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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 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | int KompassValue = 0; |
80 | int KompassValue = 0; |
80 | int KompassStartwert = 0; |
81 | int KompassStartwert = 0; |
81 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
82 | unsigned int KompassSignalSchlecht = 500; |
83 | unsigned int KompassSignalSchlecht = 500; |
83 | unsigned char MAX_GAS,MIN_GAS; |
84 | unsigned char MAX_GAS,MIN_GAS; |
84 | unsigned char HoehenReglerAktiv = 0; |
85 | unsigned char HoehenReglerAktiv = 0; |
85 | unsigned char TrichterFlug = 0; |
86 | unsigned char TrichterFlug = 0; |
86 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
87 | long ErsatzKompass; |
88 | long ErsatzKompass; |
88 | int ErsatzKompassInGrad; // Kompasswert in Grad |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
89 | int GierGyroFehler = 0; |
90 | int GierGyroFehler = 0; |
90 | char GyroFaktor,GyroFaktorGier; |
91 | char GyroFaktor,GyroFaktorGier; |
91 | char IntegralFaktor,IntegralFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
92 | int DiffNick,DiffRoll; |
93 | int DiffNick,DiffRoll; |
93 | //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; |
94 | 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}; |
95 | volatile unsigned char SenderOkay = 0; |
96 | volatile unsigned char SenderOkay = 0; |
96 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | char MotorenEin = 0; |
98 | char MotorenEin = 0; |
98 | long HoehenWert = 0; |
99 | long HoehenWert = 0; |
99 | long SollHoehe = 0; |
100 | long SollHoehe = 0; |
100 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
101 | //float Ki = FAKTOR_I; |
102 | //float Ki = FAKTOR_I; |
102 | int Ki = 10300 / 33; |
103 | int Ki = 10300 / 33; |
103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | 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; |
105 | 106 | ||
106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
111 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
114 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
115 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
118 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
119 | unsigned char Parameter_UserParam1 = 0; |
120 | unsigned char Parameter_UserParam1 = 0; |
120 | unsigned char Parameter_UserParam2 = 0; |
121 | unsigned char Parameter_UserParam2 = 0; |
121 | unsigned char Parameter_UserParam3 = 0; |
122 | unsigned char Parameter_UserParam3 = 0; |
122 | unsigned char Parameter_UserParam4 = 0; |
123 | unsigned char Parameter_UserParam4 = 0; |
123 | unsigned char Parameter_UserParam5 = 0; |
124 | unsigned char Parameter_UserParam5 = 0; |
124 | unsigned char Parameter_UserParam6 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
125 | unsigned char Parameter_UserParam7 = 0; |
126 | unsigned char Parameter_UserParam7 = 0; |
126 | unsigned char Parameter_UserParam8 = 0; |
127 | unsigned char Parameter_UserParam8 = 0; |
127 | unsigned char Parameter_ServoNickControl = 100; |
128 | unsigned char Parameter_ServoNickControl = 100; |
128 | unsigned char Parameter_ServoRollControl = 100; |
129 | unsigned char Parameter_ServoRollControl = 100; |
129 | unsigned char Parameter_LoopGasLimit = 70; |
130 | unsigned char Parameter_LoopGasLimit = 70; |
130 | unsigned char Parameter_AchsKopplung1 = 90; |
131 | unsigned char Parameter_AchsKopplung1 = 90; |
131 | unsigned char Parameter_AchsKopplung2 = 65; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
132 | unsigned char Parameter_CouplingYawCorrection = 64; |
133 | unsigned char Parameter_CouplingYawCorrection = 64; |
133 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
134 | unsigned char Parameter_DynamicStability = 100; |
135 | unsigned char Parameter_DynamicStability = 100; |
135 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
136 | unsigned char Parameter_J16Timing; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
137 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
138 | unsigned char Parameter_J17Timing; // for the J17 Output |
139 | unsigned char Parameter_J17Timing; // for the J17 Output |
139 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
140 | unsigned char Parameter_NaviGpsGain; |
141 | unsigned char Parameter_NaviGpsGain; |
141 | unsigned char Parameter_NaviGpsP; |
142 | unsigned char Parameter_NaviGpsP; |
142 | unsigned char Parameter_NaviGpsI; |
143 | unsigned char Parameter_NaviGpsI; |
143 | unsigned char Parameter_NaviGpsD; |
144 | unsigned char Parameter_NaviGpsD; |
144 | unsigned char Parameter_NaviGpsACC; |
145 | unsigned char Parameter_NaviGpsACC; |
145 | unsigned char Parameter_NaviOperatingRadius; |
146 | unsigned char Parameter_NaviOperatingRadius; |
146 | unsigned char Parameter_NaviWindCorrection; |
147 | unsigned char Parameter_NaviWindCorrection; |
147 | unsigned char Parameter_NaviSpeedCompensation; |
148 | unsigned char Parameter_NaviSpeedCompensation; |
148 | unsigned char Parameter_ExternalControl; |
149 | unsigned char Parameter_ExternalControl; |
149 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
150 | unsigned char CareFree = 0; |
151 | unsigned char CareFree = 0; |
151 | 152 | ||
152 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
153 | int MaxStickNick = 0,MaxStickRoll = 0; |
154 | int MaxStickNick = 0,MaxStickRoll = 0; |
154 | unsigned int modell_fliegt = 0; |
155 | unsigned int modell_fliegt = 0; |
155 | volatile unsigned char FCFlags = 0; |
156 | volatile unsigned char FCFlags = 0; |
156 | long GIER_GRAD_FAKTOR = 1291; |
157 | long GIER_GRAD_FAKTOR = 1291; |
157 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
158 | signed int tmp_motorwert[MAX_MOTORS]; |
159 | signed int tmp_motorwert[MAX_MOTORS]; |
159 | char VarioCharacter = ' '; |
160 | char VarioCharacter = ' '; |
160 | 161 | ||
161 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
162 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
163 | #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;} |
164 | 165 | ||
165 | 166 | ||
166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // Debugwerte zuordnen |
168 | // Debugwerte zuordnen |
168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | void CopyDebugValues(void) |
170 | void CopyDebugValues(void) |
170 | { |
171 | { |
171 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
172 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
174 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
175 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
176 | DebugOut.Analog[5] = HoehenWert/5; |
177 | DebugOut.Analog[5] = HoehenWert/5; |
177 | 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; |
178 | DebugOut.Analog[8] = KompassValue; |
179 | DebugOut.Analog[8] = KompassValue; |
179 | DebugOut.Analog[9] = UBat; |
180 | DebugOut.Analog[9] = UBat; |
180 | DebugOut.Analog[10] = SenderOkay; |
181 | DebugOut.Analog[10] = SenderOkay; |
181 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
182 | DebugOut.Analog[20] = ServoNickValue; |
183 | DebugOut.Analog[20] = ServoNickValue; |
183 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
184 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
184 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
185 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
185 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
186 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
186 | // DebugOut.Analog[24] = MesswertNick/2; |
187 | // DebugOut.Analog[24] = MesswertNick/2; |
187 | // DebugOut.Analog[25] = MesswertRoll/2; |
188 | // DebugOut.Analog[25] = MesswertRoll/2; |
188 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
189 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
189 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
190 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
190 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
191 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
191 | //DebugOut.Analog[28] = I2CError; |
192 | //DebugOut.Analog[28] = I2CError; |
192 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
193 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
193 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
194 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
194 | DebugOut.Analog[30] = GPS_Nick; |
195 | DebugOut.Analog[30] = GPS_Nick; |
195 | DebugOut.Analog[31] = GPS_Roll; |
196 | DebugOut.Analog[31] = GPS_Roll; |
196 | } |
197 | } |
197 | 198 | ||
198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
199 | void Piep(unsigned char Anzahl, unsigned int dauer) |
199 | { |
200 | { |
200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
201 | if(MotorenEin) return; //auf keinen Fall im Flug! |
201 | while(Anzahl--) |
202 | while(Anzahl--) |
202 | { |
203 | { |
203 | beeptime = dauer; |
204 | beeptime = dauer; |
204 | while(beeptime); |
205 | while(beeptime); |
205 | Delay_ms(dauer * 2); |
206 | Delay_ms(dauer * 2); |
206 | } |
207 | } |
207 | } |
208 | } |
208 | 209 | ||
209 | //############################################################################ |
210 | //############################################################################ |
210 | // Messwerte beim Ermitteln der Nullage |
211 | // Messwerte beim Ermitteln der Nullage |
211 | void CalibrierMittelwert(void) |
212 | void CalibrierMittelwert(void) |
212 | //############################################################################ |
213 | //############################################################################ |
213 | { |
214 | { |
214 | unsigned char i; |
215 | unsigned char i; |
215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
216 | if(PlatinenVersion == 13) SucheGyroOffset(); |
216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
217 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
217 | ANALOG_OFF; |
218 | ANALOG_OFF; |
218 | MesswertNick = AdWertNick; |
219 | MesswertNick = AdWertNick; |
219 | MesswertRoll = AdWertRoll; |
220 | MesswertRoll = AdWertRoll; |
220 | MesswertGier = AdWertGier; |
221 | MesswertGier = AdWertGier; |
221 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
222 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
222 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
223 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
223 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
224 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
224 | // ADC einschalten |
225 | // ADC einschalten |
225 | ANALOG_ON; |
226 | ANALOG_ON; |
226 | for(i=0;i<8;i++) |
227 | for(i=0;i<8;i++) |
227 | { |
228 | { |
228 | int tmp; |
229 | int tmp; |
229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
230 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
230 | LIMIT_MIN_MAX(tmp, 0, 255); |
231 | LIMIT_MIN_MAX(tmp, 0, 255); |
231 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
232 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
232 | } |
233 | } |
233 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
