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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; |
98 | char MotorenEin = 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[20] = ServoNickValue; |
183 | DebugOut.Analog[20] = ServoNickValue; |
184 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
184 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
185 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
185 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
- | 186 | ||
- | 187 | DebugOut.Analog[24] = AdWertAccHoch; |
|
186 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
188 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
187 | // DebugOut.Analog[24] = MesswertNick/2; |
189 | // DebugOut.Analog[24] = MesswertNick/2; |
188 | // DebugOut.Analog[25] = MesswertRoll/2; |
190 | // DebugOut.Analog[25] = MesswertRoll/2; |
189 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
191 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
190 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
192 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
191 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
193 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
192 | //DebugOut.Analog[28] = I2CError; |
194 | //DebugOut.Analog[28] = I2CError; |
193 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
195 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
194 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
196 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
195 | DebugOut.Analog[30] = GPS_Nick; |
197 | DebugOut.Analog[30] = GPS_Nick; |
196 | DebugOut.Analog[31] = GPS_Roll; |
198 | DebugOut.Analog[31] = GPS_Roll; |
197 | } |
199 | } |
198 | 200 | ||
199 | void Piep(unsigned char Anzahl, unsigned int dauer) |
201 | void Piep(unsigned char Anzahl, unsigned int dauer) |
200 | { |
202 | { |
201 | if(MotorenEin) return; //auf keinen Fall im Flug! |
203 | if(MotorenEin) return; //auf keinen Fall im Flug! |
202 | while(Anzahl--) |
204 | while(Anzahl--) |
203 | { |
205 | { |
204 | beeptime = dauer; |
206 | beeptime = dauer; |
205 | while(beeptime); |
207 | while(beeptime); |
206 | Delay_ms(dauer * 2); |
208 | Delay_ms(dauer * 2); |
207 | } |
209 | } |
208 | } |
210 | } |
209 | 211 | ||
210 | //############################################################################ |
212 | //############################################################################ |
211 | // Messwerte beim Ermitteln der Nullage |
213 | // Messwerte beim Ermitteln der Nullage |
212 | void CalibrierMittelwert(void) |
214 | void CalibrierMittelwert(void) |
213 | //############################################################################ |
215 | //############################################################################ |
214 | { |
216 | { |
215 | unsigned char i; |
217 | unsigned char i; |
216 | if(PlatinenVersion == 13) SucheGyroOffset(); |
218 | if(PlatinenVersion == 13) SucheGyroOffset(); |
217 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
219 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
218 | ANALOG_OFF; |
220 | ANALOG_OFF; |
219 | MesswertNick = AdWertNick; |
221 | MesswertNick = AdWertNick; |
220 | MesswertRoll = AdWertRoll; |
222 | MesswertRoll = AdWertRoll; |
221 | MesswertGier = AdWertGier; |
223 | MesswertGier = AdWertGier; |
222 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
224 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
223 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
225 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
224 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
226 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
225 | // ADC einschalten |
227 | // ADC einschalten |
226 | ANALOG_ON; |
228 | ANALOG_ON; |
227 | for(i=0;i<8;i++) |
229 | for(i=0;i<8;i++) |
228 | { |
230 | { |
229 | int tmp; |
231 | int tmp; |
230 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
232 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
231 | LIMIT_MIN_MAX(tmp, 0, 255); |
233 | LIMIT_MIN_MAX(tmp, 0, 255); |
232 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
234 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
233 | } |
235 | } |
234 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
236 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
235 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
237 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
236 | } |
238 | } |
237 | 239 | ||
238 | //############################################################################ |
240 | //############################################################################ |
239 | // Nullwerte ermitteln |
241 | // Nullwerte ermitteln |
240 | void SetNeutral(unsigned char AccAdjustment) |
242 | void SetNeutral(unsigned char AccAdjustment) |
241 | //############################################################################ |
243 | //############################################################################ |
242 | { |
244 | { |
243 | unsigned char i; |
245 | unsigned char i; |
244 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
246 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
245 | 247 | ||
246 | HEF4017R_ON; |
248 | HEF4017R_ON; |
247 | NeutralAccX = 0; |
249 | NeutralAccX = 0; |
248 | NeutralAccY = 0; |
250 | NeutralAccY = 0; |
249 | NeutralAccZ = 0; |
251 | NeutralAccZ = 0; |
250 | 252 | ||
251 | AdNeutralNick = 0; |
253 | AdNeutralNick = 0; |
252 | AdNeutralRoll = 0; |
254 | AdNeutralRoll = 0; |
253 | AdNeutralGier = 0; |
255 | AdNeutralGier = 0; |
254 | 256 | ||
255 | Parameter_AchsKopplung1 = 0; |
257 | Parameter_AchsKopplung1 = 0; |
256 | Parameter_AchsKopplung2 = 0; |
258 | Parameter_AchsKopplung2 = 0; |
257 | 259 | ||
258 | ExpandBaro = 0; |
260 | ExpandBaro = 0; |
259 | 261 | ||
260 | CalibrierMittelwert(); |
262 | CalibrierMittelwert(); |
261 | Delay_ms_Mess(100); |
263 | Delay_ms_Mess(100); |
262 | 264 | ||
263 | CalibrierMittelwert(); |
265 | CalibrierMittelwert(); |
264 | 266 | ||
265 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
267 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
266 | { |
268 | { |
267 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
269 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
268 | } |
270 | } |
269 | #define NEUTRAL_FILTER 32 |
271 | #define NEUTRAL_FILTER 32 |
270 | for(i=0; i<NEUTRAL_FILTER; i++) |
272 | for(i=0; i<NEUTRAL_FILTER; i++) |
271 | { |
273 | { |
272 | Delay_ms_Mess(10); |
274 | Delay_ms_Mess(10); |
273 | gier_neutral += AdWertGier; |
275 | gier_neutral += AdWertGier; |
274 | nick_neutral += AdWertNick; |
276 | nick_neutral += AdWertNick; |
275 | roll_neutral += AdWertRoll; |
277 | roll_neutral += AdWertRoll; |
276 | } |
278 | } |
277 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
279 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
278 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
280 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
279 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
281 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
280 | 282 | ||
281 | StartNeutralRoll = AdNeutralRoll; |
283 | StartNeutralRoll = AdNeutralRoll; |
282 | StartNeutralNick = AdNeutralNick; |
284 | StartNeutralNick = AdNeutralNick; |
283 | 285 | ||
284 | if(AccAdjustment) |
286 | if(AccAdjustment) |
285 | { |
287 | { |
286 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
288 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
287 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
289 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
288 | NeutralAccZ = Aktuell_az; |
290 | NeutralAccZ = Aktuell_az; |
289 | 291 | ||
290 | // Save ACC neutral settings to eeprom |
292 | // Save ACC neutral settings to eeprom |
291 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
293 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
292 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
294 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
293 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
295 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
294 | } |
296 | } |
295 | else |
297 | else |
296 | { |
298 | { |
297 | // restore from eeprom |
299 | // restore from eeprom |
298 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
300 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
299 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
301 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
300 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
302 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
301 | // strange settings? |
303 | // strange settings? |
302 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
304 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
303 | { |
305 | { |
304 | printf("\n\rACC not calibrated!\r\n"); |
306 | printf("\n\rACC not calibrated!\r\n"); |
305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
307 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
308 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
307 | NeutralAccZ = Aktuell_az; |
309 | NeutralAccZ = Aktuell_az; |
308 | } |
310 | } |
309 | } |
311 | } |
310 | 312 | ||
311 | MesswertNick = 0; |
313 | MesswertNick = 0; |
312 | MesswertRoll = 0; |
314 | MesswertRoll = 0; |
313 | MesswertGier = 0; |
315 | MesswertGier = 0; |
314 | Delay_ms_Mess(100); |
316 | Delay_ms_Mess(100); |
315 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
317 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
316 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
318 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
317 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
319 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
318 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
320 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
319 | Mess_IntegralNick2 = IntegralNick; |
321 | Mess_IntegralNick2 = IntegralNick; |
320 | Mess_IntegralRoll2 = IntegralRoll; |
322 | Mess_IntegralRoll2 = IntegralRoll; |
321 | Mess_Integral_Gier = 0; |
323 | Mess_Integral_Gier = 0; |
322 | StartLuftdruck = Luftdruck; |
324 | StartLuftdruck = Luftdruck; |
323 | VarioMeter = 0; |
325 | VarioMeter = 0; |
324 | Mess_Integral_Hoch = 0; |
326 | Mess_Integral_Hoch = 0; |
325 | KompassStartwert = KompassValue; |
327 | KompassStartwert = KompassValue; |
326 | GPS_Neutral(); |
328 | GPS_Neutral(); |
327 | beeptime = 50; |
329 | beeptime = 50; |
328 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
330 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
329 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
331 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
330 | ExternHoehenValue = 0; |
332 | ExternHoehenValue = 0; |
331 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
333 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
332 | GierGyroFehler = 0; |
334 | GierGyroFehler = 0; |
333 | SendVersionToNavi = 1; |
335 | SendVersionToNavi = 1; |
334 | LED_Init(); |
336 | LED_Init(); |
335 | FCFlags |= FCFLAG_CALIBRATE; |
337 | FCFlags |= FCFLAG_CALIBRATE; |
336 | FromNaviCtrl_Value.Kalman_K = -1; |
338 | FromNaviCtrl_Value.Kalman_K = -1; |
337 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
339 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
338 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
340 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
339 | 341 | ||
340 | for(i=0;i<8;i++) |
342 | for(i=0;i<8;i++) |
341 | { |
343 | { |
342 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
344 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
343 | } |
345 | } |
344 | SenderOkay = 100; |
346 | SenderOkay = 100; |
345 | if(ServoActive) |
347 | if(ServoActive) |
346 | { |
348 | { |
347 | HEF4017R_ON; |
349 | HEF4017R_ON; |
348 | DDRD |=0x80; // enable J7 -> Servo signal |
350 | DDRD |=0x80; // enable J7 -> Servo signal |
349 | } |
351 | } |
350 | } |
352 | } |
351 | 353 | ||
352 | //############################################################################ |
354 | //############################################################################ |
353 | // Bearbeitet die Messwerte |
355 | // Bearbeitet die Messwerte |
354 | void Mittelwert(void) |
356 | void Mittelwert(void) |
355 | //############################################################################ |
357 | //############################################################################ |
356 | { |
358 | { |
357 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
359 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
358 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
360 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
359 | signed long winkel_nick, winkel_roll; |
361 | signed long winkel_nick, winkel_roll; |
360 | unsigned char i; |
362 | unsigned char i; |
361 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
363 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
362 | MesswertNick = (signed int) AdWertNickFilter / 8; |
364 | MesswertNick = (signed int) AdWertNickFilter / 8; |
363 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
365 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
364 | RohMesswertNick = MesswertNick; |
366 | RohMesswertNick = MesswertNick; |
365 | RohMesswertRoll = MesswertRoll; |
367 | RohMesswertRoll = MesswertRoll; |
366 | 368 | ||
367 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
369 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
368 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
370 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
369 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
371 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
370 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
372 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
371 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
373 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
372 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
