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| 1 | /* |
1 | /* |
| 2 | Copyright 2008, by Michael Walter |
2 | Copyright 2008, by Michael Walter |
| 3 | 3 | ||
| 4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
| 5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
| 6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
| 7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
| 8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 9 | 9 | ||
| 10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
| 11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
| 12 | unless it is stated otherwise. |
12 | unless it is stated otherwise. |
| 13 | */ |
13 | */ |
| 14 | 14 | ||
| 15 | 15 | ||
| 16 | /***************************************************************************** |
16 | /***************************************************************************** |
| 17 | INCLUDES |
17 | INCLUDES |
| 18 | **************************************************************************** */ |
18 | **************************************************************************** */ |
| 19 | #include "kafi.h" |
19 | #include "kafi.h" |
| 20 | #include "FlightControl.h" |
20 | #include "FlightControl.h" |
| 21 | #include "main.h" |
21 | #include "main.h" |
| 22 | #include "mm3.h" |
22 | #include "mm3.h" |
| 23 | #include "main.h" |
23 | #include "main.h" |
| 24 | #include "eeprom.c" |
24 | #include "eeprom.c" |
| 25 | 25 | ||
| 26 | /***************************************************************************** |
26 | /***************************************************************************** |
| 27 | (SYMBOLIC) CONSTANTS |
27 | (SYMBOLIC) CONSTANTS |
| 28 | *****************************************************************************/ |
28 | *****************************************************************************/ |
| 29 | #define MAX_GAS 250 |
29 | #define MAX_GAS 250 |
| 30 | #define MIN_GAS 15 |
30 | #define MIN_GAS 15 |
| 31 | 31 | ||
| 32 | #define sin45 sin(45.F / 180.F * PI) |
32 | #define sin45 sin(45.F / 180.F * PI) |
| 33 | #define cos45 cos(45.F / 180.F * PI) |
33 | #define cos45 cos(45.F / 180.F * PI) |
| 34 | 34 | ||
| 35 | /***************************************************************************** |
35 | /***************************************************************************** |
| 36 | VARIABLES |
36 | VARIABLES |
| 37 | *****************************************************************************/ |
37 | *****************************************************************************/ |
| 38 | 38 | ||
| 39 | extern void GPSupdate(void); |
39 | extern void GPSupdate(void); |
| 40 | 40 | ||
| 41 | f32_t AdNeutralNick = 0.0F, AdNeutralRoll = 0.0F, AdNeutralGier = 0.0F; |
41 | f32_t AdNeutralNick = 0.0F, AdNeutralRoll = 0.0F, AdNeutralGier = 0.0F; |
| 42 | int NeutralAccX = 0, NeutralAccY = 0, NeutralAccZ = 0; |
42 | int NeutralAccX = 0, NeutralAccY = 0, NeutralAccZ = 0; |
| 43 | int AverageRoll = 0, AverageNick = 0, AverageGier = 0; |
43 | int AverageRoll = 0, AverageNick = 0, AverageGier = 0; |
| 44 | int AveragerACC_X = 0, AveragerACC_Y = 0, AveragerACC_Z = 0; |
44 | int AveragerACC_X = 0, AveragerACC_Y = 0, AveragerACC_Z = 0; |
| 45 | 45 | ||
| 46 | f32_t Roll_X_Offset = 0.F, Roll_Y_Offset = 0.F, Roll_Z_Offset = 0.F; |
46 | f32_t Roll_X_Offset = 0.F, Roll_Y_Offset = 0.F, Roll_Z_Offset = 0.F; |
| 47 | f32_t ACC_X_Offset = 0.F, ACC_Y_Offset = 0.F, ACC_Z_Offset = 0.F; |
47 | f32_t ACC_X_Offset = 0.F, ACC_Y_Offset = 0.F, ACC_Z_Offset = 0.F; |
| 48 | 48 | ||
| 49 | int DeltaAltitude = 0, CurrentAltitude = 0, LastAltitude = 0, InitialAltitude = 0; |
49 | int DeltaAltitude = 0, CurrentAltitude = 0, LastAltitude = 0, InitialAltitude = 0; |
| 50 | int SummeNick=0,SummeRoll=0, StickNick = 0,StickRoll = 0,StickGier = 0, sollGier = 0; |
50 | int SummeNick=0,SummeRoll=0, StickNick = 0,StickRoll = 0,StickGier = 0, sollGier = 0; |
| 51 | int GierMischanteil, GasMischanteil; |
51 | int GierMischanteil, GasMischanteil; |
| 52 | 52 | ||
| 53 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
53 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 54 | unsigned char MotorWert[5]; |
54 | unsigned char MotorWert[5]; |
| 55 | unsigned char SenderOkay = 0; |
55 | unsigned char SenderOkay = 0; |
| 56 | unsigned int I2CTimeout = 100; |
56 | unsigned int I2CTimeout = 100; |
| 57 | char MotorenEin = 0; |
57 | char MotorenEin = 0; |
| 58 | unsigned int modell_fliegt = 0; |
58 | unsigned int modell_fliegt = 0; |
| 59 | 59 | ||
| 60 | extern unsigned long maxDistance; |
60 | extern unsigned long maxDistance; |
| 61 | extern signed int GPS_Nick, GPS_Roll; |
61 | extern signed int GPS_Nick, GPS_Roll; |
| 62 | extern int RemoteLinkLost; |
62 | extern int RemoteLinkLost; |
| 63 | extern int InvalidAttitude; |
63 | extern int InvalidAttitude; |
| 64 | struct mk_param_struct EE_Parameter; |
64 | struct mk_param_struct EE_Parameter; |
| 65 | 65 | ||
| 66 | /* **************************************************************************** |
66 | /* **************************************************************************** |
| 67 | Functionname: SetNeutral */ /*! |
67 | Functionname: SetNeutral */ /*! |
| 68 | Description: |
68 | Description: |
| 69 | 69 | ||
| 70 | @param[in] |
70 | @param[in] |
| 71 | 71 | ||
| 72 | @return void |
72 | @return void |
| 73 | @pre - |
73 | @pre - |
| 74 | @post - |
74 | @post - |
| 75 | @author Michael Walter |
75 | @author Michael Walter |