234 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
234 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
235 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
235 | } |
236 | } |
236 | 237 | ||
237 | //############################################################################ |
238 | //############################################################################ |
238 | // Nullwerte ermitteln |
239 | // Nullwerte ermitteln |
239 | void SetNeutral(unsigned char AccAdjustment) |
240 | void SetNeutral(unsigned char AccAdjustment) |
240 | //############################################################################ |
241 | //############################################################################ |
241 | { |
242 | { |
242 | unsigned char i; |
243 | unsigned char i; |
243 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
244 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
244 | 245 | ||
245 | HEF4017R_ON; |
246 | HEF4017R_ON; |
246 | NeutralAccX = 0; |
247 | NeutralAccX = 0; |
247 | NeutralAccY = 0; |
248 | NeutralAccY = 0; |
248 | NeutralAccZ = 0; |
249 | NeutralAccZ = 0; |
249 | 250 | ||
250 | AdNeutralNick = 0; |
251 | AdNeutralNick = 0; |
251 | AdNeutralRoll = 0; |
252 | AdNeutralRoll = 0; |
252 | AdNeutralGier = 0; |
253 | AdNeutralGier = 0; |
253 | 254 | ||
254 | Parameter_AchsKopplung1 = 0; |
255 | Parameter_AchsKopplung1 = 0; |
255 | Parameter_AchsKopplung2 = 0; |
256 | Parameter_AchsKopplung2 = 0; |
256 | 257 | ||
257 | ExpandBaro = 0; |
258 | ExpandBaro = 0; |
258 | 259 | ||
259 | CalibrierMittelwert(); |
260 | CalibrierMittelwert(); |
260 | Delay_ms_Mess(100); |
261 | Delay_ms_Mess(100); |
261 | 262 | ||
262 | CalibrierMittelwert(); |
263 | CalibrierMittelwert(); |
263 | 264 | ||
264 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
265 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
265 | { |
266 | { |
266 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
267 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
267 | } |
268 | } |
268 | #define NEUTRAL_FILTER 32 |
269 | #define NEUTRAL_FILTER 32 |
269 | for(i=0; i<NEUTRAL_FILTER; i++) |
270 | for(i=0; i<NEUTRAL_FILTER; i++) |
270 | { |
271 | { |
271 | Delay_ms_Mess(10); |
272 | Delay_ms_Mess(10); |
272 | gier_neutral += AdWertGier; |
273 | gier_neutral += AdWertGier; |
273 | nick_neutral += AdWertNick; |
274 | nick_neutral += AdWertNick; |
274 | roll_neutral += AdWertRoll; |
275 | roll_neutral += AdWertRoll; |
275 | } |
276 | } |
276 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
277 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
277 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
278 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
278 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
279 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
279 | 280 | ||
280 | StartNeutralRoll = AdNeutralRoll; |
281 | StartNeutralRoll = AdNeutralRoll; |
281 | StartNeutralNick = AdNeutralNick; |
282 | StartNeutralNick = AdNeutralNick; |
282 | 283 | ||
283 | if(AccAdjustment) |
284 | if(AccAdjustment) |
284 | { |
285 | { |
285 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
286 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
286 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
287 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
287 | NeutralAccZ = Aktuell_az; |
288 | NeutralAccZ = Aktuell_az; |
288 | 289 | ||
289 | // Save ACC neutral settings to eeprom |
290 | // Save ACC neutral settings to eeprom |
290 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
291 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
291 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
292 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
292 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
293 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
293 | } |
294 | } |
294 | else |
295 | else |
295 | { |
296 | { |
296 | // restore from eeprom |
297 | // restore from eeprom |
297 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
298 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
298 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
299 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
299 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
300 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
300 | // strange settings? |
301 | // strange settings? |
301 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
302 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
302 | { |
303 | { |
303 | printf("\n\rACC not calibrated!\r\n"); |
304 | printf("\n\rACC not calibrated!\r\n"); |
304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
306 | NeutralAccZ = Aktuell_az; |
307 | NeutralAccZ = Aktuell_az; |
307 | } |
308 | } |
308 | } |
309 | } |
309 | 310 | ||
310 | MesswertNick = 0; |
311 | MesswertNick = 0; |
311 | MesswertRoll = 0; |
312 | MesswertRoll = 0; |
312 | MesswertGier = 0; |
313 | MesswertGier = 0; |
313 | Delay_ms_Mess(100); |
314 | Delay_ms_Mess(100); |
314 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
315 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
315 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
316 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
316 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
317 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
317 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
318 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
318 | Mess_IntegralNick2 = IntegralNick; |
319 | Mess_IntegralNick2 = IntegralNick; |
319 | Mess_IntegralRoll2 = IntegralRoll; |
320 | Mess_IntegralRoll2 = IntegralRoll; |
320 | Mess_Integral_Gier = 0; |
321 | Mess_Integral_Gier = 0; |
321 | StartLuftdruck = Luftdruck; |
322 | StartLuftdruck = Luftdruck; |
322 | VarioMeter = 0; |
323 | VarioMeter = 0; |
323 | Mess_Integral_Hoch = 0; |
324 | Mess_Integral_Hoch = 0; |
324 | KompassStartwert = KompassValue; |
325 | KompassStartwert = KompassValue; |
325 | GPS_Neutral(); |
326 | GPS_Neutral(); |
326 | beeptime = 50; |
327 | beeptime = 50; |
327 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
328 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
328 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
329 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
329 | ExternHoehenValue = 0; |
330 | ExternHoehenValue = 0; |
330 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
331 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
331 | GierGyroFehler = 0; |
332 | GierGyroFehler = 0; |
332 | SendVersionToNavi = 1; |
333 | SendVersionToNavi = 1; |
333 | LED_Init(); |
334 | LED_Init(); |
334 | FCFlags |= FCFLAG_CALIBRATE; |
335 | FCFlags |= FCFLAG_CALIBRATE; |
335 | FromNaviCtrl_Value.Kalman_K = -1; |
336 | FromNaviCtrl_Value.Kalman_K = -1; |
336 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
337 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
337 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
338 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
338 | 339 | ||
339 | for(i=0;i<8;i++) |
340 | for(i=0;i<8;i++) |
340 | { |
341 | { |
341 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
342 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
342 | } |
343 | } |
343 | SenderOkay = 100; |
344 | SenderOkay = 100; |
344 | if(ServoActive) |
345 | if(ServoActive) |
345 | { |
346 | { |
346 | HEF4017R_ON; |
347 | HEF4017R_ON; |
347 | DDRD |=0x80; // enable J7 -> Servo signal |
348 | DDRD |=0x80; // enable J7 -> Servo signal |
348 | } |
349 | } |
349 | } |
350 | } |
350 | 351 | ||
351 | //############################################################################ |
352 | //############################################################################ |
352 | // Bearbeitet die Messwerte |
353 | // Bearbeitet die Messwerte |
353 | void Mittelwert(void) |
354 | void Mittelwert(void) |
354 | //############################################################################ |
355 | //############################################################################ |
355 | { |
356 | { |
356 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
357 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
357 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
358 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
358 | signed long winkel_nick, winkel_roll; |
359 | signed long winkel_nick, winkel_roll; |
359 | unsigned char i; |
360 | unsigned char i; |
360 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
361 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
361 | MesswertNick = (signed int) AdWertNickFilter / 8; |
362 | MesswertNick = (signed int) AdWertNickFilter / 8; |
362 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
363 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
363 | RohMesswertNick = MesswertNick; |
364 | RohMesswertNick = MesswertNick; |
364 | RohMesswertRoll = MesswertRoll; |
365 | RohMesswertRoll = MesswertRoll; |
365 | 366 | ||
366 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
367 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
367 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
368 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
368 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
369 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
369 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
370 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
370 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
371 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
371 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
372 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
372 | NaviAccNick += AdWertAccNick; |
373 | NaviAccNick += AdWertAccNick; |
373 | NaviAccRoll += AdWertAccRoll; |
374 | NaviAccRoll += AdWertAccRoll; |
374 | NaviCntAcc++; |
375 | NaviCntAcc++; |
375 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
376 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
376 | 377 | ||
377 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
378 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
378 | // ADC einschalten |
379 | // ADC einschalten |
379 | ANALOG_ON; |
380 | ANALOG_ON; |
380 | AdReady = 0; |
381 | AdReady = 0; |
381 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
382 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
382 | 383 | ||
383 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
384 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
384 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
385 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
385 | else winkel_roll = Mess_IntegralRoll; |
386 | else winkel_roll = Mess_IntegralRoll; |
386 | 387 | ||
387 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
388 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
388 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
389 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
389 | else winkel_nick = Mess_IntegralNick; |
390 | else winkel_nick = Mess_IntegralNick; |