374 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
373 | NaviAccNick += AdWertAccNick; |
375 | NaviAccNick += AdWertAccNick; |
374 | NaviAccRoll += AdWertAccRoll; |
376 | NaviAccRoll += AdWertAccRoll; |
375 | NaviCntAcc++; |
377 | NaviCntAcc++; |
376 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
378 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
377 | 379 | ||
378 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
380 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
379 | // ADC einschalten |
381 | // ADC einschalten |
380 | ANALOG_ON; |
382 | ANALOG_ON; |
381 | AdReady = 0; |
383 | AdReady = 0; |
382 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
384 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
383 | 385 | ||
384 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
386 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
385 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
387 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
386 | else winkel_roll = Mess_IntegralRoll; |
388 | else winkel_roll = Mess_IntegralRoll; |
387 | 389 | ||
388 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
390 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
389 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
391 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
390 | else winkel_nick = Mess_IntegralNick; |
392 | else winkel_nick = Mess_IntegralNick; |
391 | 393 | ||
392 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
394 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
393 | Mess_Integral_Gier += MesswertGier; |
395 | Mess_Integral_Gier += MesswertGier; |
394 | ErsatzKompass += MesswertGier; |
396 | ErsatzKompass += MesswertGier; |
395 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
397 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
396 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
398 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
397 | { |
399 | { |
398 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
400 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
399 | tmpl3 *= Parameter_AchsKopplung2; //65 |
401 | tmpl3 *= Parameter_AchsKopplung2; //65 |
400 | tmpl3 /= 4096L; |
402 | tmpl3 /= 4096L; |
401 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
403 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
402 | tmpl4 *= Parameter_AchsKopplung2; //65 |
404 | tmpl4 *= Parameter_AchsKopplung2; //65 |
403 | tmpl4 /= 4096L; |
405 | tmpl4 /= 4096L; |
404 | KopplungsteilNickRoll = tmpl3; |
406 | KopplungsteilNickRoll = tmpl3; |
405 | KopplungsteilRollNick = tmpl4; |
407 | KopplungsteilRollNick = tmpl4; |
406 | tmpl4 -= tmpl3; |
408 | tmpl4 -= tmpl3; |
407 | ErsatzKompass += tmpl4; |
409 | ErsatzKompass += tmpl4; |
408 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
410 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
409 | 411 | ||
410 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
412 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
411 | tmpl *= Parameter_AchsKopplung1; // 90 |
413 | tmpl *= Parameter_AchsKopplung1; // 90 |
412 | tmpl /= 4096L; |
414 | tmpl /= 4096L; |
413 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
415 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
414 | tmpl2 *= Parameter_AchsKopplung1; |
416 | tmpl2 *= Parameter_AchsKopplung1; |
415 | tmpl2 /= 4096L; |
417 | tmpl2 /= 4096L; |
416 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
418 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
417 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
419 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
418 | } |
420 | } |
419 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
421 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
420 | TrimRoll = tmpl - tmpl2 / 100L; |
422 | TrimRoll = tmpl - tmpl2 / 100L; |
421 | TrimNick = -tmpl2 + tmpl / 100L; |
423 | TrimNick = -tmpl2 + tmpl / 100L; |
422 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
424 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
423 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
425 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
424 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
426 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
425 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
427 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
426 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
428 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
427 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
429 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
428 | if(Mess_IntegralRoll > Umschlag180Roll) |
430 | if(Mess_IntegralRoll > Umschlag180Roll) |
429 | { |
431 | { |
430 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
432 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
431 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
433 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
432 | } |
434 | } |
433 | if(Mess_IntegralRoll <-Umschlag180Roll) |
435 | if(Mess_IntegralRoll <-Umschlag180Roll) |
434 | { |
436 | { |
435 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
437 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
436 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
438 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
437 | } |
439 | } |
438 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
439 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
441 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
440 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
442 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
441 | if(Mess_IntegralNick > Umschlag180Nick) |
443 | if(Mess_IntegralNick > Umschlag180Nick) |
442 | { |
444 | { |
443 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
445 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
444 | Mess_IntegralNick2 = Mess_IntegralNick; |
446 | Mess_IntegralNick2 = Mess_IntegralNick; |
445 | } |
447 | } |
446 | if(Mess_IntegralNick <-Umschlag180Nick) |
448 | if(Mess_IntegralNick <-Umschlag180Nick) |
447 | { |
449 | { |
448 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
450 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
449 | Mess_IntegralNick2 = Mess_IntegralNick; |
451 | Mess_IntegralNick2 = Mess_IntegralNick; |
450 | } |
452 | } |
451 | 453 | ||
452 | Integral_Gier = Mess_Integral_Gier; |
454 | Integral_Gier = Mess_Integral_Gier; |
453 | IntegralNick = Mess_IntegralNick; |
455 | IntegralNick = Mess_IntegralNick; |
454 | IntegralRoll = Mess_IntegralRoll; |
456 | IntegralRoll = Mess_IntegralRoll; |
455 | IntegralNick2 = Mess_IntegralNick2; |
457 | IntegralNick2 = Mess_IntegralNick2; |
456 | IntegralRoll2 = Mess_IntegralRoll2; |
458 | IntegralRoll2 = Mess_IntegralRoll2; |
457 | 459 | ||
458 | #define D_LIMIT 128 |
460 | #define D_LIMIT 128 |
459 | 461 | ||
460 | MesswertNick = HiResNick / 8; |
462 | MesswertNick = HiResNick / 8; |
461 | MesswertRoll = HiResRoll / 8; |
463 | MesswertRoll = HiResRoll / 8; |
462 | 464 | ||
463 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
465 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
464 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
466 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
465 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
467 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
466 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
468 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
467 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
469 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
468 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
470 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
469 | 471 | ||
470 | if(Parameter_Gyro_D) |
472 | if(Parameter_Gyro_D) |
471 | { |
473 | { |
472 | d2Nick = HiResNick - oldNick; |
474 | d2Nick = HiResNick - oldNick; |
473 | oldNick = (oldNick + HiResNick)/2; |
475 | oldNick = (oldNick + HiResNick)/2; |
474 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
476 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
475 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
477 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
476 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
478 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
477 | d2Roll = HiResRoll - oldRoll; |
479 | d2Roll = HiResRoll - oldRoll; |
478 | oldRoll = (oldRoll + HiResRoll)/2; |
480 | oldRoll = (oldRoll + HiResRoll)/2; |
479 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
481 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
480 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
482 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
481 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
483 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
482 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
484 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
483 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
485 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
484 | } |
486 | } |
485 | 487 | ||
486 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
488 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
487 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
489 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
488 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
490 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
489 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
491 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
490 | 492 | ||
491 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
493 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
492 | { |
494 | { |
493 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
495 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
494 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
496 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
495 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
497 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
496 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
498 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
497 | } |
499 | } |
498 | for(i=0;i<8;i++) |
500 | for(i=0;i<8;i++) |
499 | { |
501 | { |
500 | int tmp; |
502 | int tmp; |
501 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
503 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
502 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
504 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
503 | if(tmp != Poti[i]) |
505 | if(tmp != Poti[i]) |
504 | { |
506 | { |
505 | Poti[i] += (tmp - Poti[i]) / 8; |
507 | Poti[i] += (tmp - Poti[i]) / 8; |
506 | if(Poti[i] > tmp) Poti[i]--; |
508 | if(Poti[i] > tmp) Poti[i]--; |
507 | else Poti[i]++; |
509 | else Poti[i]++; |
508 | } |
510 | } |
509 | } |
511 | } |
510 | } |
512 | } |
511 | 513 | ||
512 | //############################################################################ |
514 | //############################################################################ |
513 | // Senden der Motorwerte per I2C-Bus |
515 | // Senden der Motorwerte per I2C-Bus |
514 | void SendMotorData(void) |
516 | void SendMotorData(void) |
515 | //############################################################################ |
517 | //############################################################################ |
516 | { |
518 | { |
517 | unsigned char i; |
519 | unsigned char i; |
518 | if(!MotorenEin) |
520 | if(!MotorenEin) |
519 | { |
521 | { |
520 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
522 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
521 | for(i=0;i<MAX_MOTORS;i++) |
523 | for(i=0;i<MAX_MOTORS;i++) |
522 | { |
524 | { |
523 | if(!PC_MotortestActive) MotorTest[i] = 0; |
525 | if(!PC_MotortestActive) MotorTest[i] = 0; |
524 | Motor[i].SetPoint = MotorTest[i]; |
526 | Motor[i].SetPoint = MotorTest[i]; |
525 | Motor[i].SetPointLowerBits = 0; |
527 | Motor[i].SetPointLowerBits = 0; |
526 | /* |
528 | /* |
527 | Motor[i].SetPoint = MotorTest[i] / 4; |
529 | Motor[i].SetPoint = MotorTest[i] / 4; |
528 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
530 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
529 | */ |
531 | */ |
530 | } |
532 | } |
531 | if(PC_MotortestActive) PC_MotortestActive--; |
533 | if(PC_MotortestActive) PC_MotortestActive--; |
532 | } |
534 | } |
533 | else FCFlags |= FCFLAG_MOTOR_RUN; |
535 | else FCFlags |= FCFLAG_MOTOR_RUN; |
534 | 536 | ||
535 | DebugOut.Analog[12] = Motor[0].SetPoint; |
537 | DebugOut.Analog[12] = Motor[0].SetPoint; |
536 | DebugOut.Analog[13] = Motor[1].SetPoint; |
538 | DebugOut.Analog[13] = Motor[1].SetPoint; |
537 | DebugOut.Analog[14] = Motor[2].SetPoint; |
539 | DebugOut.Analog[14] = Motor[2].SetPoint; |
538 | DebugOut.Analog[15] = Motor[3].SetPoint; |
540 | DebugOut.Analog[15] = Motor[3].SetPoint; |
539 | 541 | ||
540 | //Start I2C Interrupt Mode |
542 | //Start I2C Interrupt Mode |
541 | motor_write = 0; |
543 | motor_write = 0; |
542 | I2C_Start(TWI_STATE_MOTOR_TX); |
544 | I2C_Start(TWI_STATE_MOTOR_TX); |
543 | } |
545 | } |
544 | 546 | ||
545 | 547 | ||
546 | 548 | ||
547 | //############################################################################ |
549 | //############################################################################ |
548 | // Trägt ggf. das Poti als Parameter ein |
550 | // Trägt ggf. das Poti als Parameter ein |
549 | void ParameterZuordnung(void) |
551 | void ParameterZuordnung(void) |
550 | //############################################################################ |
552 | //############################################################################ |
551 | { |
553 | { |
552 | unsigned char tmp; |
554 | unsigned char tmp; |
553 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
555 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
554 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
