1143 | { |
1135 | if(last_r_n) |
1144 | if(last_r_n) |
1136 | { |
1145 | { |
1137 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1146 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1138 | ausgleichRoll = IntegralFehlerRoll / 8; |
1147 | ausgleichRoll = IntegralFehlerRoll / 8; |
1139 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1148 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1140 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1149 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1141 | } |
1150 | } |
1142 | else last_r_n = 1; |
1151 | else last_r_n = 1; |
1143 | } else last_r_n = 0; |
1152 | } else last_r_n = 0; |
1144 | } else |
1153 | } else |
1145 | { |
1154 | { |
1146 | cnt = 0; |
1155 | cnt = 0; |
1147 | KompassSignalSchlecht = 1000; |
1156 | KompassSignalSchlecht = 1000; |
1148 | } |
1157 | } |
1149 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1158 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1150 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1159 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1151 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1160 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1152 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1161 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1153 | } |
1162 | } |
1154 | else |
1163 | else |
1155 | { |
1164 | { |
1156 | LageKorrekturRoll = 0; |
1165 | LageKorrekturRoll = 0; |
1157 | LageKorrekturNick = 0; |
1166 | LageKorrekturNick = 0; |
1158 | TrichterFlug = 0; |
1167 | TrichterFlug = 0; |
1159 | } |
1168 | } |
1160 | 1169 | ||
1161 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1170 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1163 | MittelIntegralNick_Alt = MittelIntegralNick; |
1172 | MittelIntegralNick_Alt = MittelIntegralNick; |
1164 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1173 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | IntegralAccNick = 0; |
1175 | IntegralAccNick = 0; |
1167 | IntegralAccRoll = 0; |
1176 | IntegralAccRoll = 0; |
1168 | IntegralAccZ = 0; |
1177 | IntegralAccZ = 0; |
1169 | MittelIntegralNick = 0; |
1178 | MittelIntegralNick = 0; |
1170 | MittelIntegralRoll = 0; |
1179 | MittelIntegralRoll = 0; |
1171 | MittelIntegralNick2 = 0; |
1180 | MittelIntegralNick2 = 0; |
1172 | MittelIntegralRoll2 = 0; |
1181 | MittelIntegralRoll2 = 0; |
1173 | ZaehlMessungen = 0; |
1182 | ZaehlMessungen = 0; |
1174 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1183 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1175 | 1184 | ||
1176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1177 | // Gieren |
1186 | // Gieren |
1178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1179 | if(abs(StickGier) > 15) // war 35 |
1188 | if(abs(StickGier) > 15) // war 35 |
1180 | { |
1189 | { |
1181 | KompassSignalSchlecht = 1000; |
1190 | KompassSignalSchlecht = 1000; |
1182 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1191 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1183 | { |
1192 | { |
1184 | NeueKompassRichtungMerken = 1; |
1193 | NeueKompassRichtungMerken = 1; |
1185 | }; |
1194 | }; |
1186 | } |
1195 | } |
1187 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1196 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1188 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1197 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1189 | sollGier = tmp_int; |
1198 | sollGier = tmp_int; |
1190 | Mess_Integral_Gier -= tmp_int; |
1199 | Mess_Integral_Gier -= tmp_int; |
1191 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1200 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1192 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1201 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1193 | 1202 | ||
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | // Kompass |
1204 | // Kompass |
1196 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1206 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1198 | { |
1207 | { |
1199 | int w,v,r,fehler,korrektur; |
1208 | int w,v,r,fehler,korrektur; |
1200 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1209 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1201 | v = abs(IntegralRoll /512); |
1210 | v = abs(IntegralRoll /512); |
1202 | if(v > w) w = v; // grösste Neigung ermitteln |
1211 | if(v > w) w = v; // grösste Neigung ermitteln |
1203 | korrektur = w / 8 + 2; |
1212 | korrektur = w / 8 + 2; |
1204 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1213 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1205 | //fehler += MesswertGier / 12; |
1214 | //fehler += MesswertGier / 12; |
1206 | 1215 | ||
1207 | if(!KompassSignalSchlecht && w < 25) |
1216 | if(!KompassSignalSchlecht && w < 25) |
1208 | { |
1217 | { |
1209 | GierGyroFehler += fehler; |
1218 | GierGyroFehler += fehler; |
1210 | if(NeueKompassRichtungMerken) |
1219 | if(NeueKompassRichtungMerken) |
1211 | { |
1220 | { |
1212 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1221 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1213 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1222 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1214 | NeueKompassRichtungMerken = 0; |
1223 | NeueKompassRichtungMerken = 0; |
1215 | } |
1224 | } |
1216 | } |
1225 | } |
1217 | ErsatzKompass += (fehler * 16) / korrektur; |