390 | 391 | ||
391 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
392 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
392 | Mess_Integral_Gier += MesswertGier; |
393 | Mess_Integral_Gier += MesswertGier; |
393 | ErsatzKompass += MesswertGier; |
394 | ErsatzKompass += MesswertGier; |
394 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
395 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
395 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
396 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
396 | { |
397 | { |
397 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
398 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
398 | tmpl3 *= Parameter_AchsKopplung2; //65 |
399 | tmpl3 *= Parameter_AchsKopplung2; //65 |
399 | tmpl3 /= 4096L; |
400 | tmpl3 /= 4096L; |
400 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
401 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
401 | tmpl4 *= Parameter_AchsKopplung2; //65 |
402 | tmpl4 *= Parameter_AchsKopplung2; //65 |
402 | tmpl4 /= 4096L; |
403 | tmpl4 /= 4096L; |
403 | KopplungsteilNickRoll = tmpl3; |
404 | KopplungsteilNickRoll = tmpl3; |
404 | KopplungsteilRollNick = tmpl4; |
405 | KopplungsteilRollNick = tmpl4; |
405 | tmpl4 -= tmpl3; |
406 | tmpl4 -= tmpl3; |
406 | ErsatzKompass += tmpl4; |
407 | ErsatzKompass += tmpl4; |
407 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
408 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
408 | 409 | ||
409 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
410 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
410 | tmpl *= Parameter_AchsKopplung1; // 90 |
411 | tmpl *= Parameter_AchsKopplung1; // 90 |
411 | tmpl /= 4096L; |
412 | tmpl /= 4096L; |
412 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
413 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
413 | tmpl2 *= Parameter_AchsKopplung1; |
414 | tmpl2 *= Parameter_AchsKopplung1; |
414 | tmpl2 /= 4096L; |
415 | tmpl2 /= 4096L; |
415 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
416 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
416 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
417 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
417 | } |
418 | } |
418 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
419 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
419 | TrimRoll = tmpl - tmpl2 / 100L; |
420 | TrimRoll = tmpl - tmpl2 / 100L; |
420 | TrimNick = -tmpl2 + tmpl / 100L; |
421 | TrimNick = -tmpl2 + tmpl / 100L; |
421 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
422 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
422 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
423 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
423 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
424 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
424 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
425 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
425 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
426 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
426 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
427 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
427 | if(Mess_IntegralRoll > Umschlag180Roll) |
428 | if(Mess_IntegralRoll > Umschlag180Roll) |
428 | { |
429 | { |
429 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
430 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
430 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
431 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
431 | } |
432 | } |
432 | if(Mess_IntegralRoll <-Umschlag180Roll) |
433 | if(Mess_IntegralRoll <-Umschlag180Roll) |
433 | { |
434 | { |
434 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
435 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
435 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
436 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
436 | } |
437 | } |
437 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
438 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
438 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
439 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
439 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
440 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
440 | if(Mess_IntegralNick > Umschlag180Nick) |
441 | if(Mess_IntegralNick > Umschlag180Nick) |
441 | { |
442 | { |
442 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
443 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
443 | Mess_IntegralNick2 = Mess_IntegralNick; |
444 | Mess_IntegralNick2 = Mess_IntegralNick; |
444 | } |
445 | } |
445 | if(Mess_IntegralNick <-Umschlag180Nick) |
446 | if(Mess_IntegralNick <-Umschlag180Nick) |
446 | { |
447 | { |
447 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
448 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
448 | Mess_IntegralNick2 = Mess_IntegralNick; |
449 | Mess_IntegralNick2 = Mess_IntegralNick; |
449 | } |
450 | } |
450 | 451 | ||
451 | Integral_Gier = Mess_Integral_Gier; |
452 | Integral_Gier = Mess_Integral_Gier; |
452 | IntegralNick = Mess_IntegralNick; |
453 | IntegralNick = Mess_IntegralNick; |
453 | IntegralRoll = Mess_IntegralRoll; |
454 | IntegralRoll = Mess_IntegralRoll; |
454 | IntegralNick2 = Mess_IntegralNick2; |
455 | IntegralNick2 = Mess_IntegralNick2; |
455 | IntegralRoll2 = Mess_IntegralRoll2; |
456 | IntegralRoll2 = Mess_IntegralRoll2; |
456 | 457 | ||
457 | #define D_LIMIT 128 |
458 | #define D_LIMIT 128 |
458 | 459 | ||
459 | MesswertNick = HiResNick / 8; |
460 | MesswertNick = HiResNick / 8; |
460 | MesswertRoll = HiResRoll / 8; |
461 | MesswertRoll = HiResRoll / 8; |
461 | 462 | ||
462 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
463 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
463 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
464 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
464 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
465 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
465 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
466 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
466 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
467 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
467 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
468 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
468 | 469 | ||
469 | if(Parameter_Gyro_D) |
470 | if(Parameter_Gyro_D) |
470 | { |
471 | { |
471 | d2Nick = HiResNick - oldNick; |
472 | d2Nick = HiResNick - oldNick; |
472 | oldNick = (oldNick + HiResNick)/2; |
473 | oldNick = (oldNick + HiResNick)/2; |
473 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
474 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
474 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
475 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
475 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
476 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
476 | d2Roll = HiResRoll - oldRoll; |
477 | d2Roll = HiResRoll - oldRoll; |
477 | oldRoll = (oldRoll + HiResRoll)/2; |
478 | oldRoll = (oldRoll + HiResRoll)/2; |
478 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
479 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
479 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
480 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
480 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
481 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
481 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
482 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
482 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
483 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
483 | } |
484 | } |
484 | 485 | ||
485 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
486 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
486 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
487 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
487 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
488 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
488 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
489 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
489 | 490 | ||
490 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
491 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
491 | { |
492 | { |
492 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
493 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
493 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
494 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
494 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
495 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
495 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
496 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
496 | } |
497 | } |
497 | for(i=0;i<8;i++) |
498 | for(i=0;i<8;i++) |
498 | { |
499 | { |
499 | int tmp; |
500 | int tmp; |
500 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
501 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
501 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
502 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
502 | if(tmp != Poti[i]) |
503 | if(tmp != Poti[i]) |
503 | { |
504 | { |
504 | Poti[i] += (tmp - Poti[i]) / 8; |
505 | Poti[i] += (tmp - Poti[i]) / 8; |
505 | if(Poti[i] > tmp) Poti[i]--; |
506 | if(Poti[i] > tmp) Poti[i]--; |
506 | else Poti[i]++; |
507 | else Poti[i]++; |
507 | } |
508 | } |
508 | } |
509 | } |
509 | } |
510 | } |
510 | 511 | ||
511 | //############################################################################ |
512 | //############################################################################ |
512 | // Senden der Motorwerte per I2C-Bus |
513 | // Senden der Motorwerte per I2C-Bus |
513 | void SendMotorData(void) |
514 | void SendMotorData(void) |
514 | //############################################################################ |
515 | //############################################################################ |
515 | { |
516 | { |
516 | unsigned char i; |
517 | unsigned char i; |
517 | if(!MotorenEin) |
518 | if(!MotorenEin) |
518 | { |
519 | { |
519 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
520 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
520 | for(i=0;i<MAX_MOTORS;i++) |
521 | for(i=0;i<MAX_MOTORS;i++) |
521 | { |
522 | { |
522 | if(!PC_MotortestActive) MotorTest[i] = 0; |
523 | if(!PC_MotortestActive) MotorTest[i] = 0; |
523 | Motor[i].SetPoint = MotorTest[i]; |
524 | Motor[i].SetPoint = MotorTest[i]; |
524 | Motor[i].SetPointLowerBits = 0; |
525 | Motor[i].SetPointLowerBits = 0; |
525 | /* |
526 | /* |
526 | Motor[i].SetPoint = MotorTest[i] / 4; |
527 | Motor[i].SetPoint = MotorTest[i] / 4; |
527 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
528 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
528 | */ |
529 | */ |
529 | } |
530 | } |
530 | if(PC_MotortestActive) PC_MotortestActive--; |