| 76 | **************************************************************************** */ |
76 | **************************************************************************** */ |
| 77 | void SetNeutral(void) |
77 | void SetNeutral(void) |
| 78 | { |
78 | { |
| 79 | beeptime = 2000; |
79 | beeptime = 2000; |
| 80 | Delay_ms(1000); |
80 | Delay_ms(1000); |
| 81 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
81 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 82 | { |
82 | { |
| 83 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
83 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
| 84 | { |
84 | { |
| 85 | SucheLuftruckOffset(); |
85 | SucheLuftruckOffset(); |
| 86 | } |
86 | } |
| 87 | } |
87 | } |
| 88 | 88 | ||
| 89 | LastAltitude = CurrentAltitude; |
89 | LastAltitude = CurrentAltitude; |
| 90 | Delay_ms_Mess(300); |
90 | Delay_ms_Mess(300); |
| 91 | 91 | ||
| 92 | ANALOG_OFF; |
92 | ANALOG_OFF; |
| 93 | AdNeutralNick = (f32_t) AdWertNick_Raw; |
93 | AdNeutralNick = (f32_t) AdWertNick_Raw; |
| 94 | AdNeutralRoll = (f32_t) AdWertRoll_Raw; |
94 | AdNeutralRoll = (f32_t) AdWertRoll_Raw; |
| 95 | AdNeutralGier = (f32_t) AdWertGier_Raw; |
95 | AdNeutralGier = (f32_t) AdWertGier_Raw; |
| 96 | NeutralAccY = AdWertAccRoll_Raw; |
96 | NeutralAccY = AdWertAccRoll_Raw; |
| 97 | NeutralAccX = AdWertAccNick_Raw; |
97 | NeutralAccX = AdWertAccNick_Raw; |
| 98 | NeutralAccZ = AdWertAccHoch_Raw; |
98 | NeutralAccZ = AdWertAccHoch_Raw; |
| 99 | 99 | ||
| 100 | Roll_X_Offset = 0.F; |
100 | Roll_X_Offset = 0.F; |
| 101 | Roll_Y_Offset = 0.F; |
101 | Roll_Y_Offset = 0.F; |
| 102 | Roll_Z_Offset = 0.F; |
102 | Roll_Z_Offset = 0.F; |
| 103 | ACC_X_Offset = 0.F; |
103 | ACC_X_Offset = 0.F; |
| 104 | ACC_Y_Offset = 0.F; |
104 | ACC_Y_Offset = 0.F; |
| 105 | ACC_Z_Offset = 0.F; |
105 | ACC_Z_Offset = 0.F; |
| 106 | 106 | ||
| 107 | AccumulatedACC_X = 0; |
107 | AccumulatedACC_X = 0; |
| 108 | AccumulatedACC_X_cnt = 0; |
108 | AccumulatedACC_X_cnt = 0; |
| 109 | AccumulatedACC_Y = 0; |
109 | AccumulatedACC_Y = 0; |
| 110 | AccumulatedACC_Y_cnt = 0; |
110 | AccumulatedACC_Y_cnt = 0; |
| 111 | AccumulatedACC_Z = 0; |
111 | AccumulatedACC_Z = 0; |
| 112 | AccumulatedACC_Z_cnt = 0; |
112 | AccumulatedACC_Z_cnt = 0; |
| 113 | 113 | ||
| 114 | AccumulatedRoll = 0; |
114 | AccumulatedRoll = 0; |
| 115 | AccumulatedRoll_cnt = 0; |
115 | AccumulatedRoll_cnt = 0; |
| 116 | AccumulatedNick = 0; |
116 | AccumulatedNick = 0; |
| 117 | AccumulatedNick_cnt = 0; |
117 | AccumulatedNick_cnt = 0; |
| 118 | AccumulatedGier = 0; |
118 | AccumulatedGier = 0; |
| 119 | AccumulatedGier_cnt = 0; |
119 | AccumulatedGier_cnt = 0; |
| 120 | 120 | ||
| 121 | AveragerACC_X = 0; |
121 | AveragerACC_X = 0; |
| 122 | AveragerACC_Y = 0; |
122 | AveragerACC_Y = 0; |
| 123 | AveragerACC_Z = 0; |
123 | AveragerACC_Z = 0; |
| 124 | 124 | ||
| 125 | AccumulatedACC_X = 0; |
125 | AccumulatedACC_X = 0; |
| 126 | AccumulatedACC_X_cnt = 0; |
126 | AccumulatedACC_X_cnt = 0; |
| 127 | AccumulatedACC_Y = 0; |
127 | AccumulatedACC_Y = 0; |
| 128 | AccumulatedACC_Y_cnt = 0; |
128 | AccumulatedACC_Y_cnt = 0; |
| 129 | AccumulatedACC_Z = 0; |
129 | AccumulatedACC_Z = 0; |
| 130 | AccumulatedACC_Z_cnt = 0; |
130 | AccumulatedACC_Z_cnt = 0; |
| 131 | ANALOG_ON; |
131 | ANALOG_ON; |
| 132 | 132 | ||
| 133 | SummeRoll = 0; |
133 | SummeRoll = 0; |
| 134 | SummeNick = 0; |
134 | SummeNick = 0; |
| 135 | 135 | ||
| 136 | sollGier = status.iPsi10; |
136 | sollGier = status.iPsi10; |
| 137 | InitialAltitude = AdWertAirPressure_Raw; |
137 | InitialAltitude = AdWertAirPressure_Raw; |
| 138 | 138 | ||
| 139 | InvalidAttitude = 0; |
139 | InvalidAttitude = 0; |
| 140 | beeptime = 2000; |
140 | beeptime = 2000; |
| 141 | } |
141 | } |
| 142 | 142 | ||
| 143 | 143 | ||
| 144 | /* **************************************************************************** |
144 | /* **************************************************************************** |
| 145 | Functionname: GetMeasurements */ /*! |
145 | Functionname: GetMeasurements */ /*! |
| 146 | Description: CalculateAverage |
146 | Description: CalculateAverage |
| 147 | 147 | ||
| 148 | @param[in] |
148 | @param[in] |
| 149 | 149 | ||
| 150 | @return void |
150 | @return void |
| 151 | @pre - |
151 | @pre - |
| 152 | @post - |
152 | @post - |
| 153 | @author Michael Walter |
153 | @author Michael Walter |
| 154 | **************************************************************************** */ |
154 | **************************************************************************** */ |
| 155 | void GetMeasurements(void) |
155 | void GetMeasurements(void) |
| 156 | { |
156 | { |
| - | 157 | static int LongTermAccumulatedRoll = 0; |
|
| - | 158 | static int LongTermAccumulatedNick = 0; |
|
| - | 159 | static int LongTermAccumulatedRoll_Cnt = 0; |
|
| - | 160 | static int LongTermAccumulatedNick_Cnt = 0; |
|
| - | 161 | ||
| 157 | ANALOG_OFF; |
162 | ANALOG_OFF; |
| 158 | AverageRoll = AccumulatedRoll / AccumulatedRoll_cnt; |
163 | AverageRoll = AccumulatedRoll / AccumulatedRoll_cnt; |
| 159 | AverageNick = AccumulatedNick / AccumulatedNick_cnt; |
164 | AverageNick = AccumulatedNick / AccumulatedNick_cnt; |
| 160 | AverageGier = AccumulatedGier / AccumulatedGier_cnt; |
165 | AverageGier = AccumulatedGier / AccumulatedGier_cnt; |
| 161 | 166 | ||
| 162 | /* Get Pressure Differenz */ |
167 | /* Get Pressure Differenz */ |
| 163 | CurrentAltitude = InitialAltitude - AccumulatedAirPressure / AccumulatedAirPressure_cnt; |