1226 | ErsatzKompass += (fehler * 16) / korrektur; |
1218 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1227 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1219 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1228 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1220 | if(w >= 0) |
1229 | if(w >= 0) |
1221 | { |
1230 | { |
1222 | if(!KompassSignalSchlecht) |
1231 | if(!KompassSignalSchlecht) |
1223 | { |
1232 | { |
1224 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1233 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1225 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1234 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1226 | v = (r * w) / v; // nach Kompass ausrichten |
1235 | v = (r * w) / v; // nach Kompass ausrichten |
1227 | w = 3 * Parameter_KompassWirkung; |
1236 | w = 3 * Parameter_KompassWirkung; |
1228 | if(v > w) v = w; // Begrenzen |
1237 | if(v > w) v = w; // Begrenzen |
1229 | else |
1238 | else |
1230 | if(v < -w) v = -w; |
1239 | if(v < -w) v = -w; |
1231 | Mess_Integral_Gier += v; |
1240 | Mess_Integral_Gier += v; |
1232 | } |
1241 | } |
1233 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1242 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1234 | } |
1243 | } |
1235 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1244 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1236 | } |
1245 | } |
1237 | 1246 | ||
1238 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1239 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1248 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1240 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1250 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1242 | 1251 | ||
1243 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1252 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1244 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1253 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1245 | 1254 | ||
1246 | #define TRIM_MAX 200 |
1255 | #define TRIM_MAX 200 |
1247 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1256 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1248 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1257 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1249 | 1258 | ||
1250 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1259 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1251 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1260 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1252 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1261 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1253 | 1262 | ||
1254 | // Maximalwerte abfangen |
1263 | // Maximalwerte abfangen |
1255 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1264 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1256 | #define MAX_SENSOR (4096) |
1265 | #define MAX_SENSOR (4096) |
1257 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1266 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1258 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1267 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1259 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1268 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1260 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1269 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1261 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1270 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1262 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1271 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1263 | 1272 | ||
1264 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1265 | // Höhenregelung |
1274 | // Höhenregelung |
1266 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1275 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1268 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1277 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1269 | GasMischanteil *= STICK_GAIN; |
1278 | GasMischanteil *= STICK_GAIN; |
1270 | // if height control is activated |
1279 | // if height control is activated |
1271 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1280 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1272 | { |
1281 | { |
1273 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1282 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1274 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1283 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1275 | 1284 | ||
1276 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1285 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1277 | #define OPA_OFFSET_STEP 15 |
1286 | #define OPA_OFFSET_STEP 15 |
1278 | #else |
1287 | #else |
1279 | #define OPA_OFFSET_STEP 10 |
1288 | #define OPA_OFFSET_STEP 10 |
1280 | #endif |
1289 | #endif |
1281 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1290 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1282 | static int HeightTrimming = 0; // rate for change of height setpoint |
1291 | static int HeightTrimming = 0; // rate for change of height setpoint |
1283 | static int FilterHCGas = 0; |
1292 | static int FilterHCGas = 0; |
1284 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1293 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1285 | static unsigned long HoverGasFilter = 0; |
1294 | static unsigned long HoverGasFilter = 0; |