556 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
555 | 557 | ||
556 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
558 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
557 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
559 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
558 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
560 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
559 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
561 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
560 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
562 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
561 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
563 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
562 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
564 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
563 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
565 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
566 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
565 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
567 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
566 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
568 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
567 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
569 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
568 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
570 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
569 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
571 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
570 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
572 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
571 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
573 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
572 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
574 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
573 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
575 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
574 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
576 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
575 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
577 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
576 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
578 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
577 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
579 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
578 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
580 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
579 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
581 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
580 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
582 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
581 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
583 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
582 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
584 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
583 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
585 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
584 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
586 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
585 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
587 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
586 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
588 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
587 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
589 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
588 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
590 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
589 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
591 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
590 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
592 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
591 | Ki = 10300 / (Parameter_I_Faktor + 1); |
593 | Ki = 10300 / (Parameter_I_Faktor + 1); |
592 | MAX_GAS = EE_Parameter.Gas_Max; |
594 | MAX_GAS = EE_Parameter.Gas_Max; |
593 | MIN_GAS = EE_Parameter.Gas_Min; |
595 | MIN_GAS = EE_Parameter.Gas_Min; |
594 | 596 | ||
595 | tmp = EE_Parameter.OrientationModeControl; |
597 | tmp = EE_Parameter.OrientationModeControl; |
596 | if(tmp > 50) |
598 | if(tmp > 50) |
597 | { |
599 | { |
598 | #ifdef SWITCH_LEARNS_CAREFREE |
600 | #ifdef SWITCH_LEARNS_CAREFREE |
599 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
601 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
600 | #endif |
602 | #endif |
601 | CareFree = 1; |
603 | CareFree = 1; |
602 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
604 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
603 | } |
605 | } |
604 | else CareFree = 0; |
606 | else CareFree = 0; |
605 | 607 | ||
606 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
608 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
607 | { |
609 | { |
608 | beeptime = 15000; |
610 | beeptime = 15000; |
609 | BeepMuster = 0xA400; |
611 | BeepMuster = 0xA400; |
610 | CareFree = 0; |
612 | CareFree = 0; |
611 | } |
613 | } |
612 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
614 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
613 | } |
615 | } |
614 | 616 | ||
615 | //############################################################################ |
617 | //############################################################################ |
616 | // |
618 | // |
617 | void MotorRegler(void) |
619 | void MotorRegler(void) |
618 | //############################################################################ |
620 | //############################################################################ |
619 | { |
621 | { |
620 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
622 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
621 | int GierMischanteil,GasMischanteil; |
623 | int GierMischanteil,GasMischanteil; |
622 | static long sollGier = 0,tmp_long,tmp_long2; |
624 | static long sollGier = 0,tmp_long,tmp_long2; |
623 | static long IntegralFehlerNick = 0; |
625 | static long IntegralFehlerNick = 0; |
624 | static long IntegralFehlerRoll = 0; |
626 | static long IntegralFehlerRoll = 0; |
625 | static unsigned int RcLostTimer; |
627 | static unsigned int RcLostTimer; |
626 | static unsigned char delay_neutral = 0; |
628 | static unsigned char delay_neutral = 0; |
627 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
629 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
628 | static unsigned char calibration_done = 0; |
630 | static unsigned char calibration_done = 0; |
629 | static char NeueKompassRichtungMerken = 0; |
631 | static char NeueKompassRichtungMerken = 0; |
630 | static long ausgleichNick, ausgleichRoll; |
632 | static long ausgleichNick, ausgleichRoll; |
631 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
633 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
632 | unsigned char i; |
634 | unsigned char i; |
633 | Mittelwert(); |
635 | Mittelwert(); |
634 | GRN_ON; |
636 | GRN_ON; |
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
636 | // Gaswert ermitteln |
638 | // Gaswert ermitteln |
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
639 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | GasMischanteil = StickGas; |
640 | GasMischanteil = StickGas; |
639 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
641 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
640 | 642 | ||
641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
642 | // Empfang schlecht |
644 | // Empfang schlecht |
643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
644 | if(SenderOkay < 100) |
646 | if(SenderOkay < 100) |
645 | { |
647 | { |
646 | if(RcLostTimer) RcLostTimer--; |
648 | if(RcLostTimer) RcLostTimer--; |
647 | else |
649 | else |
648 | { |
650 | { |
649 | MotorenEin = 0; |
651 | MotorenEin = 0; |
650 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
652 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
651 | } |
653 | } |
652 | ROT_ON; |
654 | ROT_ON; |
653 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
655 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
654 | { |
656 | { |
655 | GasMischanteil = EE_Parameter.NotGas; |
657 | GasMischanteil = EE_Parameter.NotGas; |
656 | FCFlags |= FCFLAG_NOTLANDUNG; |
658 | FCFlags |= FCFLAG_NOTLANDUNG; |
657 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
659 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
658 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
660 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
659 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
661 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
660 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
662 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
661 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
663 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
662 | } |
664 | } |
663 | else MotorenEin = 0; |
665 | else MotorenEin = 0; |
664 | } |
666 | } |
665 | else |
667 | else |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
668 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | // Emfang gut |
669 | // Emfang gut |
668 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
669 | if(SenderOkay > 140) |
671 | if(SenderOkay > 140) |
670 | { |
672 | { |
671 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
673 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
672 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
674 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
673 | if(GasMischanteil > 40 && MotorenEin) |
675 | if(GasMischanteil > 40 && MotorenEin) |
674 | { |
676 | { |
675 | if(modell_fliegt < 0xffff) modell_fliegt++; |
677 | if(modell_fliegt < 0xffff) modell_fliegt++; |
676 | } |
678 | } |
677 | if((modell_fliegt < 256)) |
679 | if((modell_fliegt < 256)) |
678 | { |
680 | { |
679 | SummeNick = 0; |
681 | SummeNick = 0; |
680 | SummeRoll = 0; |
682 | SummeRoll = 0; |
681 | sollGier = 0; |
683 | sollGier = 0; |
682 | Mess_Integral_Gier = 0; |
684 | Mess_Integral_Gier = 0; |
683 | if(modell_fliegt == 250) |
685 | if(modell_fliegt == 250) |
684 | { |
686 | { |
685 | NeueKompassRichtungMerken = 1; |
687 | NeueKompassRichtungMerken = 1; |
686 | // Mess_Integral_Gier2 = 0; |
688 | // Mess_Integral_Gier2 = 0; |
687 | } |
689 | } |
688 | } else FCFlags |= FCFLAG_FLY; |
690 | } else FCFlags |= FCFLAG_FLY; |
689 | 691 | ||
690 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
692 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
691 | { |
693 | { |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | // auf Nullwerte kalibrieren |
695 | // auf Nullwerte kalibrieren |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
695 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
696 | { |
698 | { |
697 | if(++delay_neutral > 200) // nicht sofort |
699 | if(++delay_neutral > 200) // nicht sofort |
698 | { |
700 | { |
699 | GRN_OFF; |
701 | GRN_OFF; |
700 | MotorenEin = 0; |
702 | MotorenEin = 0; |
701 | delay_neutral = 0; |
703 | delay_neutral = 0; |
702 | modell_fliegt = 0; |
704 | modell_fliegt = 0; |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
705 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
704 | { |
706 | { |
705 | unsigned char setting=1; |
707 | unsigned char setting=1; |
706 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
708 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
708 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
711 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
712 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
711 | SetActiveParamSet(setting); // aktiven Datensatz merken |
713 | SetActiveParamSet(setting); // aktiven Datensatz merken |
712 | } |
714 | } |
713 | // else |
715 | // else |
714 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
716 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
715 | { |
717 | { |
716 | WinkelOut.CalcState = 1; |
718 | WinkelOut.CalcState = 1; |
717 | beeptime = 1000; |
719 | beeptime = 1000; |
718 | } |
720 | } |
719 | else |
721 | else |
720 | { |
722 | { |
721 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
723 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
722 | LipoDetection(0); |
724 | LipoDetection(0); |
723 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
725 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
724 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
726 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
725 | { |
727 | { |
726 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
728 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
727 | } |
729 | } |
728 | ServoActive = 0; |
730 | ServoActive = 0; |
729 | SetNeutral(0); |
731 | SetNeutral(0); |
730 | calibration_done = 1; |
732 | calibration_done = 1; |
731 | ServoActive = 1; |
733 | ServoActive = 1; |
732 | DDRD |=0x80; // enable J7 -> Servo signal |
734 | DDRD |=0x80; // enable J7 -> Servo signal |
733 | Piep(GetActiveParamSet(),120); |
735 | Piep(GetActiveParamSet(),120); |
734 | } |
736 | } |
735 | } |
737 | } |
736 | } |
738 | } |
737 | else |
739 | else |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
739 | { |
741 | { |
740 | if(++delay_neutral > 200) // nicht sofort |
742 | if(++delay_neutral > 200) // nicht sofort |
741 | { |
743 | { |
742 | GRN_OFF; |
744 | GRN_OFF; |
743 | MotorenEin = 0; |
745 | MotorenEin = 0; |
744 | delay_neutral = 0; |
746 | delay_neutral = 0; |
745 | modell_fliegt = 0; |
747 | modell_fliegt = 0; |
746 | SetNeutral(1); |
748 | SetNeutral(1); |
747 | calibration_done = 1; |
749 | calibration_done = 1; |
748 | Piep(GetActiveParamSet(),120); |
750 | Piep(GetActiveParamSet(),120); |
749 | } |
751 | } |
750 | } |
752 | } |