168 | CurrentAltitude = InitialAltitude - AccumulatedAirPressure / AccumulatedAirPressure_cnt; |
| 164 | AccumulatedAirPressure_cnt = 0; |
169 | AccumulatedAirPressure_cnt = 0; |
| 165 | AccumulatedAirPressure = 0; |
170 | AccumulatedAirPressure = 0; |
| 166 | 171 | ||
| 167 | static char AirPressureCnt = 0; |
172 | static char AirPressureCnt = 0; |
| 168 | if (AirPressureCnt % 25 == 1) |
173 | if (AirPressureCnt % 25 == 1) |
| 169 | { |
174 | { |
| 170 | DeltaAltitude = CurrentAltitude - LastAltitude; |
175 | DeltaAltitude = CurrentAltitude - LastAltitude; |
| 171 | LastAltitude = CurrentAltitude; |
176 | LastAltitude = CurrentAltitude; |
| 172 | } |
177 | } |
| 173 | AirPressureCnt++; |
178 | AirPressureCnt++; |
| - | 179 | ||
| - | 180 | if (LongTermAccumulatedRoll_Cnt < 500) |
|
| - | 181 | { |
|
| - | 182 | if (abs(LongTermAccumulatedRoll) < 10000) |
|
| - | 183 | { |
|
| - | 184 | LongTermAccumulatedRoll += AverageRoll; |
|
| - | 185 | } |
|
| - | 186 | LongTermAccumulatedRoll_Cnt++; |
|
| - | 187 | ||
| - | 188 | if(abs(LongTermAccumulatedNick) < 10000) |
|
| - | 189 | { |
|
| - | 190 | LongTermAccumulatedNick += AverageNick; |
|
| - | 191 | } |
|
| - | 192 | LongTermAccumulatedNick_Cnt++; |
|
| - | 193 | } |
|
| - | 194 | else |
|
| - | 195 | { |
|
| - | 196 | static float fPreviousPsi =0.0F; |
|
| - | 197 | static float fPreviousTheta =0.0F; |
|
| - | 198 | ||
| - | 199 | //DebugOut.Analog[8] = (int) (((status.Phi - fPreviousPsi) / (0.00001F * fCycleTime)) / LongTermAccumulatedRoll_Cnt ); |
|
| - | 200 | //DebugOut.Analog[9] = (int) ((LongTermAccumulatedRoll / LongTermAccumulatedRoll_Cnt)); |
|
| - | 201 | ||
| - | 202 | AdNeutralRoll += (int) ((LongTermAccumulatedRoll + (status.Phi - fPreviousPsi) / (0.00001F * fCycleTime)) / LongTermAccumulatedRoll_Cnt ); |
|
| - | 203 | AdNeutralNick += (int) ((LongTermAccumulatedNick + (status.Theta - fPreviousTheta) / (0.00001F * fCycleTime)) / LongTermAccumulatedNick_Cnt ); |
|
| - | 204 | ||
| - | 205 | fPreviousPsi = status.Phi; |
|
| - | 206 | fPreviousTheta = status.Theta; |
|
| - | 207 | ||
| - | 208 | //AdNeutralRoll += (MAX(-20, MIN(20,LongTermAccumulatedRoll / LongTermAccumulatedRoll_Cnt))); |
|
| - | 209 | //AdNeutralNick += (MAX(-20, MIN(20,LongTermAccumulatedNick / LongTermAccumulatedNick_Cnt))); |
|
| - | 210 | ||
| - | 211 | LongTermAccumulatedRoll_Cnt = 0; |
|
| - | 212 | LongTermAccumulatedNick_Cnt = 0; |
|
| - | 213 | LongTermAccumulatedRoll = 0; |
|
| - | 214 | LongTermAccumulatedNick = 0; |
|
| - | 215 | } |
|
| - | 216 | ||
| - | 217 | #if 0 |
|
| - | 218 | DebugOut.Analog[3] = fSumNick; |
|
| - | 219 | DebugOut.Analog[4] = fSumRoll; |
|
| - | 220 | DebugOut.Analog[5] = fSumGier; |
|
| - | 221 | #endif |
|
| - | 222 | ||
| 174 | 223 | ||
| 175 | if(modell_fliegt < 0x250) |
224 | if((modell_fliegt < 0x250) && 0) |
| 176 | { |
225 | { |
| 177 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
226 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| 178 | AdNeutralNick = 0.998F * AdNeutralNick + 0.002F * AdWertNick_Raw; |
227 | AdNeutralNick = 0.998F * AdNeutralNick + 0.002F * AdWertNick_Raw; |
| 179 | AdNeutralRoll = 0.998F * AdNeutralRoll + 0.002F * AdWertRoll_Raw; |
228 | AdNeutralRoll = 0.998F * AdNeutralRoll + 0.002F * AdWertRoll_Raw; |
| 180 | if (abs(StickGier) < 15 || MotorenEin == 0) |
229 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 181 | { |
230 | { |
| 182 | AdNeutralGier = 0.998F * AdNeutralGier + 0.002F * AdWertGier_Raw; |
231 | AdNeutralGier = 0.998F * AdNeutralGier + 0.002F * AdWertGier_Raw; |
| 183 | } |
232 | } |
| 184 | } |
233 | } |
| 185 | else if(modell_fliegt < 0x2000) |
234 | else if(modell_fliegt < 0x2000&& 0) |
| 186 | { |
235 | { |
| 187 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
236 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| 188 | AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw; |
237 | AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw; |
| 189 | AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw; |
238 | AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw; |
| 190 | if (abs(StickGier) < 15 || MotorenEin == 0) |
239 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 191 | { |
240 | { |
| 192 | AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw; |
241 | AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw; |
| 193 | } |
242 | } |
| 194 | } |
243 | } |
| 195 | else |
244 | else |
| 196 | { |
245 | { |
| 197 | AdNeutralNick = 0.9995F * AdNeutralNick + 0.0005F * AdWertNick_Raw; |
246 | AdNeutralNick = 0.9995F * AdNeutralNick + 0.0005F * AdWertNick_Raw; |
| 198 | AdNeutralRoll = 0.9995F * AdNeutralRoll + 0.0005F * AdWertRoll_Raw; |
247 | AdNeutralRoll = 0.9995F * AdNeutralRoll + 0.0005F * AdWertRoll_Raw; |
| 199 | if (abs(StickGier) < 15 || MotorenEin == 0) |
248 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 200 | { |
249 | { |
| 201 | AdNeutralGier = 0.9995F * AdNeutralGier + 0.0005F * AdWertGier_Raw; |
250 | AdNeutralGier = 0.9995F * AdNeutralGier + 0.0005F * AdWertGier_Raw; |
| 202 | } |
251 | } |
| 203 | } |
252 | } |
| 204 | 253 | ||
| 205 | #if 1 |
254 | #if 1 |
| 206 | DebugOut.Analog[6] = AdWertNick_Raw; |
255 | DebugOut.Analog[6] = AdWertNick_Raw; |
| 207 | DebugOut.Analog[7] = AdWertRoll_Raw; |
256 | DebugOut.Analog[7] = AdWertRoll_Raw; |
| 208 | DebugOut.Analog[8] = AdWertGier_Raw; |
257 | DebugOut.Analog[8] = AdWertGier_Raw; |
| 209 | 258 | ||