531 | if(PC_MotortestActive) PC_MotortestActive--; |
531 | } |
532 | } |
532 | else FCFlags |= FCFLAG_MOTOR_RUN; |
533 | else FCFlags |= FCFLAG_MOTOR_RUN; |
533 | 534 | ||
534 | DebugOut.Analog[12] = Motor[0].SetPoint; |
535 | DebugOut.Analog[12] = Motor[0].SetPoint; |
535 | DebugOut.Analog[13] = Motor[1].SetPoint; |
536 | DebugOut.Analog[13] = Motor[1].SetPoint; |
536 | DebugOut.Analog[14] = Motor[2].SetPoint; |
537 | DebugOut.Analog[14] = Motor[2].SetPoint; |
537 | DebugOut.Analog[15] = Motor[3].SetPoint; |
538 | DebugOut.Analog[15] = Motor[3].SetPoint; |
538 | 539 | ||
539 | //Start I2C Interrupt Mode |
540 | //Start I2C Interrupt Mode |
540 | motor_write = 0; |
541 | motor_write = 0; |
541 | I2C_Start(TWI_STATE_MOTOR_TX); |
542 | I2C_Start(TWI_STATE_MOTOR_TX); |
542 | } |
543 | } |
543 | 544 | ||
544 | 545 | ||
545 | 546 | ||
546 | //############################################################################ |
547 | //############################################################################ |
547 | // Trägt ggf. das Poti als Parameter ein |
548 | // Trägt ggf. das Poti als Parameter ein |
548 | void ParameterZuordnung(void) |
549 | void ParameterZuordnung(void) |
549 | //############################################################################ |
550 | //############################################################################ |
550 | { |
551 | { |
551 | unsigned char tmp; |
552 | unsigned char tmp; |
552 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
553 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
553 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
554 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
554 | 555 | ||
555 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
556 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
556 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
557 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
557 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
558 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
558 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
559 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
559 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
560 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
560 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
561 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
561 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
562 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
562 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
563 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
563 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
565 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
565 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
566 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
566 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
567 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
567 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
568 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
568 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
569 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
569 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
570 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
570 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
571 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
571 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
572 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
572 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
573 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
573 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
574 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
574 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
575 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
575 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
576 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
576 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
577 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
577 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
578 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
578 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
579 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
579 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
580 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
580 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
581 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
581 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
582 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
582 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
583 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
583 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
584 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
584 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
585 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
585 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
586 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
586 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
587 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
587 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
588 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
588 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
589 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
589 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
590 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
590 | Ki = 10300 / (Parameter_I_Faktor + 1); |
591 | Ki = 10300 / (Parameter_I_Faktor + 1); |
591 | MAX_GAS = EE_Parameter.Gas_Max; |
592 | MAX_GAS = EE_Parameter.Gas_Max; |
592 | MIN_GAS = EE_Parameter.Gas_Min; |
593 | MIN_GAS = EE_Parameter.Gas_Min; |
593 | 594 | ||
594 | tmp = EE_Parameter.OrientationModeControl; |
595 | tmp = EE_Parameter.OrientationModeControl; |
595 | if(tmp > 50 && NaviDataOkay > 200) |
596 | if(tmp > 50 && NaviDataOkay > 200) |
596 | { |
597 | { |
597 | #ifdef SWITCH_LEARNS_CAREFREE |
598 | #ifdef SWITCH_LEARNS_CAREFREE |
598 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
599 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
599 | #endif |
600 | #endif |
600 | CareFree = 1; |
601 | CareFree = 1; |
601 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
602 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
602 | } |
603 | } |
603 | else CareFree = 0; |
604 | else CareFree = 0; |
604 | 605 | ||
605 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
606 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
606 | } |
607 | } |
607 | 608 | ||
608 | //############################################################################ |
609 | //############################################################################ |
609 | // |
610 | // |
610 | void MotorRegler(void) |
611 | void MotorRegler(void) |
611 | //############################################################################ |
612 | //############################################################################ |
612 | { |
613 | { |
613 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
614 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
614 | int GierMischanteil,GasMischanteil; |
615 | int GierMischanteil,GasMischanteil; |
615 | static long SummeNick=0,SummeRoll=0; |
- | |
616 | static long sollGier = 0,tmp_long,tmp_long2; |
616 | static long sollGier = 0,tmp_long,tmp_long2; |
617 | static long IntegralFehlerNick = 0; |
617 | static long IntegralFehlerNick = 0; |
618 | static long IntegralFehlerRoll = 0; |
618 | static long IntegralFehlerRoll = 0; |
619 | static unsigned int RcLostTimer; |
619 | static unsigned int RcLostTimer; |
620 | static unsigned char delay_neutral = 0; |
620 | static unsigned char delay_neutral = 0; |
621 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
621 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
622 | static unsigned char calibration_done = 0; |
622 | static unsigned char calibration_done = 0; |
623 | static char NeueKompassRichtungMerken = 0; |
623 | static char NeueKompassRichtungMerken = 0; |
624 | static long ausgleichNick, ausgleichRoll; |
624 | static long ausgleichNick, ausgleichRoll; |
625 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
625 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
626 | unsigned char i; |
626 | unsigned char i; |
627 | Mittelwert(); |
627 | Mittelwert(); |
628 | GRN_ON; |
628 | GRN_ON; |
629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
630 | // Gaswert ermitteln |
630 | // Gaswert ermitteln |
631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
632 | GasMischanteil = StickGas; |
632 | GasMischanteil = StickGas; |
633 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
633 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
634 | 634 | ||
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
636 | // Empfang schlecht |
636 | // Empfang schlecht |
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | if(SenderOkay < 100) |
638 | if(SenderOkay < 100) |
639 | { |
639 | { |
640 | if(RcLostTimer) RcLostTimer--; |
640 | if(RcLostTimer) RcLostTimer--; |
641 | else |
641 | else |
642 | { |
642 | { |
643 | MotorenEin = 0; |
643 | MotorenEin = 0; |
644 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
644 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
645 | } |
645 | } |
646 | ROT_ON; |
646 | ROT_ON; |
647 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
647 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
648 | { |
648 | { |
649 | GasMischanteil = EE_Parameter.NotGas; |
649 | GasMischanteil = EE_Parameter.NotGas; |
650 | FCFlags |= FCFLAG_NOTLANDUNG; |
650 | FCFlags |= FCFLAG_NOTLANDUNG; |
651 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
651 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
652 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
652 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
653 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
653 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
654 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
654 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
655 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
655 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
656 | } |
656 | } |
657 | else MotorenEin = 0; |
657 | else MotorenEin = 0; |
658 | } |
658 | } |
659 | else |
659 | else |
660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | // Emfang gut |
661 | // Emfang gut |
662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | if(SenderOkay > 140) |
663 | if(SenderOkay > 140) |
664 | { |
664 | { |
665 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
665 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
666 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
666 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
667 | if(GasMischanteil > 40 && MotorenEin) |