751 | else delay_neutral = 0; |
753 | else delay_neutral = 0; |
752 | } |
754 | } |
753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
754 | // Gas ist unten |
756 | // Gas ist unten |
755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
756 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
758 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
757 | { |
759 | { |
758 | // Motoren Starten |
760 | // Motoren Starten |
759 | if(!MotorenEin) |
761 | if(!MotorenEin) |
760 | { |
762 | { |
761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
763 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
762 | { |
764 | { |
763 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
765 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
764 | // Einschalten |
766 | // Einschalten |
765 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
766 | if(++delay_einschalten > 200) |
768 | if(++delay_einschalten > 200) |
767 | { |
769 | { |
768 | delay_einschalten = 0; |
770 | delay_einschalten = 0; |
769 | if(calibration_done) |
771 | if(calibration_done) |
770 | { |
772 | { |
771 | modell_fliegt = 1; |
773 | modell_fliegt = 1; |
772 | MotorenEin = 1; |
774 | MotorenEin = 1; |
773 | sollGier = 0; |
775 | sollGier = 0; |
774 | Mess_Integral_Gier = 0; |
776 | Mess_Integral_Gier = 0; |
775 | Mess_Integral_Gier2 = 0; |
777 | Mess_Integral_Gier2 = 0; |
776 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
778 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
777 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
779 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
778 | Mess_IntegralNick2 = IntegralNick; |
780 | Mess_IntegralNick2 = IntegralNick; |
779 | Mess_IntegralRoll2 = IntegralRoll; |
781 | Mess_IntegralRoll2 = IntegralRoll; |
780 | SummeNick = 0; |
782 | SummeNick = 0; |
781 | SummeRoll = 0; |
783 | SummeRoll = 0; |
782 | FCFlags |= FCFLAG_START; |
784 | FCFlags |= FCFLAG_START; |
783 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
785 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
784 | } |
786 | } |
785 | else |
787 | else |
786 | { |
788 | { |
787 | beeptime = 1500; // indicate missing calibration |
789 | beeptime = 1500; // indicate missing calibration |
788 | } |
790 | } |
789 | } |
791 | } |
790 | } |
792 | } |
791 | else delay_einschalten = 0; |
793 | else delay_einschalten = 0; |
792 | } |
794 | } |
793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
794 | // Auschalten |
796 | // Auschalten |
795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
797 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
796 | else // only if motors are running |
798 | else // only if motors are running |
797 | { |
799 | { |
798 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
800 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
799 | { |
801 | { |
800 | if(++delay_ausschalten > 200) // nicht sofort |
802 | if(++delay_ausschalten > 200) // nicht sofort |
801 | { |
803 | { |
802 | MotorenEin = 0; |
804 | MotorenEin = 0; |
803 | delay_ausschalten = 0; |
805 | delay_ausschalten = 0; |
804 | modell_fliegt = 0; |
806 | modell_fliegt = 0; |
805 | } |
807 | } |
806 | } |
808 | } |
807 | else delay_ausschalten = 0; |
809 | else delay_ausschalten = 0; |
808 | } |
810 | } |
809 | } |
811 | } |
810 | } |
812 | } |
811 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
812 | // neue Werte von der Funke |
814 | // neue Werte von der Funke |
813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
814 | 816 | ||
815 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
817 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
816 | { |
818 | { |
817 | static int stick_nick,stick_roll; |
819 | static int stick_nick,stick_roll; |
818 | ParameterZuordnung(); |
820 | ParameterZuordnung(); |
819 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
821 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
820 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
822 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
821 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
823 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
822 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
824 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
823 | 825 | ||
824 | 826 | ||
825 | 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}; |
827 | 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}; |
826 | 828 | ||
827 | if(CareFree) |
829 | if(CareFree) |
828 | { |
830 | { |
829 | signed int nick, roll; |
831 | signed int nick, roll; |
830 | nick = stick_nick / 4; |
832 | nick = stick_nick / 4; |
831 | roll = stick_roll / 4; |
833 | roll = stick_roll / 4; |
832 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
834 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
833 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
835 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
834 | } |
836 | } |
835 | else |
837 | else |
836 | { |
838 | { |
837 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
839 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
838 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
840 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
839 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
841 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
840 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
842 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
841 | } |
843 | } |
842 | 844 | ||
843 | 845 | ||
844 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
846 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
845 | if(StickGier > 2) StickGier -= 2; else |
847 | if(StickGier > 2) StickGier -= 2; else |
846 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
848 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
847 | 849 | ||
848 | StickNick -= (GPS_Nick + GPS_Nick2); |
850 | StickNick -= (GPS_Nick + GPS_Nick2); |
849 | StickRoll -= (GPS_Roll + GPS_Roll2); |
851 | StickRoll -= (GPS_Roll + GPS_Roll2); |
850 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
852 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
851 | 853 | ||
852 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
854 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
853 | IntegralFaktor = Parameter_Gyro_I; |
855 | IntegralFaktor = Parameter_Gyro_I; |
854 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
856 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
855 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
857 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
856 | 858 | ||
857 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
858 | //+ Analoge Steuerung per Seriell |
860 | //+ Analoge Steuerung per Seriell |
859 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
861 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
860 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
862 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
861 | { |
863 | { |
862 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
864 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
863 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
865 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
864 | StickGier += ExternControl.Gier; |
866 | StickGier += ExternControl.Gier; |
865 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
867 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
866 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
868 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
867 | } |
869 | } |
868 | if(StickGas < 0) StickGas = 0; |
870 | if(StickGas < 0) StickGas = 0; |
869 | 871 | ||
870 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
872 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
871 | //if(GyroFaktor < 0) GyroFaktor = 0; |
873 | //if(GyroFaktor < 0) GyroFaktor = 0; |
872 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
874 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
873 | 875 | ||
874 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
876 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
875 | { |
877 | { |
876 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
878 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
877 | if(MaxStickNick > 100) MaxStickNick = 100; |
879 | if(MaxStickNick > 100) MaxStickNick = 100; |
878 | } |
880 | } |
879 | else MaxStickNick--; |
881 | else MaxStickNick--; |
880 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
882 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
881 | { |
883 | { |
882 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
884 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
883 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
885 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
884 | } |
886 | } |
885 | else MaxStickRoll--; |
887 | else MaxStickRoll--; |
886 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
888 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
887 | 889 | ||
888 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
890 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
889 | // Looping? |
891 | // Looping? |
890 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
892 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
891 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
893 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
892 | else |
894 | else |
893 | { |
895 | { |
894 | { |
896 | { |
895 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
897 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
896 | } |
898 | } |
897 | } |
899 | } |
898 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
900 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
899 | else |
901 | else |
900 | { |
902 | { |
901 | if(Looping_Rechts) // Hysterese |
903 | if(Looping_Rechts) // Hysterese |
902 | { |
904 | { |
903 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
905 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
904 | } |
906 | } |
905 | } |
907 | } |
906 | 908 | ||
907 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
909 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
908 | else |
910 | else |
909 | { |
911 | { |
910 | if(Looping_Oben) // Hysterese |
912 | if(Looping_Oben) // Hysterese |
911 | { |
913 | { |
912 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
914 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
913 | } |
915 | } |
914 | } |
916 | } |
915 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
916 | else |
918 | else |
917 | { |
919 | { |
918 | if(Looping_Unten) // Hysterese |
920 | if(Looping_Unten) // Hysterese |
919 | { |
921 | { |
920 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
922 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
921 | } |
923 | } |
922 | } |
924 | } |
923 | 925 | ||
924 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
926 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
925 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
927 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
926 | } // Ende neue Funken-Werte |
928 | } // Ende neue Funken-Werte |
927 | 929 | ||
928 | if(Looping_Roll || Looping_Nick) |
930 | if(Looping_Roll || Looping_Nick) |
929 | { |
931 | { |
930 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
932 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
931 | TrichterFlug = 1; |
933 | TrichterFlug = 1; |
932 | } |
934 | } |
933 | 935 | ||
934 | 936 | ||
935 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
937 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
936 | // Bei Empfangsausfall im Flug |
938 | // Bei Empfangsausfall im Flug |
937 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
939 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
938 | if(FCFlags & FCFLAG_NOTLANDUNG) |
940 | if(FCFlags & FCFLAG_NOTLANDUNG) |
939 | { |
941 | { |
940 | StickGier = 0; |
942 | StickGier = 0; |
941 | StickNick = 0; |
943 | StickNick = 0; |
942 | StickRoll = 0; |
944 | StickRoll = 0; |
943 | GyroFaktor = 90; |
945 | GyroFaktor = 90; |
944 | IntegralFaktor = 120; |
946 | IntegralFaktor = 120; |
945 | GyroFaktorGier = 90; |
947 | GyroFaktorGier = 90; |
946 | IntegralFaktorGier = 120; |
948 | IntegralFaktorGier = 120; |
947 | Looping_Roll = 0; |
949 | Looping_Roll = 0; |
948 | Looping_Nick = 0; |
950 | Looping_Nick = 0; |
949 | } |
951 | } |
950 | 952 | ||
951 | 953 | ||
952 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
953 | // Integrale auf ACC-Signal abgleichen |
955 | // Integrale auf ACC-Signal abgleichen |
954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
955 | #define ABGLEICH_ANZAHL 256L |
957 | #define ABGLEICH_ANZAHL 256L |
956 | 958 | ||
957 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
959 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
958 | MittelIntegralRoll += IntegralRoll; |
960 | MittelIntegralRoll += IntegralRoll; |
959 | MittelIntegralNick2 += IntegralNick2; |
961 | MittelIntegralNick2 += IntegralNick2; |
960 | MittelIntegralRoll2 += IntegralRoll2; |
962 | MittelIntegralRoll2 += IntegralRoll2; |
961 | 963 | ||
962 | if(Looping_Nick || Looping_Roll) |
964 | if(Looping_Nick || Looping_Roll) |
963 | { |
965 | { |
964 | IntegralAccNick = 0; |
966 | IntegralAccNick = 0; |
965 | IntegralAccRoll = 0; |
967 | IntegralAccRoll = 0; |
966 | MittelIntegralNick = 0; |
968 | MittelIntegralNick = 0; |
967 | MittelIntegralRoll = 0; |
969 | MittelIntegralRoll = 0; |
968 | MittelIntegralNick2 = 0; |
970 | MittelIntegralNick2 = 0; |
969 | MittelIntegralRoll2 = 0; |
971 | MittelIntegralRoll2 = 0; |
970 | Mess_IntegralNick2 = Mess_IntegralNick; |
972 | Mess_IntegralNick2 = Mess_IntegralNick; |
971 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
973 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
972 | ZaehlMessungen = 0; |
974 | ZaehlMessungen = 0; |
973 | LageKorrekturNick = 0; |
975 | LageKorrekturNick = 0; |
974 | LageKorrekturRoll = 0; |
976 | LageKorrekturRoll = 0; |
975 | } |