| 210 | DebugOut.Analog[9] = AdNeutralNick; |
259 | DebugOut.Analog[9] = AdNeutralNick; |
| 211 | DebugOut.Analog[10] = AdNeutralRoll; |
260 | DebugOut.Analog[10] = AdNeutralRoll; |
| 212 | DebugOut.Analog[11] = AdNeutralGier; |
261 | DebugOut.Analog[11] = AdNeutralGier; |
| 213 | #endif |
262 | #endif |
| 214 | 263 | ||
| 215 | AccumulatedRoll = 0; |
264 | AccumulatedRoll = 0; |
| 216 | AccumulatedRoll_cnt = 0; |
265 | AccumulatedRoll_cnt = 0; |
| 217 | AccumulatedNick = 0; |
266 | AccumulatedNick = 0; |
| 218 | AccumulatedNick_cnt = 0; |
267 | AccumulatedNick_cnt = 0; |
| 219 | AccumulatedGier = 0; |
268 | AccumulatedGier = 0; |
| 220 | AccumulatedGier_cnt = 0; |
269 | AccumulatedGier_cnt = 0; |
| 221 | 270 | ||
| 222 | #if 0 |
271 | #if 0 |
| 223 | ACC_X_Offset = 0.9999F * ACC_X_Offset + 0.0001F * ((float) AccumulatedACC_X / (float) AccumulatedACC_X_cnt); |
272 | ACC_X_Offset = 0.9999F * ACC_X_Offset + 0.0001F * ((float) AccumulatedACC_X / (float) AccumulatedACC_X_cnt); |
| 224 | ACC_Y_Offset = 0.9999F * ACC_Y_Offset + 0.0001F * ((float) AccumulatedACC_Y / (float) AccumulatedACC_Y_cnt); |
273 | ACC_Y_Offset = 0.9999F * ACC_Y_Offset + 0.0001F * ((float) AccumulatedACC_Y / (float) AccumulatedACC_Y_cnt); |
| 225 | ACC_Z_Offset = 0.9999F * ACC_Z_Offset + 0.0001F * ((float) AccumulatedACC_Z / (float) AccumulatedACC_Z_cnt); |
274 | ACC_Z_Offset = 0.9999F * ACC_Z_Offset + 0.0001F * ((float) AccumulatedACC_Z / (float) AccumulatedACC_Z_cnt); |
| 226 | #endif |
275 | #endif |
| 227 | 276 | ||
| 228 | AveragerACC_X = AccumulatedACC_X / AccumulatedACC_X_cnt; |
277 | AveragerACC_X = AccumulatedACC_X / AccumulatedACC_X_cnt; |
| 229 | AveragerACC_Y = AccumulatedACC_Y / AccumulatedACC_Y_cnt; |
278 | AveragerACC_Y = AccumulatedACC_Y / AccumulatedACC_Y_cnt; |
| 230 | AveragerACC_Z = AccumulatedACC_Z / AccumulatedACC_Z_cnt; |
279 | AveragerACC_Z = AccumulatedACC_Z / AccumulatedACC_Z_cnt; |
| 231 | 280 | ||
| 232 | AccumulatedACC_X = 0; |
281 | AccumulatedACC_X = 0; |
| 233 | AccumulatedACC_X_cnt = 0; |
282 | AccumulatedACC_X_cnt = 0; |
| 234 | AccumulatedACC_Y = 0; |
283 | AccumulatedACC_Y = 0; |
| 235 | AccumulatedACC_Y_cnt = 0; |
284 | AccumulatedACC_Y_cnt = 0; |
| 236 | AccumulatedACC_Z = 0; |
285 | AccumulatedACC_Z = 0; |
| 237 | AccumulatedACC_Z_cnt = 0; |
286 | AccumulatedACC_Z_cnt = 0; |
| 238 | 287 | ||
| 239 | ANALOG_ON; |
288 | ANALOG_ON; |
| 240 | } |
289 | } |
| 241 | 290 | ||
| 242 | /* **************************************************************************** |
291 | /* **************************************************************************** |
| 243 | Functionname: SendMotorData */ /*! |
292 | Functionname: SendMotorData */ /*! |
| 244 | Description: Senden der Motorwerte per I2C-Bus |
293 | Description: Senden der Motorwerte per I2C-Bus |
| 245 | 294 | ||
| 246 | @return void |
295 | @return void |
| 247 | @pre - |
296 | @pre - |
| 248 | @post - |
297 | @post - |
| 249 | @author H. Buss / I. Busker |
298 | @author H. Buss / I. Busker |
| 250 | **************************************************************************** */ |
299 | **************************************************************************** */ |
| 251 | void SendMotorData(void) |
300 | void SendMotorData(void) |
| 252 | { |
301 | { |
| 253 | if(!MotorenEin) |
302 | if(!MotorenEin) |
| 254 | { |
303 | { |
| 255 | Motor_Hinten = 0; |
304 | Motor_Hinten = 0; |
| 256 | Motor_Vorne = 0; |
305 | Motor_Vorne = 0; |
| 257 | Motor_Rechts = 0; |
306 | Motor_Rechts = 0; |
| 258 | Motor_Links = 0; |
307 | Motor_Links = 0; |
| 259 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
308 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| 260 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
309 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| 261 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
310 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| 262 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
311 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| 263 | } |
312 | } |
| 264 | 313 | ||
| 265 | //Start I2C Interrupt Mode |
314 | //Start I2C Interrupt Mode |
| 266 | twi_state = 0; |
315 | twi_state = 0; |
| 267 | motor = 0; |
316 | motor = 0; |
| 268 | i2c_start(); |
317 | i2c_start(); |
| 269 | } |
318 | } |
| 270 | 319 | ||
| 271 | 320 | ||
| 272 | /* **************************************************************************** |
321 | /* **************************************************************************** |
| 273 | Functionname: RemoteControl */ /*! |
322 | Functionname: RemoteControl */ /*! |
| 274 | Description: |
323 | Description: |
| 275 | 324 | ||
| 276 | @return void |
325 | @return void |
| 277 | @pre - |
326 | @pre - |
| 278 | @post - |
327 | @post - |
| 279 | @author H. Buss / I. Busker |
328 | @author H. Buss / I. Busker |
| 280 | **************************************************************************** */ |
329 | **************************************************************************** */ |
| 281 | void RemoteControl(void) |
330 | void RemoteControl(void) |
| 282 | { |
331 | { |
| 283 | static unsigned char delay_neutral = 0; |
332 | static unsigned char delay_neutral = 0; |
| 284 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
333 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 285 | 334 | ||
| 286 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
335 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 287 | // Gaswert ermitteln |