667 | if(GasMischanteil > 40 && MotorenEin) |
668 | { |
668 | { |
669 | if(modell_fliegt < 0xffff) modell_fliegt++; |
669 | if(modell_fliegt < 0xffff) modell_fliegt++; |
670 | } |
670 | } |
671 | if((modell_fliegt < 256)) |
671 | if((modell_fliegt < 256)) |
672 | { |
672 | { |
673 | SummeNick = 0; |
673 | SummeNick = 0; |
674 | SummeRoll = 0; |
674 | SummeRoll = 0; |
675 | sollGier = 0; |
675 | sollGier = 0; |
676 | Mess_Integral_Gier = 0; |
676 | Mess_Integral_Gier = 0; |
677 | if(modell_fliegt == 250) |
677 | if(modell_fliegt == 250) |
678 | { |
678 | { |
679 | NeueKompassRichtungMerken = 1; |
679 | NeueKompassRichtungMerken = 1; |
680 | // Mess_Integral_Gier2 = 0; |
680 | // Mess_Integral_Gier2 = 0; |
681 | } |
681 | } |
682 | } else FCFlags |= FCFLAG_FLY; |
682 | } else FCFlags |= FCFLAG_FLY; |
683 | 683 | ||
684 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
684 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
685 | { |
685 | { |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | // auf Nullwerte kalibrieren |
687 | // auf Nullwerte kalibrieren |
688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
689 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
690 | { |
690 | { |
691 | if(++delay_neutral > 200) // nicht sofort |
691 | if(++delay_neutral > 200) // nicht sofort |
692 | { |
692 | { |
693 | GRN_OFF; |
693 | GRN_OFF; |
694 | MotorenEin = 0; |
694 | MotorenEin = 0; |
695 | delay_neutral = 0; |
695 | delay_neutral = 0; |
696 | modell_fliegt = 0; |
696 | modell_fliegt = 0; |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
698 | { |
698 | { |
699 | unsigned char setting=1; |
699 | unsigned char setting=1; |
700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
701 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
701 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
705 | SetActiveParamSet(setting); // aktiven Datensatz merken |
705 | SetActiveParamSet(setting); // aktiven Datensatz merken |
706 | } |
706 | } |
707 | // else |
707 | // else |
708 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
708 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
709 | { |
709 | { |
710 | WinkelOut.CalcState = 1; |
710 | WinkelOut.CalcState = 1; |
711 | beeptime = 1000; |
711 | beeptime = 1000; |
712 | } |
712 | } |
713 | else |
713 | else |
714 | { |
714 | { |
715 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
715 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
716 | LipoDetection(0); |
716 | LipoDetection(0); |
717 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
717 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
718 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
718 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
719 | { |
719 | { |
720 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
720 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
721 | } |
721 | } |
722 | ServoActive = 0; |
722 | ServoActive = 0; |
723 | SetNeutral(0); |
723 | SetNeutral(0); |
724 | calibration_done = 1; |
724 | calibration_done = 1; |
725 | ServoActive = 1; |
725 | ServoActive = 1; |
726 | DDRD |=0x80; // enable J7 -> Servo signal |
726 | DDRD |=0x80; // enable J7 -> Servo signal |
727 | Piep(GetActiveParamSet(),120); |
727 | Piep(GetActiveParamSet(),120); |
728 | } |
728 | } |
729 | } |
729 | } |
730 | } |
730 | } |
731 | else |
731 | else |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
733 | { |
733 | { |
734 | if(++delay_neutral > 200) // nicht sofort |
734 | if(++delay_neutral > 200) // nicht sofort |
735 | { |
735 | { |
736 | GRN_OFF; |
736 | GRN_OFF; |
737 | MotorenEin = 0; |
737 | MotorenEin = 0; |
738 | delay_neutral = 0; |
738 | delay_neutral = 0; |
739 | modell_fliegt = 0; |
739 | modell_fliegt = 0; |
740 | SetNeutral(1); |
740 | SetNeutral(1); |
741 | calibration_done = 1; |
741 | calibration_done = 1; |
742 | Piep(GetActiveParamSet(),120); |
742 | Piep(GetActiveParamSet(),120); |
743 | } |
743 | } |
744 | } |
744 | } |
745 | else delay_neutral = 0; |
745 | else delay_neutral = 0; |
746 | } |
746 | } |
747 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
747 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
748 | // Gas ist unten |
748 | // Gas ist unten |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
750 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
751 | { |
751 | { |
752 | // Motoren Starten |
752 | // Motoren Starten |
753 | if(!MotorenEin) |
753 | if(!MotorenEin) |
754 | { |
754 | { |
755 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
755 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
756 | { |
756 | { |
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // Einschalten |
758 | // Einschalten |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
760 | if(++delay_einschalten > 200) |
760 | if(++delay_einschalten > 200) |
761 | { |
761 | { |
762 | delay_einschalten = 0; |
762 | delay_einschalten = 0; |
763 | if(calibration_done) |
763 | if(calibration_done) |
764 | { |
764 | { |
765 | modell_fliegt = 1; |
765 | modell_fliegt = 1; |
766 | MotorenEin = 1; |
766 | MotorenEin = 1; |
767 | sollGier = 0; |
767 | sollGier = 0; |
768 | Mess_Integral_Gier = 0; |
768 | Mess_Integral_Gier = 0; |
769 | Mess_Integral_Gier2 = 0; |
769 | Mess_Integral_Gier2 = 0; |
770 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
770 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
771 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
771 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
772 | Mess_IntegralNick2 = IntegralNick; |
772 | Mess_IntegralNick2 = IntegralNick; |
773 | Mess_IntegralRoll2 = IntegralRoll; |
773 | Mess_IntegralRoll2 = IntegralRoll; |
774 | SummeNick = 0; |
774 | SummeNick = 0; |
775 | SummeRoll = 0; |
775 | SummeRoll = 0; |
776 | FCFlags |= FCFLAG_START; |
776 | FCFlags |= FCFLAG_START; |
777 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
777 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
778 | } |
778 | } |
779 | else |
779 | else |
780 | { |
780 | { |
781 | beeptime = 1500; // indicate missing calibration |
781 | beeptime = 1500; // indicate missing calibration |
782 | } |
782 | } |
783 | } |
783 | } |
784 | } |
784 | } |
785 | else delay_einschalten = 0; |
785 | else delay_einschalten = 0; |
786 | } |
786 | } |
787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
788 | // Auschalten |
788 | // Auschalten |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | else // only if motors are running |
790 | else // only if motors are running |
791 | { |
791 | { |
792 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
792 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
793 | { |
793 | { |
794 | if(++delay_ausschalten > 200) // nicht sofort |
794 | if(++delay_ausschalten > 200) // nicht sofort |
795 | { |
795 | { |
796 | MotorenEin = 0; |
796 | MotorenEin = 0; |
797 | delay_ausschalten = 0; |
797 | delay_ausschalten = 0; |
798 | modell_fliegt = 0; |
798 | modell_fliegt = 0; |
799 | } |
799 | } |
800 | } |
800 | } |
801 | else delay_ausschalten = 0; |
801 | else delay_ausschalten = 0; |
802 | } |
802 | } |
803 | } |
803 | } |
804 | } |
804 | } |
805 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
805 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
806 | // neue Werte von der Funke |
806 | // neue Werte von der Funke |
807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
808 | 808 | ||
809 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
809 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
810 | { |
810 | { |
811 | static int stick_nick,stick_roll; |
811 | static int stick_nick,stick_roll; |
812 | ParameterZuordnung(); |
812 | ParameterZuordnung(); |
813 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
813 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
814 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
814 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
815 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
815 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
816 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
816 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
817 | 817 | ||
818 | 818 | ||
819 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
819 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
820 | 820 | ||
821 | if(CareFree) |
821 | if(CareFree) |
822 | { |
822 | { |
823 | signed int nick, roll; |
823 | signed int nick, roll; |
824 | nick = stick_nick / 4; |
824 | nick = stick_nick / 4; |
825 | roll = stick_roll / 4; |
825 | roll = stick_roll / 4; |
826 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
826 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
827 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
827 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
828 | } |
828 | } |
829 | else |
829 | else |
830 | { |
830 | { |
831 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
831 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
832 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
832 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
833 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
833 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
834 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
834 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
835 | } |
835 | } |
836 | 836 | ||
837 | 837 | ||
838 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
838 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
839 | if(StickGier > 2) StickGier -= 2; else |
839 | if(StickGier > 2) StickGier -= 2; else |
840 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
840 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
841 | 841 | ||
842 | StickNick -= (GPS_Nick + GPS_Nick2); |
842 | StickNick -= (GPS_Nick + GPS_Nick2); |
843 | StickRoll -= (GPS_Roll + GPS_Roll2); |
843 | StickRoll -= (GPS_Roll + GPS_Roll2); |
844 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
844 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
845 | 845 | ||
846 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
846 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
847 | IntegralFaktor = Parameter_Gyro_I; |
847 | IntegralFaktor = Parameter_Gyro_I; |
848 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
848 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
849 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
849 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
850 | 850 | ||
851 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
852 | //+ Analoge Steuerung per Seriell |
852 | //+ Analoge Steuerung per Seriell |
853 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
853 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
854 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
855 | { |
855 | { |
856 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
856 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
857 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
857 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