977 | } |
976 | 978 | ||
977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
978 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
980 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
979 | { |
981 | { |
980 | long tmp_long, tmp_long2; |
982 | long tmp_long, tmp_long2; |
981 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
983 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
982 | { |
984 | { |
983 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
985 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
984 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
986 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
985 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
987 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
986 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
988 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
987 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
989 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
988 | { |
990 | { |
989 | tmp_long /= 2; |
991 | tmp_long /= 2; |
990 | tmp_long2 /= 2; |
992 | tmp_long2 /= 2; |
991 | } |
993 | } |
992 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
994 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
993 | { |
995 | { |
994 | tmp_long /= 3; |
996 | tmp_long /= 3; |
995 | tmp_long2 /= 3; |
997 | tmp_long2 /= 3; |
996 | } |
998 | } |
997 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
999 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
998 | 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; |
999 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1001 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1000 | 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; |
1001 | } |
1003 | } |
1002 | else |
1004 | else |
1003 | { |
1005 | { |
1004 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1006 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1005 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1007 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1006 | tmp_long /= 16; |
1008 | tmp_long /= 16; |
1007 | tmp_long2 /= 16; |
1009 | tmp_long2 /= 16; |
1008 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1010 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1009 | { |
1011 | { |
1010 | tmp_long /= 3; |
1012 | tmp_long /= 3; |
1011 | tmp_long2 /= 3; |
1013 | tmp_long2 /= 3; |
1012 | } |
1014 | } |
1013 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1015 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1014 | { |
1016 | { |
1015 | tmp_long /= 3; |
1017 | tmp_long /= 3; |
1016 | tmp_long2 /= 3; |
1018 | tmp_long2 /= 3; |
1017 | } |
1019 | } |
1018 | 1020 | ||
1019 | #define AUSGLEICH 32 |
1021 | #define AUSGLEICH 32 |
1020 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1022 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1021 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1023 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1022 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1024 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1023 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1025 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1024 | } |
1026 | } |
1025 | 1027 | ||
1026 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
1028 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
1027 | Mess_IntegralNick -= tmp_long; |
1029 | Mess_IntegralNick -= tmp_long; |
1028 | Mess_IntegralRoll -= tmp_long2; |
1030 | Mess_IntegralRoll -= tmp_long2; |
1029 | } |
1031 | } |
1030 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1032 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1031 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1033 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1032 | { |
1034 | { |
1033 | static int cnt = 0; |
1035 | static int cnt = 0; |
1034 | 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; |
1035 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1037 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1036 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1038 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1037 | { |
1039 | { |
1038 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1040 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1039 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1041 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1040 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1042 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1041 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1043 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1042 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1044 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1043 | #define MAX_I 0//(Poti2/10) |
1045 | #define MAX_I 0//(Poti2/10) |
1044 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1046 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1047 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1046 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1048 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1047 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1049 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1048 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1050 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1049 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1051 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1050 | 1052 | ||
1051 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1053 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1052 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1054 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1053 | 1055 | ||
1054 | 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)) |
1055 | { |
1057 | { |
1056 | LageKorrekturNick /= 2; |
1058 | LageKorrekturNick /= 2; |
1057 | LageKorrekturRoll /= 2; |
1059 | LageKorrekturRoll /= 2; |
1058 | } |
1060 | } |
1059 | 1061 | ||
1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1061 | // Gyro-Drift ermitteln |
1063 | // Gyro-Drift ermitteln |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1064 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1063 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1065 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1064 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1066 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1065 | tmp_long = IntegralNick2 - IntegralNick; |
1067 | tmp_long = IntegralNick2 - IntegralNick; |
1066 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1068 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1067 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1069 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1068 | 1070 | ||
1069 | IntegralFehlerNick = tmp_long; |
1071 | IntegralFehlerNick = tmp_long; |
1070 | IntegralFehlerRoll = tmp_long2; |
1072 | IntegralFehlerRoll = tmp_long2; |
1071 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1073 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1072 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1074 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1073 | 1075 | ||
1074 | if(EE_Parameter.Driftkomp) |
1076 | if(EE_Parameter.Driftkomp) |
1075 | { |
1077 | { |
1076 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1078 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1077 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1079 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1078 | } |
1080 | } |
1079 | GierGyroFehler = 0; |
1081 | GierGyroFehler = 0; |
1080 | 1082 | ||
1081 | 1083 | ||
1082 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1084 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1083 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1085 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1084 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1086 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1085 | #define BEWEGUNGS_LIMIT 20000 |
1087 | #define BEWEGUNGS_LIMIT 20000 |
1086 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1088 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1087 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1089 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1088 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1090 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1089 | 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)) |
1090 | { |
1092 | { |
1091 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1093 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1092 | { |
1094 | { |
1093 | if(last_n_p) |
1095 | if(last_n_p) |
1094 | { |
1096 | { |
1095 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1097 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1096 | ausgleichNick = IntegralFehlerNick / 8; |
1098 | ausgleichNick = IntegralFehlerNick / 8; |
1097 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1099 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1098 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1100 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1099 | } |
1101 | } |
1100 | else last_n_p = 1; |
1102 | else last_n_p = 1; |
1101 | } else last_n_p = 0; |
1103 | } else last_n_p = 0; |
1102 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1104 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1103 | { |
1105 | { |
1104 | if(last_n_n) |
1106 | if(last_n_n) |
1105 | { |
1107 | { |
1106 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1108 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1107 | ausgleichNick = IntegralFehlerNick / 8; |
1109 | ausgleichNick = IntegralFehlerNick / 8; |
1108 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1110 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1109 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1111 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1110 | } |
1112 | } |
1111 | else last_n_n = 1; |
1113 | else last_n_n = 1; |
1112 | } else last_n_n = 0; |
1114 | } else last_n_n = 0; |
1113 | } |
1115 | } |
1114 | else |
1116 | else |
1115 | { |
1117 | { |
1116 | cnt = 0; |
1118 | cnt = 0; |
1117 | KompassSignalSchlecht = 1000; |
1119 | KompassSignalSchlecht = 1000; |
1118 | } |
1120 | } |
1119 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1121 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1120 | 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; |
1121 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1123 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1122 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1124 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1123 | 1125 | ||
1124 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1126 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1125 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1127 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1126 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1128 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1127 | ausgleichRoll = 0; |
- | |
1128 | 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)) |
1129 | { |
1130 | { |
1130 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1131 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1131 | { |
1132 | { |
1132 | if(last_r_p) |
1133 | if(last_r_p) |
1133 | { |
1134 | { |
1134 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1135 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1135 | ausgleichRoll = IntegralFehlerRoll / 8; |
1136 | ausgleichRoll = IntegralFehlerRoll / 8; |
1136 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1137 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1137 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1138 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1138 | } |
1139 | } |
1139 | else last_r_p = 1; |
1140 | else last_r_p = 1; |
1140 | } else last_r_p = 0; |
1141 | } else last_r_p = 0; |
1141 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1142 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1142 | { |
1143 | { |
1143 | if(last_r_n) |
1144 | if(last_r_n) |
1144 | { |
1145 | { |
1145 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1146 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1146 | ausgleichRoll = IntegralFehlerRoll / 8; |
1147 | ausgleichRoll = IntegralFehlerRoll / 8; |
1147 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1148 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1148 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1149 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1149 | } |
1150 | } |
1150 | else last_r_n = 1; |
1151 | else last_r_n = 1; |
1151 | } else last_r_n = 0; |
1152 | } else last_r_n = 0; |
1152 | } else |
1153 | } else |
1153 | { |
1154 | { |
1154 | cnt = 0; |
1155 | cnt = 0; |
1155 | KompassSignalSchlecht = 1000; |
1156 | KompassSignalSchlecht = 1000; |
1156 | } |
1157 | } |
1157 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1158 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1158 | 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; |
1159 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1160 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1160 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1161 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1161 | } |
1162 | } |
1162 | else |
1163 | else |
1163 | { |
1164 | { |
1164 | LageKorrekturRoll = 0; |
1165 | LageKorrekturRoll = 0; |
1165 | LageKorrekturNick = 0; |
1166 | LageKorrekturNick = 0; |
1166 | TrichterFlug = 0; |
1167 | TrichterFlug = 0; |
1167 | } |
1168 | } |
1168 | 1169 | ||
1169 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1170 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1171 | MittelIntegralNick_Alt = MittelIntegralNick; |
1172 | MittelIntegralNick_Alt = MittelIntegralNick; |