336 | // Gaswert ermitteln |
| 288 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
337 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 289 | GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
338 | GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 290 | if(GasMischanteil < 0) |
339 | if(GasMischanteil < 0) |
| 291 | { |
340 | { |
| 292 | GasMischanteil = 0; |
341 | GasMischanteil = 0; |
| 293 | } |
342 | } |
| 294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
343 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 295 | // Emfang schlecht |
344 | // Emfang schlecht |
| 296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
345 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 297 | if(SenderOkay < 100) |
346 | if(SenderOkay < 100) |
| 298 | { |
347 | { |
| 299 | if(!PcZugriff) |
348 | if(!PcZugriff) |
| 300 | { |
349 | { |
| 301 | if(BeepMuster == 0xffff) |
350 | if(BeepMuster == 0xffff) |
| 302 | { |
351 | { |
| 303 | beeptime = 15000; |
352 | beeptime = 15000; |
| 304 | BeepMuster = 0x0c00; |
353 | BeepMuster = 0x0c00; |
| 305 | } |
354 | } |
| 306 | } |
355 | } |
| 307 | } |
356 | } |
| 308 | else |
357 | else |
| 309 | { |
358 | { |
| 310 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
359 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 311 | // Emfang gut |
360 | // Emfang gut |
| 312 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
361 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 313 | if(SenderOkay > 140) |
362 | if(SenderOkay > 140) |
| 314 | { |
363 | { |
| 315 | if(GasMischanteil > 40) |
364 | if(GasMischanteil > 40) |
| 316 | { |
365 | { |
| 317 | if(modell_fliegt < 0xffff) |
366 | if(modell_fliegt < 0xffff) |
| 318 | { |
367 | { |
| 319 | modell_fliegt++; |
368 | modell_fliegt++; |
| 320 | } |
369 | } |
| 321 | } |
370 | } |
| 322 | 371 | ||
| 323 | 372 | ||
| 324 | if((GasMischanteil > 200) && |
373 | if((GasMischanteil > 200) && |
| 325 | (MotorenEin == 0)) |
374 | (MotorenEin == 0)) |
| 326 | { |
375 | { |
| 327 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
376 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 328 | // auf Nullwerte kalibrieren |
377 | // auf Nullwerte kalibrieren |
| 329 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
378 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 330 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
379 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 331 | { |
380 | { |
| 332 | if(++delay_neutral > 50) // nicht sofort |
381 | if(++delay_neutral > 50) // nicht sofort |
| 333 | { |
382 | { |
| 334 | MotorenEin = 0; |
383 | MotorenEin = 0; |
| 335 | delay_neutral = 0; |
384 | delay_neutral = 0; |
| 336 | modell_fliegt = 0; |
385 | modell_fliegt = 0; |
| 337 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
386 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 338 | { |
387 | { |
| 339 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
388 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
| 340 | { |
389 | { |
| 341 | SucheLuftruckOffset(); |
390 | SucheLuftruckOffset(); |
| 342 | } |
391 | } |
| 343 | } |
392 | } |
| 344 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
393 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 345 | SetNeutral(); |
394 | SetNeutral(); |
| 346 | } |
395 | } |
| 347 | } |
396 | } |
| 348 | else |
397 | else |
| 349 | { |
398 | { |
| 350 | delay_neutral = 0; |
399 | delay_neutral = 0; |
| 351 | } |
400 | } |
| 352 | } |
401 | } |
| 353 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
402 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 354 | // Gas ist unten |
403 | // Gas ist unten |
| 355 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
404 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 356 | if(GasMischanteil < 35) |
405 | if(GasMischanteil < 35) |
| 357 | { |
406 | { |
| 358 | // Starten |
407 | // Starten |
| 359 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
408 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| 360 | { |
409 | { |
| 361 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
410 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 362 | // Einschalten |
411 | // Einschalten |
| 363 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
412 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 364 | if(++delay_einschalten > 100) |
413 | if(++delay_einschalten > 100) |
| 365 | { |
414 | { |
| 366 | MotorenEin = 1; |
415 | MotorenEin = 1; |
| 367 | modell_fliegt = 1; |
416 | modell_fliegt = 1; |
| 368 | delay_einschalten = 100; |
417 | delay_einschalten = 100; |
| 369 | } |
418 | } |
| 370 | } |
419 | } |
| 371 | else |
420 | else |
| 372 | { |
421 | { |
| 373 | delay_einschalten = 0; |
422 | delay_einschalten = 0; |
| 374 | } |
423 | } |
| 375 | //Auf Neutralwerte setzen |
424 | //Auf Neutralwerte setzen |
| 376 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
425 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 377 | // Auschalten |
426 | // Auschalten |
| 378 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
427 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 379 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
428 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| 380 | { |
429 | { |
| 381 | if(++delay_ausschalten > 50) // nicht sofort |
430 | if(++delay_ausschalten > 50) // nicht sofort |
| 382 | { |
431 | { |
| 383 | MotorenEin = 0; |
432 | MotorenEin = 0; |