858 | StickGier += ExternControl.Gier; |
858 | StickGier += ExternControl.Gier; |
859 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
859 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
860 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
860 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
861 | } |
861 | } |
862 | if(StickGas < 0) StickGas = 0; |
862 | if(StickGas < 0) StickGas = 0; |
863 | 863 | ||
864 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
864 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
865 | //if(GyroFaktor < 0) GyroFaktor = 0; |
865 | //if(GyroFaktor < 0) GyroFaktor = 0; |
866 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
866 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
867 | 867 | ||
868 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
868 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
869 | { |
869 | { |
870 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
870 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
871 | if(MaxStickNick > 100) MaxStickNick = 100; |
871 | if(MaxStickNick > 100) MaxStickNick = 100; |
872 | } |
872 | } |
873 | else MaxStickNick--; |
873 | else MaxStickNick--; |
874 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
874 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
875 | { |
875 | { |
876 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
876 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
877 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
877 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
878 | } |
878 | } |
879 | else MaxStickRoll--; |
879 | else MaxStickRoll--; |
880 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
880 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
881 | 881 | ||
882 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
883 | // Looping? |
883 | // Looping? |
884 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
884 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
885 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
886 | else |
886 | else |
887 | { |
887 | { |
888 | { |
888 | { |
889 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
889 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
890 | } |
890 | } |
891 | } |
891 | } |
892 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
892 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
893 | else |
893 | else |
894 | { |
894 | { |
895 | if(Looping_Rechts) // Hysterese |
895 | if(Looping_Rechts) // Hysterese |
896 | { |
896 | { |
897 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
897 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
898 | } |
898 | } |
899 | } |
899 | } |
900 | 900 | ||
901 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
901 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
902 | else |
902 | else |
903 | { |
903 | { |
904 | if(Looping_Oben) // Hysterese |
904 | if(Looping_Oben) // Hysterese |
905 | { |
905 | { |
906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
907 | } |
907 | } |
908 | } |
908 | } |
909 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
909 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
910 | else |
910 | else |
911 | { |
911 | { |
912 | if(Looping_Unten) // Hysterese |
912 | if(Looping_Unten) // Hysterese |
913 | { |
913 | { |
914 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
914 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
915 | } |
915 | } |
916 | } |
916 | } |
917 | 917 | ||
918 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
918 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
919 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
919 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
920 | } // Ende neue Funken-Werte |
920 | } // Ende neue Funken-Werte |
921 | 921 | ||
922 | if(Looping_Roll || Looping_Nick) |
922 | if(Looping_Roll || Looping_Nick) |
923 | { |
923 | { |
924 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
924 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
925 | TrichterFlug = 1; |
925 | TrichterFlug = 1; |
926 | } |
926 | } |
927 | 927 | ||
928 | 928 | ||
929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
930 | // Bei Empfangsausfall im Flug |
930 | // Bei Empfangsausfall im Flug |
931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
932 | if(FCFlags & FCFLAG_NOTLANDUNG) |
932 | if(FCFlags & FCFLAG_NOTLANDUNG) |
933 | { |
933 | { |
934 | StickGier = 0; |
934 | StickGier = 0; |
935 | StickNick = 0; |
935 | StickNick = 0; |
936 | StickRoll = 0; |
936 | StickRoll = 0; |
937 | GyroFaktor = 90; |
937 | GyroFaktor = 90; |
938 | IntegralFaktor = 120; |
938 | IntegralFaktor = 120; |
939 | GyroFaktorGier = 90; |
939 | GyroFaktorGier = 90; |
940 | IntegralFaktorGier = 120; |
940 | IntegralFaktorGier = 120; |
941 | Looping_Roll = 0; |
941 | Looping_Roll = 0; |
942 | Looping_Nick = 0; |
942 | Looping_Nick = 0; |
943 | } |
943 | } |
944 | 944 | ||
945 | 945 | ||
946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
947 | // Integrale auf ACC-Signal abgleichen |
947 | // Integrale auf ACC-Signal abgleichen |
948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | #define ABGLEICH_ANZAHL 256L |
949 | #define ABGLEICH_ANZAHL 256L |
950 | 950 | ||
951 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
951 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
952 | MittelIntegralRoll += IntegralRoll; |
952 | MittelIntegralRoll += IntegralRoll; |
953 | MittelIntegralNick2 += IntegralNick2; |
953 | MittelIntegralNick2 += IntegralNick2; |
954 | MittelIntegralRoll2 += IntegralRoll2; |
954 | MittelIntegralRoll2 += IntegralRoll2; |
955 | 955 | ||
956 | if(Looping_Nick || Looping_Roll) |
956 | if(Looping_Nick || Looping_Roll) |
957 | { |
957 | { |
958 | IntegralAccNick = 0; |
958 | IntegralAccNick = 0; |
959 | IntegralAccRoll = 0; |
959 | IntegralAccRoll = 0; |
960 | MittelIntegralNick = 0; |
960 | MittelIntegralNick = 0; |
961 | MittelIntegralRoll = 0; |
961 | MittelIntegralRoll = 0; |
962 | MittelIntegralNick2 = 0; |
962 | MittelIntegralNick2 = 0; |
963 | MittelIntegralRoll2 = 0; |
963 | MittelIntegralRoll2 = 0; |
964 | Mess_IntegralNick2 = Mess_IntegralNick; |
964 | Mess_IntegralNick2 = Mess_IntegralNick; |
965 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
965 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
966 | ZaehlMessungen = 0; |
966 | ZaehlMessungen = 0; |
967 | LageKorrekturNick = 0; |
967 | LageKorrekturNick = 0; |
968 | LageKorrekturRoll = 0; |
968 | LageKorrekturRoll = 0; |
969 | } |
969 | } |
970 | 970 | ||
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
972 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
973 | { |
973 | { |
974 | long tmp_long, tmp_long2; |
974 | long tmp_long, tmp_long2; |
975 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
975 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
976 | { |
976 | { |
977 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
977 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
978 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
978 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
979 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
979 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
980 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
980 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
981 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
981 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
982 | { |
982 | { |
983 | tmp_long /= 2; |
983 | tmp_long /= 2; |
984 | tmp_long2 /= 2; |
984 | tmp_long2 /= 2; |
985 | } |
985 | } |
986 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
986 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
987 | { |
987 | { |
988 | tmp_long /= 3; |
988 | tmp_long /= 3; |
989 | tmp_long2 /= 3; |
989 | tmp_long2 /= 3; |
990 | } |
990 | } |
991 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
991 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
992 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
992 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
993 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
993 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
994 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
994 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
995 | } |
995 | } |
996 | else |
996 | else |
997 | { |
997 | { |
998 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
998 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
999 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
999 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1000 | tmp_long /= 16; |
1000 | tmp_long /= 16; |
1001 | tmp_long2 /= 16; |
1001 | tmp_long2 /= 16; |
1002 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1002 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1003 | { |
1003 | { |
1004 | tmp_long /= 3; |
1004 | tmp_long /= 3; |
1005 | tmp_long2 /= 3; |
1005 | tmp_long2 /= 3; |
1006 | } |
1006 | } |
1007 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1007 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1008 | { |
1008 | { |
1009 | tmp_long /= 3; |
1009 | tmp_long /= 3; |
1010 | tmp_long2 /= 3; |
1010 | tmp_long2 /= 3; |
1011 | } |
1011 | } |
1012 | 1012 | ||
1013 | #define AUSGLEICH 32 |
1013 | #define AUSGLEICH 32 |
1014 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1014 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1015 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1015 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1016 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1016 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1017 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1017 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1018 | } |
1018 | } |
1019 | 1019 | ||
1020 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
1020 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
1021 | Mess_IntegralNick -= tmp_long; |
1021 | Mess_IntegralNick -= tmp_long; |
1022 | Mess_IntegralRoll -= tmp_long2; |
1022 | Mess_IntegralRoll -= tmp_long2; |
1023 | } |
1023 | } |
1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1025 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1025 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1026 | { |
1026 | { |
1027 | static int cnt = 0; |
1027 | static int cnt = 0; |
1028 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1028 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1029 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1029 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1030 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1030 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1031 | { |
1031 | { |