1286 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1295 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1287 | int CosAttitude; // for projection of hoover gas |
1296 | int CosAttitude; // for projection of hoover gas |
1288 | 1297 | ||
1289 | // get the current hooverpoint |
1298 | // get the current hooverpoint |
1290 | DebugOut.Analog[21] = HoverGas; |
1299 | DebugOut.Analog[21] = HoverGas; |
1291 | 1300 | ||
1292 | // Expand the measurement |
1301 | // Expand the measurement |
1293 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1302 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1294 | if(!BaroExpandActive) |
1303 | if(!BaroExpandActive) |
1295 | { |
1304 | { |
1296 | if(MessLuftdruck > 920) |
1305 | if(MessLuftdruck > 920) |
1297 | { // increase offset |
1306 | { // increase offset |
1298 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1307 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1299 | { |
1308 | { |
1300 | ExpandBaro -= 1; |
1309 | ExpandBaro -= 1; |
1301 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1310 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1302 | beeptime = 300; |
1311 | beeptime = 300; |
1303 | BaroExpandActive = 350; |
1312 | BaroExpandActive = 350; |
1304 | } |
1313 | } |
1305 | else |
1314 | else |
1306 | { |
1315 | { |
1307 | BaroAtLowerLimit = 1; |
1316 | BaroAtLowerLimit = 1; |
1308 | } |
1317 | } |
1309 | } |
1318 | } |
1310 | // measurement of air pressure close to lower limit and |
1319 | // measurement of air pressure close to lower limit and |
1311 | else |
1320 | else |
1312 | if(MessLuftdruck < 100) |
1321 | if(MessLuftdruck < 100) |
1313 | { // decrease offset |
1322 | { // decrease offset |
1314 | if(OCR0A > OPA_OFFSET_STEP) |
1323 | if(OCR0A > OPA_OFFSET_STEP) |
1315 | { |
1324 | { |
1316 | ExpandBaro += 1; |
1325 | ExpandBaro += 1; |
1317 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1326 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1318 | beeptime = 300; |
1327 | beeptime = 300; |
1319 | BaroExpandActive = 350; |
1328 | BaroExpandActive = 350; |
1320 | } |
1329 | } |
1321 | else |
1330 | else |
1322 | { |
1331 | { |
1323 | BaroAtUpperLimit = 1; |
1332 | BaroAtUpperLimit = 1; |
1324 | } |
1333 | } |
1325 | } |
1334 | } |
1326 | else |
1335 | else |
1327 | { |
1336 | { |
1328 | BaroAtUpperLimit = 0; |
1337 | BaroAtUpperLimit = 0; |
1329 | BaroAtLowerLimit = 0; |
1338 | BaroAtLowerLimit = 0; |
1330 | } |
1339 | } |
1331 | } |
1340 | } |
1332 | else // delay, because of expanding the Baro-Range |
1341 | else // delay, because of expanding the Baro-Range |
1333 | { |
1342 | { |
1334 | // now clear the D-values |
1343 | // now clear the D-values |
1335 | SummenHoehe = HoehenWert * SM_FILTER; |
1344 | SummenHoehe = HoehenWert * SM_FILTER; |
1336 | VarioMeter = 0; |
1345 | VarioMeter = 0; |
1337 | BaroExpandActive--; |
1346 | BaroExpandActive--; |
1338 | } |
1347 | } |
1339 | 1348 | ||
1340 | // if height control is activated by an rc channel |
1349 | // if height control is activated by an rc channel |
1341 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1350 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1342 | { // check if parameter is less than activation threshold |
1351 | { // check if parameter is less than activation threshold |
1343 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1352 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1344 | { //height control not active |
1353 | { //height control not active |
1345 | if(!delay--) |
1354 | if(!delay--) |
1346 | { |
1355 | { |
1347 | HoehenReglerAktiv = 0; // disable height control |
1356 | HoehenReglerAktiv = 0; // disable height control |
1348 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1357 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1349 | delay = 1; |
1358 | delay = 1; |
1350 | } |
1359 | } |
1351 | } |
1360 | } |
1352 | else |
1361 | else |
1353 | { //height control is activated |
1362 | { //height control is activated |
1354 | HoehenReglerAktiv = 1; // enable height control |
1363 | HoehenReglerAktiv = 1; // enable height control |
1355 | delay = 200; |
1364 | delay = 200; |
1356 | } |
1365 | } |
1357 | } |
1366 | } |
1358 | else // no switchable height control |
1367 | else // no switchable height control |
1359 | { |
1368 | { |
1360 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1369 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1361 | HoehenReglerAktiv = 1; |
1370 | HoehenReglerAktiv = 1; |
1362 | } |
1371 | } |
1363 | 1372 | ||
1364 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1373 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1365 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1374 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1366 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1375 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1367 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1376 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1368 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1377 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1369 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1378 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1370 | VarioCharacter = ' '; |
1379 | VarioCharacter = ' '; |
1371 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1380 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1372 | { |