| 384 | modell_fliegt = 0; |
433 | modell_fliegt = 0; |
| 385 | delay_ausschalten = 50; |
434 | delay_ausschalten = 50; |
| 386 | } |
435 | } |
| 387 | } |
436 | } |
| 388 | else |
437 | else |
| 389 | { |
438 | { |
| 390 | delay_ausschalten = 0; |
439 | delay_ausschalten = 0; |
| 391 | } |
440 | } |
| 392 | } |
441 | } |
| 393 | } |
442 | } |
| 394 | } |
443 | } |
| 395 | } |
444 | } |
| 396 | 445 | ||
| 397 | 446 | ||
| 398 | 447 | ||
| 399 | 448 | ||
| 400 | /* **************************************************************************** |
449 | /* **************************************************************************** |
| 401 | Functionname: PD_Regler */ /*! |
450 | Functionname: PD_Regler */ /*! |
| 402 | Description: |
451 | Description: |
| 403 | 452 | ||
| 404 | @return void |
453 | @return void |
| 405 | @pre - |
454 | @pre - |
| 406 | @post - |
455 | @post - |
| 407 | @author Michael Walter |
456 | @author Michael Walter |
| 408 | **************************************************************************** */ |
457 | **************************************************************************** */ |
| 409 | void PD_Regler(void) |
458 | void PD_Regler(void) |
| 410 | { |
459 | { |
| 411 | int StickNick45,StickRoll45; |
460 | int StickNick45,StickRoll45; |
| 412 | int DiffNick,DiffRoll, DiffGier; |
461 | int DiffNick,DiffRoll, DiffGier; |
| 413 | int motorwert = 0; |
462 | int motorwert = 0; |
| 414 | int pd_ergebnis; |
463 | int pd_ergebnis; |
| 415 | 464 | ||
| 416 | /***************************************************************************** |
465 | /***************************************************************************** |
| 417 | Update noimial attitude |
466 | Update noimial attitude |
| 418 | **************************************************************************** */ |
467 | **************************************************************************** */ |
| 419 | if(!NewPpmData--) |
468 | if(!NewPpmData--) |
| 420 | { |
469 | { |
| 421 | StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
470 | StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 422 | StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
471 | StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| 423 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
472 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 424 | } // Ende neue Funken-Werte |
473 | } // Ende neue Funken-Werte |
| 425 | 474 | ||
| 426 | #ifdef USE_GPS |
475 | #ifdef USE_GPS |
| 427 | /* G P S U p d a t e */ |
476 | /* G P S U p d a t e */ |
| 428 | GPSupdate(); |
477 | GPSupdate(); |
| 429 | #endif |
478 | #endif |
| 430 | 479 | ||
| 431 | static float AverageGasMischanteil = 50.F; |
480 | static float AverageGasMischanteil = 50.F; |
| 432 | if((GasMischanteil > 30) && |
481 | if((GasMischanteil > 30) && |
| 433 | (MotorenEin == 1) && |
482 | (MotorenEin == 1) && |
| 434 | (RemoteLinkLost == 0) ) |
483 | (RemoteLinkLost == 0) ) |
| 435 | { /* Average the average throttle to find the hover setting */ |
484 | { /* Average the average throttle to find the hover setting */ |
| 436 | AverageGasMischanteil = 0.999F * AverageGasMischanteil + 0.001F * GasMischanteil; |
485 | AverageGasMischanteil = 0.999F * AverageGasMischanteil + 0.001F * GasMischanteil; |
| 437 | } |
486 | } |
| 438 | /* Overide GasMischanteil */ |
487 | /* Overide GasMischanteil */ |
| 439 | static unsigned int DescentCnt = 32000; |
488 | static unsigned int DescentCnt = 32000; |
| 440 | if ((RemoteLinkLost == 1) && |
489 | if ((RemoteLinkLost == 1) && |
| 441 | (MotorenEin == 1)) |
490 | (MotorenEin == 1)) |
| 442 | { |
491 | { |
| 443 | if ((UBat < 100) || /* Start to descent in case of low loltage or in case*/ |
492 | if ((UBat < 100) || /* Start to descent in case of low loltage or in case*/ |
| 444 | (maxDistance / 10 < 12)) /* we reached our target position */ |
493 | (maxDistance / 10 < 12)) /* we reached our target position */ |
| 445 | { |
494 | { |
| 446 | if (DescentCnt > 0) |
495 | if (DescentCnt > 0) |
| 447 | { |
496 | { |
| 448 | DescentCnt--; |
497 | DescentCnt--; |
| 449 | } |
498 | } |
| 450 | else |
499 | else |
| 451 | { /* We reached our target (hopefully) */ |
500 | { /* We reached our target (hopefully) */ |
| 452 | MotorenEin = 0; |
501 | MotorenEin = 0; |
| 453 | RemoteLinkLost = 0; |
502 | RemoteLinkLost = 0; |
| 454 | } |
503 | } |
| 455 | } |
504 | } |
| 456 | else |
505 | else |
| 457 | { |
506 | { |
| 458 | DescentCnt = 32000; |
507 | DescentCnt = 32000; |
| 459 | } |
508 | } |
| 460 | /* Bias the throttle for a slow descent */ |
509 | /* Bias the throttle for a slow descent */ |
| 461 | GasMischanteil = (int) ((AverageGasMischanteil + 5.0F) * (DescentCnt / 32000.F)); |
510 | GasMischanteil = (int) ((AverageGasMischanteil + 5.0F) * (DescentCnt / 32000.F)); |
| 462 | } |
511 | } |
| 463 | else |
512 | else |
| 464 | { |
513 | { |
| 465 | DescentCnt = 32000; |
514 | DescentCnt = 32000; |
| 466 | } |
515 | } |
| 467 | 516 | ||
| 468 | //DebugOut.Analog[13] = (int) GasMischanteil; |
517 | //DebugOut.Analog[13] = (int) GasMischanteil; |
| 469 | 518 | ||
| 470 | #ifdef X_FORMATION |
519 | #ifdef X_FORMATION |
| 471 | /* Overide in case the remote link got lost */ |
520 | /* Overide in case the remote link got lost */ |
| 472 | if (RemoteLinkLost == 0) |
521 | if (RemoteLinkLost == 0) |
| 473 | { /* We are flying in X-Formation */ |
522 | { /* We are flying in X-Formation */ |