1172 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1173 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1173 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1174 | IntegralAccNick = 0; |
1175 | IntegralAccNick = 0; |
1175 | IntegralAccRoll = 0; |
1176 | IntegralAccRoll = 0; |
1176 | IntegralAccZ = 0; |
1177 | IntegralAccZ = 0; |
1177 | MittelIntegralNick = 0; |
1178 | MittelIntegralNick = 0; |
1178 | MittelIntegralRoll = 0; |
1179 | MittelIntegralRoll = 0; |
1179 | MittelIntegralNick2 = 0; |
1180 | MittelIntegralNick2 = 0; |
1180 | MittelIntegralRoll2 = 0; |
1181 | MittelIntegralRoll2 = 0; |
1181 | ZaehlMessungen = 0; |
1182 | ZaehlMessungen = 0; |
1182 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1183 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1183 | 1184 | ||
1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1185 | // Gieren |
1186 | // Gieren |
1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1187 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1188 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1188 | if(abs(StickGier) > 15) // war 35 |
1189 | if(abs(StickGier) > 15) // war 35 |
1189 | { |
1190 | { |
1190 | KompassSignalSchlecht = 1000; |
1191 | KompassSignalSchlecht = 1000; |
1191 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1192 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1192 | { |
1193 | { |
1193 | NeueKompassRichtungMerken = 1; |
1194 | NeueKompassRichtungMerken = 1; |
1194 | }; |
1195 | }; |
1195 | } |
1196 | } |
1196 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1197 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1197 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1198 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1198 | sollGier = tmp_int; |
1199 | sollGier = tmp_int; |
1199 | Mess_Integral_Gier -= tmp_int; |
1200 | Mess_Integral_Gier -= tmp_int; |
1200 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1201 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1201 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1202 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1202 | 1203 | ||
1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1204 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1204 | // Kompass |
1205 | // Kompass |
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
1207 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
1207 | 1208 | ||
1208 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1209 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1209 | { |
1210 | { |
1210 | int w,v,r,fehler,korrektur; |
1211 | int w,v,r,fehler,korrektur; |
1211 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1212 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1212 | v = abs(IntegralRoll /512); |
1213 | v = abs(IntegralRoll /512); |
1213 | if(v > w) w = v; // grösste Neigung ermitteln |
1214 | if(v > w) w = v; // grösste Neigung ermitteln |
1214 | korrektur = w / 8 + 2; |
1215 | korrektur = w / 8 + 2; |
1215 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1216 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1216 | //fehler += MesswertGier / 12; |
1217 | //fehler += MesswertGier / 12; |
1217 | 1218 | ||
1218 | if(!KompassSignalSchlecht && w < 25) |
1219 | if(!KompassSignalSchlecht && w < 25) |
1219 | { |
1220 | { |
1220 | GierGyroFehler += fehler; |
1221 | GierGyroFehler += fehler; |
1221 | if(NeueKompassRichtungMerken) |
1222 | if(NeueKompassRichtungMerken) |
1222 | { |
1223 | { |
1223 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1224 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1224 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1225 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1225 | NeueKompassRichtungMerken = 0; |
1226 | NeueKompassRichtungMerken = 0; |
1226 | } |
1227 | } |
1227 | } |
1228 | } |
1228 | //DebugOut.Analog[16] = fehler; |
1229 | //DebugOut.Analog[16] = fehler; |
1229 | //DebugOut.Analog[17] = korrektur; |
1230 | //DebugOut.Analog[17] = korrektur; |
1230 | ErsatzKompass += (fehler * 16) / korrektur; |
1231 | ErsatzKompass += (fehler * 16) / korrektur; |
1231 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1232 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1232 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1233 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1233 | if(w >= 0) |
1234 | if(w >= 0) |
1234 | { |
1235 | { |
1235 | if(!KompassSignalSchlecht) |
1236 | if(!KompassSignalSchlecht) |
1236 | { |
1237 | { |
1237 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1238 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1238 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1239 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1239 | // r = KompassRichtung; |
1240 | // r = KompassRichtung; |
1240 | v = (r * w) / v; // nach Kompass ausrichten |
1241 | v = (r * w) / v; // nach Kompass ausrichten |
1241 | w = 3 * Parameter_KompassWirkung; |
1242 | w = 3 * Parameter_KompassWirkung; |
1242 | if(v > w) v = w; // Begrenzen |
1243 | if(v > w) v = w; // Begrenzen |
1243 | else |
1244 | else |
1244 | if(v < -w) v = -w; |
1245 | if(v < -w) v = -w; |
1245 | Mess_Integral_Gier += v; |
1246 | Mess_Integral_Gier += v; |
1246 | } |
1247 | } |
1247 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1248 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1248 | } |
1249 | } |
1249 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1250 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1250 | } |
1251 | } |
1251 | 1252 | ||
1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1253 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1253 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1254 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1254 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1255 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1255 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1256 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1256 | 1257 | ||
1257 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1258 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1258 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1259 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1259 | 1260 | ||
1260 | #define TRIM_MAX 200 |
1261 | #define TRIM_MAX 200 |
1261 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1262 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1262 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1263 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1263 | 1264 | ||
1264 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1265 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1265 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1266 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1266 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1267 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1267 | 1268 | ||
1268 | // Maximalwerte abfangen |
1269 | // Maximalwerte abfangen |
1269 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1270 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1270 | #define MAX_SENSOR (4096) |
1271 | #define MAX_SENSOR (4096) |
1271 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1272 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1272 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1273 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1273 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1274 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1274 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1275 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1275 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1276 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1276 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1277 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1277 | 1278 | ||
1278 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1279 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1279 | // Höhenregelung |
1280 | // Höhenregelung |
1280 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1281 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1282 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1282 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1283 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1283 | GasMischanteil *= STICK_GAIN; |
1284 | GasMischanteil *= STICK_GAIN; |
1284 | // if height control is activated |
1285 | // if height control is activated |
1285 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1286 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1286 | { |
1287 | { |
1287 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1288 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1288 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1289 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1289 | 1290 | ||
1290 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1291 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1291 | #define OPA_OFFSET_STEP 15 |
1292 | #define OPA_OFFSET_STEP 15 |
1292 | #else |
1293 | #else |
1293 | #define OPA_OFFSET_STEP 10 |
1294 | #define OPA_OFFSET_STEP 10 |
1294 | #endif |
1295 | #endif |
1295 | int HCGas, HeightDeviation = 0; |
1296 | int HCGas, HeightDeviation = 0,GasReduction; |
1296 | static int HeightTrimming = 0; // rate for change of height setpoint |
1297 | static int HeightTrimming = 0; // rate for change of height setpoint |
1297 | static int FilterHCGas = 0; |
1298 | static int FilterHCGas = 0; |
1298 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1299 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1299 | static unsigned long HoverGasFilter = 0; |
1300 | static unsigned long HoverGasFilter = 0; |
1300 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1301 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1301 | int CosAttitude; // for projection of hoover gas |
1302 | int CosAttitude; // for projection of hoover gas |
1302 | 1303 | ||
1303 | // get the current hooverpoint |
1304 | // get the current hooverpoint |
1304 | DebugOut.Analog[21] = HoverGas; |
1305 | DebugOut.Analog[21] = HoverGas; |
1305 | 1306 | ||
1306 | // Expand the measurement |
1307 | // Expand the measurement |
1307 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1308 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1308 | if(!BaroExpandActive) |
1309 | if(!BaroExpandActive) |
1309 | { |
1310 | { |
1310 | if(MessLuftdruck > 920) |
1311 | if(MessLuftdruck > 920) |
1311 | { // increase offset |
1312 | { // increase offset |
1312 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1313 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1313 | { |
1314 | { |
1314 | ExpandBaro -= 1; |
1315 | ExpandBaro -= 1; |
1315 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1316 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1316 | beeptime = 300; |
1317 | beeptime = 300; |
1317 | BaroExpandActive = 350; |
1318 | BaroExpandActive = 350; |
1318 | } |
1319 | } |
1319 | else |
1320 | else |
1320 | { |
1321 | { |
1321 | BaroAtLowerLimit = 1; |
1322 | BaroAtLowerLimit = 1; |
1322 | } |
1323 | } |
1323 | } |
1324 | } |
1324 | // measurement of air pressure close to lower limit and |
1325 | // measurement of air pressure close to lower limit and |
1325 | else |
1326 | else |
1326 | if(MessLuftdruck < 100) |
1327 | if(MessLuftdruck < 100) |
1327 | { // decrease offset |
1328 | { // decrease offset |
1328 | if(OCR0A > OPA_OFFSET_STEP) |
1329 | if(OCR0A > OPA_OFFSET_STEP) |
1329 | { |
1330 | { |
1330 | ExpandBaro += 1; |
1331 | ExpandBaro += 1; |
1331 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1332 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1332 | beeptime = 300; |
1333 | beeptime = 300; |
1333 | BaroExpandActive = 350; |
1334 | BaroExpandActive = 350; |
1334 | } |
1335 | } |
1335 | else |
1336 | else |
1336 | { |
1337 | { |
1337 | BaroAtUpperLimit = 1; |
1338 | BaroAtUpperLimit = 1; |
1338 | } |
1339 | } |
1339 | } |
1340 | } |
1340 | else |
1341 | else |
1341 | { |
1342 | { |
1342 | BaroAtUpperLimit = 0; |
1343 | BaroAtUpperLimit = 0; |
1343 | BaroAtLowerLimit = 0; |
1344 | BaroAtLowerLimit = 0; |
1344 | } |
1345 | } |
1345 | } |
1346 | } |
1346 | else // delay, because of expanding the Baro-Range |
1347 | else // delay, because of expanding the Baro-Range |
1347 | { |
1348 | { |
1348 | // now clear the D-values |
1349 | // now clear the D-values |
1349 | SummenHoehe = HoehenWert * SM_FILTER; |
1350 | SummenHoehe = HoehenWert * SM_FILTER; |
1350 | VarioMeter = 0; |
1351 | VarioMeter = 0; |
1351 | BaroExpandActive--; |
1352 | BaroExpandActive--; |
1352 | } |
1353 | } |
1353 | 1354 | ||
1354 | // if height control is activated by an rc channel |
1355 | // if height control is activated by an rc channel |
1355 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1356 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1356 | { // check if parameter is less than activation threshold |
1357 | { // check if parameter is less than activation threshold |
1357 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1358 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1358 | { //height control not active |
1359 | { //height control not active |
1359 | if(!delay--) |
1360 | if(!delay--) |
1360 | { |
1361 | { |
1361 | HoehenReglerAktiv = 0; // disable height control |
1362 | HoehenReglerAktiv = 0; // disable height control |
1362 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1363 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1363 | delay = 1; |
1364 | delay = 1; |
1364 | } |
1365 | } |
1365 | } |
1366 | } |
1366 | else |
1367 | else |
1367 | { //height control is activated |
1368 | { //height control is activated |
1368 | HoehenReglerAktiv = 1; // enable height control |
1369 | HoehenReglerAktiv = 1; // enable height control |
1369 | delay = 200; |
1370 | delay = 200; |
1370 | } |
1371 | } |
1371 | } |
1372 | } |
1372 | else // no switchable height control |