1381 | { |
1373 | #define HEIGHT_TRIM_UP 0x01 |
1382 | #define HEIGHT_TRIM_UP 0x01 |
1374 | #define HEIGHT_TRIM_DOWN 0x02 |
1383 | #define HEIGHT_TRIM_DOWN 0x02 |
1375 | static unsigned char HeightTrimmingFlag = 0x00; |
1384 | static unsigned char HeightTrimmingFlag = 0x00; |
1376 | 1385 | ||
1377 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1386 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1378 | // Holger original version |
1387 | // Holger original version |
1379 | // start of height control algorithm |
1388 | // start of height control algorithm |
1380 | // the height control is only an attenuation of the actual gas stick. |
1389 | // the height control is only an attenuation of the actual gas stick. |
1381 | // I.e. it will work only if the gas stick is higher than the hover gas |
1390 | // I.e. it will work only if the gas stick is higher than the hover gas |
1382 | // and the hover height will be allways larger than height setpoint. |
1391 | // and the hover height will be allways larger than height setpoint. |
1383 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1392 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1384 | { // old version |
1393 | { // old version |
1385 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1394 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1386 | HeightTrimming = 0; |
1395 | HeightTrimming = 0; |
1387 | } |
1396 | } |
1388 | else |
1397 | else |
1389 | { |
1398 | { |
1390 | // alternative height control |
1399 | // alternative height control |
1391 | // PD-Control with respect to hoover point |
1400 | // PD-Control with respect to hoover point |
1392 | // the thrust loss out of horizontal attitude is compensated |
1401 | // the thrust loss out of horizontal attitude is compensated |
1393 | // the setpoint will be fine adjusted with the gas stick position |
1402 | // the setpoint will be fine adjusted with the gas stick position |
1394 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1403 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1395 | { // gas stick is above hoover point |
1404 | { // gas stick is above hoover point |
1396 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1405 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1397 | { |
1406 | { |
1398 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1407 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1399 | { |
1408 | { |
1400 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1409 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1401 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1410 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1402 | } |
1411 | } |
1403 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1412 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1404 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1413 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1405 | VarioCharacter = '+'; |
1414 | VarioCharacter = '+'; |
1406 | } // gas stick is below hoover point |
1415 | } // gas stick is below hoover point |
1407 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1416 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1408 | { |
1417 | { |
1409 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1418 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1410 | { |
1419 | { |
1411 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1420 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1412 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1421 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1413 | } |
1422 | } |
1414 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1423 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1415 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1424 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1416 | VarioCharacter = '-'; |
1425 | VarioCharacter = '-'; |
1417 | } |
1426 | } |
1418 | else // Gas Stick in Hover Range |
1427 | else // Gas Stick in Hover Range |
1419 | { |
1428 | { |
1420 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1429 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1421 | { |
1430 | { |
1422 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1431 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1423 | HeightTrimming = 0; |
1432 | HeightTrimming = 0; |
1424 | SollHoehe = HoehenWert; // update setpoint to current height |
1433 | SollHoehe = HoehenWert; // update setpoint to current height |
1425 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1434 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1426 | if(!StartTrigger && HoehenWert > 50) |
1435 | if(!StartTrigger && HoehenWert > 50) |
1427 | { |
1436 | { |
1428 | StartTrigger = 1; |
1437 | StartTrigger = 1; |
1429 | } |
1438 | } |
1430 | } |
1439 | } |
1431 | VarioCharacter = '='; |
1440 | VarioCharacter = '='; |
1432 | } |
1441 | } |
1433 | // Trim height set point |
1442 | // Trim height set point |
1434 | if(abs(HeightTrimming) > 512) |
1443 | if(abs(HeightTrimming) > 512) |
1435 | { |
1444 | { |
1436 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1445 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1437 | HeightTrimming = 0; |
1446 | HeightTrimming = 0; |