| 474 | StickRoll45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) - 0.707F * (float)(StickNick - GPS_Nick)); |
523 | StickRoll45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) - 0.707F * (float)(StickNick - GPS_Nick)); |
| 475 | StickNick45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) + 0.707F * (float)(StickNick - GPS_Nick)); |
524 | StickNick45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) + 0.707F * (float)(StickNick - GPS_Nick)); |
| 476 | } |
525 | } |
| 477 | else |
526 | else |
| 478 | { /* GPS overide is aktive */ |
527 | { /* GPS overide is aktive */ |
| 479 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
528 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
| 480 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
529 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
| 481 | StickGier = 0; |
530 | StickGier = 0; |
| 482 | } |
531 | } |
| 483 | #else |
532 | #else |
| 484 | /* Overide in case the remote link got lost */ |
533 | /* Overide in case the remote link got lost */ |
| 485 | if (RemoteLinkLost == 0) |
534 | if (RemoteLinkLost == 0) |
| 486 | { /* We are flying in X-Formation */ |
535 | { /* We are flying in X-Formation */ |
| 487 | StickRoll45 = StickRoll - GPS_Roll; |
536 | StickRoll45 = StickRoll - GPS_Roll; |
| 488 | StickNick45 = StickNick - GPS_Nick; |
537 | StickNick45 = StickNick - GPS_Nick; |
| 489 | } |
538 | } |
| 490 | else |
539 | else |
| 491 | { /* GPS overide is aktive */ |
540 | { /* GPS overide is aktive */ |
| 492 | StickRoll45 = -GPS_Roll; |
541 | StickRoll45 = -GPS_Roll; |
| 493 | StickNick45 = -GPS_Nick; |
542 | StickNick45 = -GPS_Nick; |
| 494 | StickGier = 0; |
543 | StickGier = 0; |
| 495 | } |
544 | } |
| 496 | #endif |
545 | #endif |
| 497 | 546 | ||
| 498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
547 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 499 | // Yaw |
548 | // Yaw |
| 500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
549 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 501 | 550 | ||
| 502 | if(GasMischanteil < 20) |
551 | if(GasMischanteil < 20) |
| 503 | { |
552 | { |
| 504 | sollGier = status.iPsi10; |
553 | sollGier = status.iPsi10; |
| 505 | SummeRoll = 0; |
554 | SummeRoll = 0; |
| 506 | SummeNick = 0; |
555 | SummeNick = 0; |
| 507 | } |
556 | } |
| 508 | 557 | ||
| 509 | /* Gier-Anteil */ |
558 | /* Gier-Anteil */ |
| 510 | if (abs(StickGier) > 4) |
559 | if (abs(StickGier) > 4) |
| 511 | { |
560 | { |
| 512 | sollGier = status.iPsi10 + 4 * StickGier; |
561 | sollGier = status.iPsi10 + 4 * StickGier; |
| 513 | } |
562 | } |
| 514 | DiffGier = (sollGier - status.iPsi10); |
563 | DiffGier = (sollGier - status.iPsi10); |
| 515 | GierMischanteil = (int) (-4 * DiffGier - 4* (AdWertGier_Raw - (int) AdNeutralGier)) / 10; |
564 | GierMischanteil = (int) (-4 * DiffGier - 4* (AdWertGier_Raw - (int) AdNeutralGier)) / 10; |
| 516 | 565 | ||
| 517 | #define MUL_G 0.8 |
566 | #define MUL_G 0.8 |
| 518 | if(GierMischanteil > MUL_G * GasMischanteil) |
567 | if(GierMischanteil > MUL_G * GasMischanteil) |
| 519 | { |
568 | { |
| 520 | GierMischanteil = MUL_G * GasMischanteil; |
569 | GierMischanteil = MUL_G * GasMischanteil; |
| 521 | } |
570 | } |
| 522 | if(GierMischanteil < -MUL_G * GasMischanteil) |
571 | if(GierMischanteil < -MUL_G * GasMischanteil) |
| 523 | { |
572 | { |
| 524 | GierMischanteil = -MUL_G * GasMischanteil; |
573 | GierMischanteil = -MUL_G * GasMischanteil; |
| 525 | } |
574 | } |
| 526 | if(GierMischanteil > 50) |
575 | if(GierMischanteil > 50) |
| 527 | { |
576 | { |
| 528 | GierMischanteil = 50; |
577 | GierMischanteil = 50; |
| 529 | } |
578 | } |
| 530 | if(GierMischanteil < -50) |
579 | if(GierMischanteil < -50) |
| 531 | { |
580 | { |
| 532 | GierMischanteil = -50; |
581 | GierMischanteil = -50; |
| 533 | } |
582 | } |
| 534 | 583 | ||
| 535 | /***************************************************************************** |
584 | /***************************************************************************** |
| 536 | PD-Control |
585 | PD-Control |
| 537 | **************************************************************************** */ |
586 | **************************************************************************** */ |
| 538 | int scale_p; |
587 | int scale_p; |
| 539 | int scale_d; |
588 | int scale_d; |
| 540 | 589 | ||
| 541 | scale_p = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 20); |
590 | scale_p = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 20); |
| 542 | scale_d = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 20); |
591 | scale_d = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 20); |
| 543 | 592 | ||
| 544 | scale_p = 6; |
593 | scale_p = 6; |
| 545 | scale_d = 7; |
594 | scale_d = 7; |
| 546 | 595 | ||
| 547 | //DebugOut.Analog[14] = scale_p; |
596 | //DebugOut.Analog[14] = scale_p; |
| 548 | //DebugOut.Analog[15] = scale_d; |
597 | //DebugOut.Analog[15] = scale_d; |
| 549 | 598 | ||
| 550 | /* Pitch */ |
599 | /* Pitch */ |
| 551 | DiffNick = -(status.iTheta10 + StickNick45); |
600 | DiffNick = -(status.iTheta10 + StickNick45); |
| 552 | /* R o l l */ |
601 | /* R o l l */ |
| 553 | DiffRoll = -(status.iPhi10 + StickRoll45); |
602 | DiffRoll = -(status.iPhi10 + StickRoll45); |
| 554 | 603 | ||
| 555 | SummeNick += DiffNick; |
604 | SummeNick += DiffNick; |
| 556 | if(SummeNick > 10000) |
605 | if(SummeNick > 10000) |
| 557 | { |
606 | { |
| 558 | SummeNick = 10000; |
607 | SummeNick = 10000; |