1032 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1032 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1033 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1033 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1034 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1034 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1035 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1035 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1036 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1036 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1037 | #define MAX_I 0//(Poti2/10) |
1037 | #define MAX_I 0//(Poti2/10) |
1038 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1038 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1039 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1039 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1040 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1040 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1041 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1041 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1042 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1042 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1043 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1043 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1044 | 1044 | ||
1045 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1045 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1046 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1046 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1047 | 1047 | ||
1048 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1048 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1049 | { |
1049 | { |
1050 | LageKorrekturNick /= 2; |
1050 | LageKorrekturNick /= 2; |
1051 | LageKorrekturRoll /= 2; |
1051 | LageKorrekturRoll /= 2; |
1052 | } |
1052 | } |
1053 | 1053 | ||
1054 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1054 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1055 | // Gyro-Drift ermitteln |
1055 | // Gyro-Drift ermitteln |
1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1057 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1057 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1058 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1058 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1059 | tmp_long = IntegralNick2 - IntegralNick; |
1059 | tmp_long = IntegralNick2 - IntegralNick; |
1060 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1060 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1061 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1061 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1062 | 1062 | ||
1063 | IntegralFehlerNick = tmp_long; |
1063 | IntegralFehlerNick = tmp_long; |
1064 | IntegralFehlerRoll = tmp_long2; |
1064 | IntegralFehlerRoll = tmp_long2; |
1065 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1065 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1066 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1066 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1067 | 1067 | ||
1068 | if(EE_Parameter.Driftkomp) |
1068 | if(EE_Parameter.Driftkomp) |
1069 | { |
1069 | { |
1070 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1070 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1071 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1071 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1072 | } |
1072 | } |
1073 | GierGyroFehler = 0; |
1073 | GierGyroFehler = 0; |
1074 | 1074 | ||
1075 | 1075 | ||
1076 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1076 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1077 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1077 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1078 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1078 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1079 | #define BEWEGUNGS_LIMIT 20000 |
1079 | #define BEWEGUNGS_LIMIT 20000 |
1080 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1080 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1081 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1081 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1082 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1082 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1083 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1083 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1084 | { |
1084 | { |
1085 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1085 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1086 | { |
1086 | { |
1087 | if(last_n_p) |
1087 | if(last_n_p) |
1088 | { |
1088 | { |
1089 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1089 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1090 | ausgleichNick = IntegralFehlerNick / 8; |
1090 | ausgleichNick = IntegralFehlerNick / 8; |
1091 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1091 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1092 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1092 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1093 | } |
1093 | } |
1094 | else last_n_p = 1; |
1094 | else last_n_p = 1; |
1095 | } else last_n_p = 0; |
1095 | } else last_n_p = 0; |
1096 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1096 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1097 | { |
1097 | { |
1098 | if(last_n_n) |
1098 | if(last_n_n) |
1099 | { |
1099 | { |
1100 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1100 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1101 | ausgleichNick = IntegralFehlerNick / 8; |
1101 | ausgleichNick = IntegralFehlerNick / 8; |
1102 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1102 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1103 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1103 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1104 | } |
1104 | } |
1105 | else last_n_n = 1; |
1105 | else last_n_n = 1; |
1106 | } else last_n_n = 0; |
1106 | } else last_n_n = 0; |
1107 | } |
1107 | } |
1108 | else |
1108 | else |
1109 | { |
1109 | { |
1110 | cnt = 0; |
1110 | cnt = 0; |
1111 | KompassSignalSchlecht = 1000; |
1111 | KompassSignalSchlecht = 1000; |
1112 | } |
1112 | } |
1113 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1113 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1114 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1114 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1115 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1115 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1116 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1116 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1117 | 1117 | ||
1118 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1118 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1119 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1119 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1120 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1120 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1121 | ausgleichRoll = 0; |
1121 | ausgleichRoll = 0; |
1122 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1122 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1123 | { |
1123 | { |
1124 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1124 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1125 | { |
1125 | { |
1126 | if(last_r_p) |
1126 | if(last_r_p) |
1127 | { |
1127 | { |
1128 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1128 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1129 | ausgleichRoll = IntegralFehlerRoll / 8; |
1129 | ausgleichRoll = IntegralFehlerRoll / 8; |
1130 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1130 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1131 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1131 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1132 | } |
1132 | } |
1133 | else last_r_p = 1; |
1133 | else last_r_p = 1; |
1134 | } else last_r_p = 0; |
1134 | } else last_r_p = 0; |
1135 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1135 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1136 | { |
1136 | { |
1137 | if(last_r_n) |
1137 | if(last_r_n) |
1138 | { |
1138 | { |
1139 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1139 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1140 | ausgleichRoll = IntegralFehlerRoll / 8; |
1140 | ausgleichRoll = IntegralFehlerRoll / 8; |
1141 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1141 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1142 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1142 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1143 | } |
1143 | } |
1144 | else last_r_n = 1; |
1144 | else last_r_n = 1; |
1145 | } else last_r_n = 0; |
1145 | } else last_r_n = 0; |
1146 | } else |
1146 | } else |
1147 | { |
1147 | { |
1148 | cnt = 0; |
1148 | cnt = 0; |
1149 | KompassSignalSchlecht = 1000; |
1149 | KompassSignalSchlecht = 1000; |
1150 | } |
1150 | } |
1151 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1151 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1152 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1152 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1153 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1153 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1154 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1154 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1155 | } |
1155 | } |
1156 | else |
1156 | else |
1157 | { |
1157 | { |
1158 | LageKorrekturRoll = 0; |
1158 | LageKorrekturRoll = 0; |
1159 | LageKorrekturNick = 0; |
1159 | LageKorrekturNick = 0; |
1160 | TrichterFlug = 0; |
1160 | TrichterFlug = 0; |
1161 | } |
1161 | } |
1162 | 1162 | ||
1163 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1163 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1165 | MittelIntegralNick_Alt = MittelIntegralNick; |
1165 | MittelIntegralNick_Alt = MittelIntegralNick; |
1166 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1166 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1168 | IntegralAccNick = 0; |
1168 | IntegralAccNick = 0; |
1169 | IntegralAccRoll = 0; |
1169 | IntegralAccRoll = 0; |
1170 | IntegralAccZ = 0; |
1170 | IntegralAccZ = 0; |
1171 | MittelIntegralNick = 0; |
1171 | MittelIntegralNick = 0; |
1172 | MittelIntegralRoll = 0; |
1172 | MittelIntegralRoll = 0; |
1173 | MittelIntegralNick2 = 0; |
1173 | MittelIntegralNick2 = 0; |
1174 | MittelIntegralRoll2 = 0; |
1174 | MittelIntegralRoll2 = 0; |
1175 | ZaehlMessungen = 0; |
1175 | ZaehlMessungen = 0; |
1176 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1176 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1177 | 1177 | ||
1178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1179 | // Gieren |
1179 | // Gieren |
1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1181 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1181 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1182 | if(abs(StickGier) > 15) // war 35 |
1182 | if(abs(StickGier) > 15) // war 35 |
1183 | { |
1183 | { |
1184 | KompassSignalSchlecht = 1000; |
1184 | KompassSignalSchlecht = 1000; |