1438 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1447 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1439 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1448 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1440 | //update hoover gas stick value when setpoint is shifted |
1449 | //update hoover gas stick value when setpoint is shifted |
1441 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1450 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1442 | { |
1451 | { |
1443 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1452 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1444 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1453 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1445 | if(StickGasHover < 70) StickGasHover = 70; |
1454 | if(StickGasHover < 70) StickGasHover = 70; |
1446 | else if(StickGasHover > 150) StickGasHover = 150; |
1455 | else if(StickGasHover > 150) StickGasHover = 150; |
1447 | } |
1456 | } |
1448 | } |
1457 | } |
1449 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1458 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1450 | } //if FCFlags & MKFCFLAG_FLY |
1459 | } //if FCFlags & MKFCFLAG_FLY |
1451 | else |
1460 | else |
1452 | { |
1461 | { |
1453 | SollHoehe = HoehenWert - 400; |
1462 | SollHoehe = HoehenWert - 400; |
1454 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1463 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1455 | else StickGasHover = 120; |
1464 | else StickGasHover = 120; |
1456 | HoverGas = GasMischanteil; |
1465 | HoverGas = GasMischanteil; |
1457 | } |
1466 | } |
1458 | HCGas = HoverGas; // take hover gas (neutral point) |
1467 | HCGas = HoverGas; // take hover gas (neutral point) |
1459 | } |
1468 | } |
1460 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1469 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1461 | { |
1470 | { |
1462 | // from this point the Heigth Control Algorithm is identical for both versions |
1471 | // from this point the Heigth Control Algorithm is identical for both versions |
1463 | if(BaroExpandActive) // baro range expanding active |
1472 | if(BaroExpandActive) // baro range expanding active |
1464 | { |
1473 | { |
1465 | HCGas = HoverGas; // hover while expanding baro adc range |
1474 | HCGas = HoverGas; // hover while expanding baro adc range |
1466 | HeightDeviation = 0; |
1475 | HeightDeviation = 0; |
1467 | } // EOF // baro range expanding active |
1476 | } // EOF // baro range expanding active |
1468 | else // valid data from air pressure sensor |
1477 | else // valid data from air pressure sensor |
1469 | { |
1478 | { |
1470 | // ------------------------- P-Part ---------------------------- |
1479 | // ------------------------- P-Part ---------------------------- |
1471 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1480 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1472 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1481 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1473 | HeightDeviation = (int)(tmp_long); // positive when too high |
1482 | HeightDeviation = (int)(tmp_long); // positive when too high |
1474 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1483 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1475 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1484 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1476 | GasReduction = tmp_long; |
1485 | GasReduction = tmp_long; |
1477 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1486 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1478 | tmp_int = VarioMeter / 8; |
1487 | tmp_int = VarioMeter / 8; |
1479 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1488 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1480 | if(!HeightTrimmingFlag) |
1489 | if(!HeightTrimmingFlag) |
1481 | { |
1490 | { |
1482 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1491 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1483 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1492 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1484 | } |
1493 | } |
1485 | else |
1494 | else |
1486 | { |
1495 | { |
1487 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 16L; // weniger D zum Höhe ändern |
1496 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 16L; // weniger D zum Höhe ändern |
1488 | LIMIT_MIN_MAX(tmp_int,-16 * STICK_GAIN, 16 * STICK_GAIN); |
1497 | LIMIT_MIN_MAX(tmp_int,-16 * STICK_GAIN, 16 * STICK_GAIN); |
1489 | } |
1498 | } |
1490 | GasReduction += tmp_int; |
1499 | GasReduction += tmp_int; |
1491 | } // EOF no baro range expanding |
1500 | } // EOF no baro range expanding |
1492 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1501 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1493 | if(Parameter_Hoehe_ACC_Wirkung) |
1502 | if(Parameter_Hoehe_ACC_Wirkung) |
1494 | { |
1503 | { |
1495 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1504 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1496 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1505 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1497 | GasReduction += tmp_long; |
1506 | GasReduction += tmp_long; |
1498 | } |
1507 | } |
1499 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1508 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1500 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1509 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1501 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1510 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1502 | GasReduction += tmp_int; |