1373 | else // no switchable height control |
1373 | { |
1374 | { |
1374 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1375 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1375 | HoehenReglerAktiv = 1; |
1376 | HoehenReglerAktiv = 1; |
1376 | } |
1377 | } |
1377 | 1378 | ||
1378 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1379 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1379 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1380 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1380 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1381 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1381 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1382 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1382 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1383 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1383 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1384 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1384 | VarioCharacter = ' '; |
1385 | VarioCharacter = ' '; |
1385 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1386 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1386 | { |
1387 | { |
1387 | #define HEIGHT_TRIM_UP 0x01 |
1388 | #define HEIGHT_TRIM_UP 0x01 |
1388 | #define HEIGHT_TRIM_DOWN 0x02 |
1389 | #define HEIGHT_TRIM_DOWN 0x02 |
1389 | static unsigned char HeightTrimmingFlag = 0x00; |
1390 | static unsigned char HeightTrimmingFlag = 0x00; |
1390 | 1391 | ||
1391 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1392 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1392 | // Holger original version |
1393 | // Holger original version |
1393 | // start of height control algorithm |
1394 | // start of height control algorithm |
1394 | // the height control is only an attenuation of the actual gas stick. |
1395 | // the height control is only an attenuation of the actual gas stick. |
1395 | // I.e. it will work only if the gas stick is higher than the hover gas |
1396 | // I.e. it will work only if the gas stick is higher than the hover gas |
1396 | // and the hover height will be allways larger than height setpoint. |
1397 | // and the hover height will be allways larger than height setpoint. |
1397 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1398 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1398 | { // old version |
1399 | { // old version |
1399 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1400 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1400 | HeightTrimming = 0; |
1401 | HeightTrimming = 0; |
1401 | } |
1402 | } |
1402 | else |
1403 | else |
1403 | { |
1404 | { |
1404 | // alternative height control |
1405 | // alternative height control |
1405 | // PD-Control with respect to hoover point |
1406 | // PD-Control with respect to hoover point |
1406 | // the thrust loss out of horizontal attitude is compensated |
1407 | // the thrust loss out of horizontal attitude is compensated |
1407 | // the setpoint will be fine adjusted with the gas stick position |
1408 | // the setpoint will be fine adjusted with the gas stick position |
1408 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1409 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1409 | { // gas stick is above hoover point |
1410 | { // gas stick is above hoover point |
1410 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1411 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1411 | { |
1412 | { |
1412 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1413 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1413 | { |
1414 | { |
1414 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1415 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1415 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1416 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1416 | } |
1417 | } |
1417 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1418 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1418 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1419 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1419 | VarioCharacter = '+'; |
1420 | VarioCharacter = '+'; |
1420 | } // gas stick is below hoover point |
1421 | } // gas stick is below hoover point |
1421 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1422 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1422 | { |
1423 | { |
1423 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1424 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1424 | { |
1425 | { |
1425 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1426 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1426 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1427 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1427 | } |
1428 | } |
1428 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1429 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1429 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1430 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1430 | VarioCharacter = '-'; |
1431 | VarioCharacter = '-'; |
1431 | } |
1432 | } |
1432 | else // Gas Stick in Hover Range |
1433 | else // Gas Stick in Hover Range |
1433 | { |
1434 | { |
1434 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1435 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1435 | { |
1436 | { |
1436 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1437 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1437 | HeightTrimming = 0; |
1438 | HeightTrimming = 0; |
1438 | SollHoehe = HoehenWert; // update setpoint to current height |
1439 | SollHoehe = HoehenWert; // update setpoint to current height |
1439 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1440 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1440 | } |
1441 | } |
1441 | VarioCharacter = '='; |
1442 | VarioCharacter = '='; |
1442 | } |
1443 | } |
1443 | // Trim height set point |
1444 | // Trim height set point |
1444 | if(abs(HeightTrimming) > 512) |
1445 | if(abs(HeightTrimming) > 512) |
1445 | { |
1446 | { |
1446 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1447 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1447 | HeightTrimming = 0; |
1448 | HeightTrimming = 0; |
1448 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1449 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1449 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1450 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1450 | //update hoover gas stick value when setpoint is shifted |
1451 | //update hoover gas stick value when setpoint is shifted |
1451 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1452 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1452 | { |
1453 | { |
1453 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1454 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1454 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1455 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1455 | if(StickGasHover < 70) StickGasHover = 70; |
1456 | if(StickGasHover < 70) StickGasHover = 70; |
1456 | else if(StickGasHover > 150) StickGasHover = 150; |
1457 | else if(StickGasHover > 150) StickGasHover = 150; |
1457 | } |
1458 | } |
1458 | } |
1459 | } |
1459 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1460 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1460 | } //if FCFlags & MKFCFLAG_FLY |
1461 | } //if FCFlags & MKFCFLAG_FLY |
1461 | else |
1462 | else |
1462 | { |
1463 | { |
1463 | SollHoehe = HoehenWert - 400; |
1464 | SollHoehe = HoehenWert - 400; |
1464 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1465 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1465 | else StickGasHover = 120; |
1466 | else StickGasHover = 120; |
1466 | } |
1467 | } |
1467 | HCGas = HoverGas; // take hover gas (neutral point) |
1468 | HCGas = HoverGas; // take hover gas (neutral point) |
1468 | } |
1469 | } |
1469 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1470 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1470 | { |
1471 | { |
1471 | // from this point the Heigth Control Algorithm is identical for both versions |
1472 | // from this point the Heigth Control Algorithm is identical for both versions |
1472 | if(BaroExpandActive) // baro range expanding active |
1473 | if(BaroExpandActive) // baro range expanding active |
1473 | { |
1474 | { |
1474 | HCGas = HoverGas; // hover while expanding baro adc range |
1475 | HCGas = HoverGas; // hover while expanding baro adc range |
1475 | HeightDeviation = 0; |
1476 | HeightDeviation = 0; |
1476 | } // EOF // baro range expanding active |
1477 | } // EOF // baro range expanding active |
1477 | else // valid data from air pressure sensor |
1478 | else // valid data from air pressure sensor |
1478 | { |
1479 | { |
1479 | // ------------------------- P-Part ---------------------------- |
1480 | // ------------------------- P-Part ---------------------------- |
1480 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1481 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1481 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1482 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1482 | HeightDeviation = (int)(tmp_long); // positive when too high |
1483 | HeightDeviation = (int)(tmp_long); // positive when too high |
1483 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
1484 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1484 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 255 * STICK_GAIN); // more than the full range makes no sense |
1485 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 255 * STICK_GAIN); // more than the full range makes no sense |
1485 | HCGas -= tmp_long; |
1486 | // HCGas -= tmp_long; |
- | 1487 | DebugOut.Analog[25] = tmp_long; |
|
- | 1488 | GasReduction = tmp_long; |
|
1486 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1489 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1487 | tmp_int = VarioMeter / 8; |
1490 | tmp_int = VarioMeter / 8; |
1488 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
1491 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
- | 1492 | DebugOut.Analog[18] = tmp_int; |
|
1489 | tmp_int2 = tmp_int; |
1493 | // tmp_int2 = tmp_int/4; |
1490 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
1494 | // LIMIT_MAX(tmp_int2, 64); |
1491 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
1495 | // if(tmp_int > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2); |
1492 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
1496 | // else tmp_int = tmp_int - (tmp_int2 * tmp_int2); |
- | 1497 | ||
1493 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
1498 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 64L; // scale to d-gain parameter |
1494 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
1499 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1495 | HCGas -= tmp_int; |
1500 | // HCGas -= tmp_int; |
- | 1501 | DebugOut.Analog[19] = tmp_int; |
|
- | 1502 | GasReduction += tmp_int; |
|
- | 1503 | ||
1496 | } // EOF no baro range expanding |
1504 | } // EOF no baro range expanding |
1497 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1505 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1498 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1506 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1499 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1507 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1500 | HCGas -= tmp_long; |
1508 | // HCGas -= tmp_long; |
- | 1509 | GasReduction += tmp_long; |
|
1501 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1510 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1502 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1511 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1503 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1512 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1504 | HCGas -= tmp_int; |
1513 | // HCGas -= tmp_int; |
- | 1514 | GasReduction += tmp_int; |
|
- | 1515 | ||
- | 1516 | //DebugOut.Analog[16] = GasReduction; |
|
- | 1517 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; |
|
- | 1518 | //GasReduction = (long)((long)GasReduction * Poti3) / 64; |
|
- | 1519 | DebugOut.Analog[17] = GasReduction; |
|
- | 1520 | ||
- | 1521 | HCGas -= GasReduction; |
|
- | 1522 | ||
1505 | // limit deviation from hoover point within the target region |
1523 | // limit deviation from hoover point within the target region |
1506 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1524 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1507 | { |
1525 | { |
1508 | signed int tmp,min,max; |
1526 | signed int tmp,min,max; |
1509 | if(abs(HeightDeviation) < 60) |
1527 | if(abs(HeightDeviation) < 60) |
1510 | { |
1528 | { |
1511 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1529 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1512 | } |
1530 | } |
1513 | else |
1531 | else |
1514 | { |
1532 | { |
1515 | tmp = (abs(HeightDeviation) - 60)/32; |
1533 | tmp = (abs(HeightDeviation) - 60)/32; |
1516 | if(tmp > 15) tmp = 15; |
1534 | if(tmp > 15) tmp = 15; |
1517 | if(HeightDeviation > 0) |
1535 | if(HeightDeviation > 0) |
1518 | { |
1536 | { |
1519 | min = (HoverGasMin * (16 - tmp)) / 16; |
1537 | min = (HoverGasMin * (16 - tmp)) / 16; |
1520 | LIMIT_MIN_MAX(HCGas, min, HoverGasMax); // limit gas around the hoover point |
1538 | LIMIT_MIN_MAX(HCGas, min, HoverGasMax); // limit gas around the hoover point |
1521 | } |
1539 | } |
1522 | else |
1540 | else |
1523 | { |
1541 | { |
1524 | max = (HoverGasMax * (tmp + 16)) / 16; |
1542 | max = (HoverGasMax * (tmp + 16)) / 16; |
1525 | LIMIT_MIN_MAX(HCGas, HoverGasMin, max); // limit gas around the hoover point |
1543 | LIMIT_MIN_MAX(HCGas, HoverGasMin, max); // limit gas around the hoover point |
1526 | } |
1544 | } |
1527 | } |
1545 | } |
1528 | } |
1546 | } |
1529 | // strech control output by inverse attitude projection 1/cos |
1547 | // strech control output by inverse attitude projection 1/cos |