| 559 | } |
608 | } |
| 560 | if(SummeNick < -10000) |
609 | if(SummeNick < -10000) |
| 561 | { |
610 | { |
| 562 | SummeNick = -10000; |
611 | SummeNick = -10000; |
| 563 | } |
612 | } |
| 564 | 613 | ||
| 565 | SummeRoll += DiffRoll; |
614 | SummeRoll += DiffRoll; |
| 566 | if(SummeRoll > 10000) |
615 | if(SummeRoll > 10000) |
| 567 | { |
616 | { |
| 568 | SummeRoll = 10000; |
617 | SummeRoll = 10000; |
| 569 | } |
618 | } |
| 570 | if(SummeRoll < -10000) |
619 | if(SummeRoll < -10000) |
| 571 | { |
620 | { |
| 572 | SummeRoll = -10000; |
621 | SummeRoll = -10000; |
| 573 | } |
622 | } |
| 574 | 623 | ||
| 575 | pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick_Raw - (int) AdNeutralNick)) / 10) ; // + (int)(SummeNick / 2000); |
624 | pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick_Raw - (int) AdNeutralNick)) / 10) ; // + (int)(SummeNick / 2000); |
| 576 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
625 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 577 | { |
626 | { |
| 578 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
627 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 579 | } |
628 | } |
| 580 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
629 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 581 | { |
630 | { |
| 582 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
631 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 583 | } |
632 | } |
| 584 | 633 | ||
| 585 | /* M o t o r V o r n */ |
634 | /* M o t o r V o r n */ |
| 586 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
635 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
| 587 | if ((motorwert < 0)) |
636 | if ((motorwert < 0)) |
| 588 | { |
637 | { |
| 589 | motorwert = 0; |
638 | motorwert = 0; |
| 590 | } |
639 | } |
| 591 | else if(motorwert > MAX_GAS) |
640 | else if(motorwert > MAX_GAS) |
| 592 | { |
641 | { |
| 593 | motorwert = MAX_GAS; |
642 | motorwert = MAX_GAS; |
| 594 | } |
643 | } |
| 595 | if (motorwert < MIN_GAS) |
644 | if (motorwert < MIN_GAS) |
| 596 | { |
645 | { |
| 597 | motorwert = MIN_GAS; |
646 | motorwert = MIN_GAS; |
| 598 | } |
647 | } |
| 599 | Motor_Vorne = motorwert; |
648 | Motor_Vorne = motorwert; |
| 600 | 649 | ||
| 601 | /* M o t o r H e c k */ |
650 | /* M o t o r H e c k */ |
| 602 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
651 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| 603 | if ((motorwert < 0)) |
652 | if ((motorwert < 0)) |
| 604 | { |
653 | { |
| 605 | motorwert = 0; |
654 | motorwert = 0; |
| 606 | } |
655 | } |
| 607 | else if(motorwert > MAX_GAS) |
656 | else if(motorwert > MAX_GAS) |
| 608 | { |
657 | { |
| 609 | motorwert = MAX_GAS; |
658 | motorwert = MAX_GAS; |
| 610 | } |
659 | } |
| 611 | if (motorwert < MIN_GAS) |
660 | if (motorwert < MIN_GAS) |
| 612 | { |
661 | { |
| 613 | motorwert = MIN_GAS; |
662 | motorwert = MIN_GAS; |
| 614 | } |
663 | } |
| 615 | Motor_Hinten = motorwert; |
664 | Motor_Hinten = motorwert; |
| 616 | 665 | ||
| 617 | pd_ergebnis = ((scale_p * DiffRoll + scale_d * (AdWertRoll_Raw - (int) AdNeutralRoll)) / 10) ; //+ (int)(SummeRoll / 2000); |
666 | pd_ergebnis = ((scale_p * DiffRoll + scale_d * (AdWertRoll_Raw - (int) AdNeutralRoll)) / 10) ; //+ (int)(SummeRoll / 2000); |
| 618 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
667 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 619 | { |
668 | { |
| 620 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
669 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 621 | } |
670 | } |
| 622 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
671 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 623 | { |
672 | { |
| 624 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
673 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 625 | } |
674 | } |
| 626 | 675 | ||
| 627 | /* M o t o r L i n k s */ |
676 | /* M o t o r L i n k s */ |
| 628 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
677 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| 629 | if(motorwert > MAX_GAS) |
678 | if(motorwert > MAX_GAS) |
| 630 | { |
679 | { |
| 631 | motorwert = MAX_GAS; |
680 | motorwert = MAX_GAS; |
| 632 | } |
681 | } |
| 633 | if (motorwert < MIN_GAS) |
682 | if (motorwert < MIN_GAS) |
| 634 | { |
683 | { |
| 635 | motorwert = MIN_GAS; |
684 | motorwert = MIN_GAS; |
| 636 | } |
685 | } |
| 637 | Motor_Links = motorwert; |
686 | Motor_Links = motorwert; |
| 638 | 687 | ||
| 639 | /* M o t o r R e c h t s */ |
688 | /* M o t o r R e c h t s */ |
| 640 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
689 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| 641 | if(motorwert > MAX_GAS) |
690 | if(motorwert > MAX_GAS) |
| 642 | { |
691 | { |
| 643 | motorwert = MAX_GAS; |
692 | motorwert = MAX_GAS; |
| 644 | } |
693 | } |
| 645 | if (motorwert < MIN_GAS) |
694 | if (motorwert < MIN_GAS) |
| 646 | { |
695 | { |
| 647 | motorwert = MIN_GAS; |
696 | motorwert = MIN_GAS; |
| 648 | } |
697 | } |
| 649 | Motor_Rechts = motorwert; |
698 | Motor_Rechts = motorwert; |
| 650 | 699 | ||
| 651 | #if 1 |
700 | #if 1 |
| 652 | DebugOut.Analog[0] = status.iTheta10; |
701 | DebugOut.Analog[0] = status.iTheta10; |
| 653 | DebugOut.Analog[1] = status.iPhi10; |
702 | DebugOut.Analog[1] = status.iPhi10; |
| 654 | DebugOut.Analog[2] = status.iPsi10 / 10; |
703 | DebugOut.Analog[2] = status.iPsi10 / 10; |
| 655 | #endif |
704 | #endif |
| 656 | } |
705 | } |
| 657 | 706 | ||