1511 | GasReduction += tmp_int; |
1503 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1512 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1504 | 1513 | ||
1505 | // ------------------------ ---------------------------------- |
1514 | // ------------------------ ---------------------------------- |
1506 | HCGas -= GasReduction; |
1515 | HCGas -= GasReduction; |
1507 | // limit deviation from hoover point within the target region |
1516 | // limit deviation from hoover point within the target region |
1508 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1517 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1509 | { |
1518 | { |
1510 | signed int tmp,min,max; |
1519 | signed int tmp,min,max; |
1511 | if(abs(HeightDeviation) < 60) |
1520 | if(abs(HeightDeviation) < 60) |
1512 | { |
1521 | { |
1513 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1522 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1514 | } |
1523 | } |
1515 | else |
1524 | else |
1516 | { |
1525 | { |
1517 | tmp = (abs(HeightDeviation) - 60)/32; |
1526 | tmp = (abs(HeightDeviation) - 60)/32; |
1518 | if(tmp > 15) tmp = 15; |
1527 | if(tmp > 15) tmp = 15; |
1519 | if(HeightDeviation > 0) |
1528 | if(HeightDeviation > 0) |
1520 | { |
1529 | { |
1521 | min = (HoverGasMin * (16 - tmp)) / 16; |
1530 | min = (HoverGasMin * (16 - tmp)) / 16; |
1522 | LIMIT_MIN_MAX(HCGas, min, HoverGasMax); // limit gas around the hoover point |
1531 | LIMIT_MIN_MAX(HCGas, min, HoverGasMax); // limit gas around the hoover point |
1523 | } |
1532 | } |
1524 | else |
1533 | else |
1525 | { |
1534 | { |
1526 | max = (HoverGasMax * (tmp + 16)) / 16; |
1535 | max = (HoverGasMax * (tmp + 16)) / 16; |
1527 | LIMIT_MIN_MAX(HCGas, HoverGasMin, max); // limit gas around the hoover point |
1536 | LIMIT_MIN_MAX(HCGas, HoverGasMin, max); // limit gas around the hoover point |
1528 | } |
1537 | } |
1529 | } |
1538 | } |
1530 | } |
1539 | } |
1531 | // strech control output by inverse attitude projection 1/cos |
1540 | // strech control output by inverse attitude projection 1/cos |
1532 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1541 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1533 | tmp_long2 = (int32_t)HCGas; |
1542 | tmp_long2 = (int32_t)HCGas; |
1534 | tmp_long2 *= 8192L; |
1543 | tmp_long2 *= 8192L; |
1535 | tmp_long2 /= CosAttitude; |
1544 | tmp_long2 /= CosAttitude; |
1536 | HCGas = (int16_t)tmp_long2; |
1545 | HCGas = (int16_t)tmp_long2; |
1537 | // update height control gas averaging |
1546 | // update height control gas averaging |
1538 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1547 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1539 | // limit height control gas pd-control output |
1548 | // limit height control gas pd-control output |
1540 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1549 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1541 | // set GasMischanteil to HeightControlGasFilter |
1550 | // set GasMischanteil to HeightControlGasFilter |
1542 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1551 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1543 | { // old version |
1552 | { // old version |
1544 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1553 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1545 | } |
1554 | } |
1546 | GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
1555 | GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
1547 | } |
1556 | } |
1548 | }// EOF height control active |
1557 | }// EOF height control active |
1549 | else // HC not active |
1558 | else // HC not active |
1550 | { |
1559 | { |
1551 | //update hoover gas stick value when HC is not active |
1560 | //update hoover gas stick value when HC is not active |
1552 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1561 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1553 | { |
1562 | { |
1554 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1563 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1555 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1564 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1556 | } |
1565 | } |
1557 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1566 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1558 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1567 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1559 | FilterHCGas = GasMischanteil; |
1568 | FilterHCGas = GasMischanteil; |
1560 | } |
1569 | } |
1561 | 1570 | ||
1562 | // Hover gas estimation by averaging gas control output on small z-velocities |
1571 | // Hover gas estimation by averaging gas control output on small z-velocities |
1563 | // this is done only if height contol option is selected in global config and aircraft is flying |
1572 | // this is done only if height contol option is selected in global config and aircraft is flying |
1564 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1573 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1565 | { |
1574 | { |
1566 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1575 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1567 | if(StartTrigger == 1) StartTrigger = 2; |
1576 | if(StartTrigger == 1) StartTrigger = 2; |