1530 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1548 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1531 | tmp_long2 = (int32_t)HCGas; |
1549 | tmp_long2 = (int32_t)HCGas; |
1532 | tmp_long2 *= 8192L; |
1550 | tmp_long2 *= 8192L; |
1533 | tmp_long2 /= CosAttitude; |
1551 | tmp_long2 /= CosAttitude; |
1534 | HCGas = (int16_t)tmp_long2; |
1552 | HCGas = (int16_t)tmp_long2; |
1535 | // update height control gas averaging |
1553 | // update height control gas averaging |
1536 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1554 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1537 | // limit height control gas pd-control output |
1555 | // limit height control gas pd-control output |
1538 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1556 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1539 | // set GasMischanteil to HeightControlGasFilter |
1557 | // set GasMischanteil to HeightControlGasFilter |
1540 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1558 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1541 | { // old version |
1559 | { // old version |
1542 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1560 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1543 | } |
1561 | } |
1544 | GasMischanteil = FilterHCGas; |
1562 | GasMischanteil = FilterHCGas; |
1545 | } |
1563 | } |
1546 | }// EOF height control active |
1564 | }// EOF height control active |
1547 | else // HC not active |
1565 | else // HC not active |
1548 | { |
1566 | { |
1549 | //update hoover gas stick value when HC is not active |
1567 | //update hoover gas stick value when HC is not active |
1550 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1568 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1551 | { |
1569 | { |
1552 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1570 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1553 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1571 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1554 | } |
1572 | } |
1555 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1573 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1556 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1574 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1557 | FilterHCGas = GasMischanteil; |
1575 | FilterHCGas = GasMischanteil; |
1558 | } |
1576 | } |
1559 | 1577 | ||
1560 | // Hover gas estimation by averaging gas control output on small z-velocities |
1578 | // Hover gas estimation by averaging gas control output on small z-velocities |
1561 | // this is done only if height contol option is selected in global config and aircraft is flying |
1579 | // this is done only if height contol option is selected in global config and aircraft is flying |
1562 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1580 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1563 | { |
1581 | { |
1564 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1582 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1565 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1583 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1566 | { |
1584 | { |
1567 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1585 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1568 | tmp_long2 *= CosAttitude; // apply attitude projection |
1586 | tmp_long2 *= CosAttitude; // apply attitude projection |
1569 | tmp_long2 /= 8192; |
1587 | tmp_long2 /= 8192; |
1570 | 1588 | ||
1571 | // average vertical projected thrust |
1589 | // average vertical projected thrust |
1572 | if(modell_fliegt < 2000) // the first 4 seconds |
1590 | if(modell_fliegt < 2000) // the first 4 seconds |
1573 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1591 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1574 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1592 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1575 | HoverGasFilter += 8L * tmp_long2; |
1593 | HoverGasFilter += 8L * tmp_long2; |
1576 | } |
1594 | } |
1577 | else if(modell_fliegt < 4000) // the first 8 seconds |
1595 | else if(modell_fliegt < 4000) // the first 8 seconds |
1578 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1596 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1579 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1597 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1580 | HoverGasFilter += 4L * tmp_long2; |
1598 | HoverGasFilter += 4L * tmp_long2; |
1581 | } |
1599 | } |
1582 | else if(modell_fliegt < 8000) // the first 16 seconds |
1600 | else if(modell_fliegt < 8000) // the first 16 seconds |
1583 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1601 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1584 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1602 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1585 | HoverGasFilter += 2L * tmp_long2; |
1603 | HoverGasFilter += 2L * tmp_long2; |
1586 | } |
1604 | } |
1587 | else //later |
1605 | else //later |
1588 | { |
1606 | { |
1589 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1607 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1590 | HoverGasFilter += tmp_long2; |
1608 | HoverGasFilter += tmp_long2; |
1591 | } |
1609 | } |
1592 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1610 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1593 | if(EE_Parameter.Hoehe_HoverBand) |
1611 | if(EE_Parameter.Hoehe_HoverBand) |
1594 | { |
1612 | { |
1595 | int16_t band; |
1613 | int16_t band; |
1596 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1614 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1597 | HoverGasMin = HoverGas - band; |
1615 | HoverGasMin = HoverGas - band; |
1598 | HoverGasMax = HoverGas + band; |
1616 | HoverGasMax = HoverGas + band; |
1599 | } |
1617 | } |
1600 | else |
1618 | else |
1601 | { // no limit |
1619 | { // no limit |
1602 | HoverGasMin = 0; |
1620 | HoverGasMin = 0; |
1603 | HoverGasMax = 1023; |
1621 | HoverGasMax = 1023; |
1604 | } |
1622 | } |
1605 | } |
1623 | } |
1606 | } |
1624 | } |
1607 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1625 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1608 | 1626 | ||
1609 | // limit gas to parameter setting |
1627 | // limit gas to parameter setting |
1610 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1628 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1611 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1629 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1612 | 1630 | ||
1613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1614 | // all BL-Ctrl connected? |
1632 | // all BL-Ctrl connected? |
1615 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1616 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1634 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1617 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1635 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1618 | { |
1636 | { |
1619 | modell_fliegt = 1; |
1637 | modell_fliegt = 1; |
1620 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1638 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1621 | } |
1639 | } |
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1640 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1623 | // + Mischer und PI-Regler |
1641 | // + Mischer und PI-Regler |
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1625 | DebugOut.Analog[7] = GasMischanteil; |
1643 | DebugOut.Analog[7] = GasMischanteil; |
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1627 | // Gier-Anteil |
1645 | // Gier-Anteil |
1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1629 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1647 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1630 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1648 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1631 | if(GasMischanteil > MIN_GIERGAS) |
1649 | if(GasMischanteil > MIN_GIERGAS) |
1632 | { |
1650 | { |
1633 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1651 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1634 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1652 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1635 | } |
1653 | } |
1636 | else |
1654 | else |
1637 | { |
1655 | { |
1638 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1656 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1639 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1657 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1640 | } |
1658 | } |
1641 | tmp_int = MAX_GAS*STICK_GAIN; |
1659 | tmp_int = MAX_GAS*STICK_GAIN; |
1642 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1660 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1643 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1661 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1644 | 1662 | ||
1645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1646 | // Nick-Achse |
1664 | // Nick-Achse |
1647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1665 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1648 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1666 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1649 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1667 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1650 | else SummeNick += DiffNick; // I-Anteil bei HH |
1668 | else SummeNick += DiffNick; // I-Anteil bei HH |
1651 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1669 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1652 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1670 | 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 |
1671 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1654 | // Motor Vorn |
1672 | // Motor Vorn |
1655 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1673 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1656 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1674 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1657 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1675 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1658 | 1676 | ||
1659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1660 | // Roll-Achse |
1678 | // Roll-Achse |
1661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1662 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1680 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1663 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1681 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1664 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1682 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1665 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1683 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1666 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1684 | 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 |
1685 | 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; |
1686 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1669 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1687 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1670 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1688 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1671 | 1689 | ||
1672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1673 | // Universal Mixer |
1691 | // Universal Mixer |
1674 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1675 | for(i=0; i<MAX_MOTORS; i++) |
1693 | for(i=0; i<MAX_MOTORS; i++) |
1676 | { |
1694 | { |
1677 | signed int tmp_int; |
1695 | signed int tmp_int; |
1678 | if(Mixer.Motor[i][0] > 0) |
1696 | if(Mixer.Motor[i][0] > 0) |
1679 | { |
1697 | { |
1680 | // Gas |
1698 | // Gas |
1681 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1699 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1682 | // Nick |
1700 | // Nick |
1683 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1701 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1684 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1702 | 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; |
1703 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1686 | // Roll |
1704 | // Roll |
1687 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1705 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1688 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1706 | 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; |
1707 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1690 | // Gier |
1708 | // Gier |
1691 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1709 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1692 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1710 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1693 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1711 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1694 | 1712 | ||
1695 | //if(Parameter_UserParam4 < 50) |
1713 | //if(Parameter_UserParam4 < 50) |
1696 | { |
1714 | { |
1697 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1715 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1698 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1716 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1699 | } |
1717 | } |
1700 | 1718 | ||
1701 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1719 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1702 | Motor[i].SetPoint = tmp_int / 4; |
1720 | Motor[i].SetPoint = tmp_int / 4; |
1703 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1721 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1704 | tmp_motorwert[i] = tmp_int; |
1722 | tmp_motorwert[i] = tmp_int; |
1705 | } |
1723 | } |
1706 | else |
1724 | else |
1707 | { |
1725 | { |
1708 | Motor[i].SetPoint = 0; |
1726 | Motor[i].SetPoint = 0; |
1709 | Motor[i].SetPointLowerBits = 0; |
1727 | Motor[i].SetPointLowerBits = 0; |
1710 | } |
1728 | } |
1711 | } |
1729 | } |
1712 | } |
1730 | } |
1713 | 1731 |