1568 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1577 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1569 | tmp_long2 *= CosAttitude; // apply attitude projection |
1578 | tmp_long2 *= CosAttitude; // apply attitude projection |
1570 | tmp_long2 /= 8192; |
1579 | tmp_long2 /= 8192; |
1571 | // average vertical projected thrust |
1580 | // average vertical projected thrust |
1572 | if(modell_fliegt < 4000) // the first 8 seconds |
1581 | if(modell_fliegt < 4000) // the first 8 seconds |
1573 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1582 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1574 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1583 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1575 | HoverGasFilter += 16L * tmp_long2; |
1584 | HoverGasFilter += 16L * tmp_long2; |
1576 | } |
1585 | } |
1577 | if(modell_fliegt < 8000) // the first 16 seconds |
1586 | if(modell_fliegt < 8000) // the first 16 seconds |
1578 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1587 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1579 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1588 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1580 | HoverGasFilter += 4L * tmp_long2; |
1589 | HoverGasFilter += 4L * tmp_long2; |
1581 | } |
1590 | } |
1582 | else //later |
1591 | else //later |
1583 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1592 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1584 | { |
1593 | { |
1585 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1594 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1586 | HoverGasFilter += tmp_long2; |
1595 | HoverGasFilter += tmp_long2; |
1587 | } |
1596 | } |
1588 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1597 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1589 | if(EE_Parameter.Hoehe_HoverBand) |
1598 | if(EE_Parameter.Hoehe_HoverBand) |
1590 | { |
1599 | { |
1591 | int16_t band; |
1600 | int16_t band; |
1592 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1601 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1593 | HoverGasMin = HoverGas - band; |
1602 | HoverGasMin = HoverGas - band; |
1594 | HoverGasMax = HoverGas + band; |
1603 | HoverGasMax = HoverGas + band; |
1595 | } |
1604 | } |
1596 | else |
1605 | else |
1597 | { // no limit |
1606 | { // no limit |
1598 | HoverGasMin = 0; |
1607 | HoverGasMin = 0; |
1599 | HoverGasMax = 1023; |
1608 | HoverGasMax = 1023; |
1600 | } |
1609 | } |
1601 | } |
1610 | } |
1602 | else |
1611 | else |
1603 | { |
1612 | { |
1604 | StartTrigger = 0; |
1613 | StartTrigger = 0; |
1605 | HoverGasFilter = 0; |
1614 | HoverGasFilter = 0; |
1606 | HoverGas = 0; |
1615 | HoverGas = 0; |
1607 | } |
1616 | } |
1608 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1617 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1609 | // limit gas to parameter setting |
1618 | // limit gas to parameter setting |
1610 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1619 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1611 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1620 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1612 | 1621 | ||
1613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1614 | // all BL-Ctrl connected? |
1623 | // all BL-Ctrl connected? |
1615 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1616 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1625 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1617 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1626 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1618 | { |
1627 | { |
1619 | modell_fliegt = 1; |
1628 | modell_fliegt = 1; |
1620 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1629 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1621 | } |
1630 | } |
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1623 | // + Mischer und PI-Regler |
1632 | // + Mischer und PI-Regler |
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1625 | DebugOut.Analog[7] = GasMischanteil; |
1634 | DebugOut.Analog[7] = GasMischanteil; |
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1627 | // Gier-Anteil |
1636 | // Gier-Anteil |
1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1629 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1638 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1630 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1639 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1631 | if(GasMischanteil > MIN_GIERGAS) |
1640 | if(GasMischanteil > MIN_GIERGAS) |
1632 | { |
1641 | { |
1633 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1642 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1634 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1643 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1635 | } |
1644 | } |
1636 | else |
1645 | else |
1637 | { |
1646 | { |
1638 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1647 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1639 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1648 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1640 | } |
1649 | } |
1641 | tmp_int = MAX_GAS*STICK_GAIN; |
1650 | tmp_int = MAX_GAS*STICK_GAIN; |
1642 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1651 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1643 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1652 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1644 | 1653 | ||
1645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1654 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1646 | // Nick-Achse |
1655 | // Nick-Achse |
1647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1656 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1648 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1657 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1649 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1658 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1650 | else SummeNick += DiffNick; // I-Anteil bei HH |
1659 | else SummeNick += DiffNick; // I-Anteil bei HH |
1651 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1660 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1652 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1661 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1653 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1662 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1654 | // Motor Vorn |
1663 | // Motor Vorn |
1655 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1664 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1656 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1665 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1657 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1666 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1658 | 1667 | ||
1659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1668 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1660 | // Roll-Achse |
1669 | // Roll-Achse |
1661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1662 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1671 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1663 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1672 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1664 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1673 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1665 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1674 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1666 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1675 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1667 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1676 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1668 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1677 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1669 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1678 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1670 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1679 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1671 | 1680 | ||
1672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1681 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1673 | // Universal Mixer |
1682 | // Universal Mixer |
1674 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1675 | for(i=0; i<MAX_MOTORS; i++) |
1684 | for(i=0; i<MAX_MOTORS; i++) |
1676 | { |
1685 | { |
1677 | signed int tmp_int; |
1686 | signed int tmp_int; |
1678 | if(Mixer.Motor[i][0] > 0) |
1687 | if(Mixer.Motor[i][0] > 0) |
1679 | { |
1688 | { |
1680 | // Gas |
1689 | // Gas |
1681 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1690 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1682 | // Nick |
1691 | // Nick |
1683 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1692 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1684 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1693 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1685 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1694 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1686 | // Roll |
1695 | // Roll |
1687 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1696 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1688 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1697 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1689 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1698 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1690 | // Gier |
1699 | // Gier |
1691 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1700 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1692 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1701 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1693 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1702 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1694 | 1703 | ||
1695 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1704 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1696 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1705 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1697 | 1706 | ||
1698 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1707 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1699 | Motor[i].SetPoint = tmp_int / 4; |
1708 | Motor[i].SetPoint = tmp_int / 4; |
1700 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1709 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1701 | tmp_motorwert[i] = tmp_int; |
1710 | tmp_motorwert[i] = tmp_int; |
1702 | } |
1711 | } |
1703 | else |
1712 | else |
1704 | { |
1713 | { |
1705 | Motor[i].SetPoint = 0; |
1714 | Motor[i].SetPoint = 0; |
1706 | Motor[i].SetPointLowerBits = 0; |
1715 | Motor[i].SetPointLowerBits = 0; |
1707 | } |
1716 | } |
1708 | } |
1717 | } |
1709 | } |
1718 | } |
1710 | 1719 |