1185 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1185 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1186 | { |
1186 | { |
1187 | NeueKompassRichtungMerken = 1; |
1187 | NeueKompassRichtungMerken = 1; |
1188 | }; |
1188 | }; |
1189 | } |
1189 | } |
1190 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1190 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1191 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1191 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1192 | sollGier = tmp_int; |
1192 | sollGier = tmp_int; |
1193 | Mess_Integral_Gier -= tmp_int; |
1193 | Mess_Integral_Gier -= tmp_int; |
1194 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1194 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1195 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1195 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1196 | 1196 | ||
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1198 | // Kompass |
1198 | // Kompass |
1199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1200 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
1200 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
1201 | 1201 | ||
1202 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1202 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1203 | { |
1203 | { |
1204 | int w,v,r,fehler,korrektur; |
1204 | int w,v,r,fehler,korrektur; |
1205 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1205 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1206 | v = abs(IntegralRoll /512); |
1206 | v = abs(IntegralRoll /512); |
1207 | if(v > w) w = v; // grösste Neigung ermitteln |
1207 | if(v > w) w = v; // grösste Neigung ermitteln |
1208 | korrektur = w / 8 + 2; |
1208 | korrektur = w / 8 + 2; |
1209 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1209 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1210 | //fehler += MesswertGier / 12; |
1210 | //fehler += MesswertGier / 12; |
1211 | 1211 | ||
1212 | if(!KompassSignalSchlecht && w < 25) |
1212 | if(!KompassSignalSchlecht && w < 25) |
1213 | { |
1213 | { |
1214 | GierGyroFehler += fehler; |
1214 | GierGyroFehler += fehler; |
1215 | if(NeueKompassRichtungMerken) |
1215 | if(NeueKompassRichtungMerken) |
1216 | { |
1216 | { |
1217 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1217 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1218 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1218 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1219 | NeueKompassRichtungMerken = 0; |
1219 | NeueKompassRichtungMerken = 0; |
1220 | } |
1220 | } |
1221 | } |
1221 | } |
1222 | //DebugOut.Analog[16] = fehler; |
1222 | //DebugOut.Analog[16] = fehler; |
1223 | //DebugOut.Analog[17] = korrektur; |
1223 | //DebugOut.Analog[17] = korrektur; |
1224 | ErsatzKompass += (fehler * 16) / korrektur; |
1224 | ErsatzKompass += (fehler * 16) / korrektur; |
1225 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1225 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1226 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1226 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1227 | if(w >= 0) |
1227 | if(w >= 0) |
1228 | { |
1228 | { |
1229 | if(!KompassSignalSchlecht) |
1229 | if(!KompassSignalSchlecht) |
1230 | { |
1230 | { |
1231 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1231 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1232 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1232 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1233 | // r = KompassRichtung; |
1233 | // r = KompassRichtung; |
1234 | v = (r * w) / v; // nach Kompass ausrichten |
1234 | v = (r * w) / v; // nach Kompass ausrichten |
1235 | w = 3 * Parameter_KompassWirkung; |
1235 | w = 3 * Parameter_KompassWirkung; |
1236 | if(v > w) v = w; // Begrenzen |
1236 | if(v > w) v = w; // Begrenzen |
1237 | else |
1237 | else |
1238 | if(v < -w) v = -w; |
1238 | if(v < -w) v = -w; |
1239 | Mess_Integral_Gier += v; |
1239 | Mess_Integral_Gier += v; |
1240 | } |
1240 | } |
1241 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1241 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1242 | } |
1242 | } |
1243 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1243 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1244 | } |
1244 | } |
1245 | 1245 | ||
1246 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1246 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1247 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1247 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1248 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1248 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1249 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1249 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1250 | 1250 | ||
1251 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1251 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1252 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1252 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1253 | 1253 | ||
1254 | #define TRIM_MAX 200 |
1254 | #define TRIM_MAX 200 |
1255 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1255 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1256 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1256 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1257 | 1257 | ||
1258 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1258 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1259 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1259 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1260 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1260 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1261 | 1261 | ||
1262 | // Maximalwerte abfangen |
1262 | // Maximalwerte abfangen |
1263 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1263 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1264 | #define MAX_SENSOR (4096*4) |
1264 | #define MAX_SENSOR (4096) |
1265 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1265 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1266 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1266 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1267 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1267 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1268 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1268 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1269 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1269 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1270 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1270 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1271 | 1271 | ||
1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1273 | // Höhenregelung |
1273 | // Höhenregelung |
1274 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1274 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1275 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1275 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1276 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1276 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1277 | GasMischanteil *= STICK_GAIN; |
1277 | GasMischanteil *= STICK_GAIN; |
1278 | // if height control is activated |
1278 | // if height control is activated |
1279 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1279 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1280 | { |
1280 | { |
1281 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1281 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1282 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1282 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1283 | 1283 | ||
1284 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1284 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1285 | #define OPA_OFFSET_STEP 15 |
1285 | #define OPA_OFFSET_STEP 15 |
1286 | #else |
1286 | #else |
1287 | #define OPA_OFFSET_STEP 10 |
1287 | #define OPA_OFFSET_STEP 10 |
1288 | #endif |
1288 | #endif |
1289 | int HCGas, HeightDeviation = 0; |
1289 | int HCGas, HeightDeviation = 0; |
1290 | static int HeightTrimming = 0; // rate for change of height setpoint |
1290 | static int HeightTrimming = 0; // rate for change of height setpoint |
1291 | static int FilterHCGas = 0; |
1291 | static int FilterHCGas = 0; |
1292 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
1292 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
1293 | static unsigned long HoverGasFilter = 0; |
1293 | static unsigned long HoverGasFilter = 0; |
1294 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1294 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1295 | int CosAttitude; // for projection of hoover gas |
1295 | int CosAttitude; // for projection of hoover gas |
1296 | 1296 | ||
1297 | // get the current hooverpoint |
1297 | // get the current hooverpoint |
1298 | DebugOut.Analog[21] = HoverGas; |
1298 | DebugOut.Analog[21] = HoverGas; |
1299 | 1299 | ||
1300 | // Expand the measurement |
1300 | // Expand the measurement |
1301 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1301 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1302 | if(!BaroExpandActive) |
1302 | if(!BaroExpandActive) |
1303 | { |
1303 | { |
1304 | if(MessLuftdruck > 920) |
1304 | if(MessLuftdruck > 920) |
1305 | { // increase offset |
1305 | { // increase offset |
1306 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1306 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1307 | { |
1307 | { |
1308 | ExpandBaro -= 1; |
1308 | ExpandBaro -= 1; |
1309 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1309 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1310 | beeptime = 300; |
1310 | beeptime = 300; |
1311 | BaroExpandActive = 350; |
1311 | BaroExpandActive = 350; |
1312 | } |
1312 | } |
1313 | else |
1313 | else |
1314 | { |
1314 | { |
1315 | BaroAtLowerLimit = 1; |
1315 | BaroAtLowerLimit = 1; |
1316 | } |
1316 | } |
1317 | } |
1317 | } |
1318 | // measurement of air pressure close to lower limit and |
1318 | // measurement of air pressure close to lower limit and |
1319 | else |
1319 | else |
1320 | if(MessLuftdruck < 100) |
1320 | if(MessLuftdruck < 100) |
1321 | { // decrease offset |
1321 | { // decrease offset |
1322 | if(OCR0A > OPA_OFFSET_STEP) |
1322 | if(OCR0A > OPA_OFFSET_STEP) |
1323 | { |
1323 | { |
1324 | ExpandBaro += 1; |
1324 | ExpandBaro += 1; |
1325 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1325 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1326 | beeptime = 300; |
1326 | beeptime = 300; |
1327 | BaroExpandActive = 350; |
1327 | BaroExpandActive = 350; |
1328 | } |
1328 | } |
1329 | else |
1329 | else |
1330 | { |
1330 | { |
1331 | BaroAtUpperLimit = 1; |
1331 | BaroAtUpperLimit = 1; |
1332 | } |
1332 | } |
1333 | } |
1333 | } |
1334 | else |
1334 | else |
1335 | { |
1335 | { |
1336 | BaroAtUpperLimit = 0; |
1336 | BaroAtUpperLimit = 0; |
1337 | BaroAtLowerLimit = 0; |
1337 | BaroAtLowerLimit = 0; |
1338 | } |
1338 | } |
1339 | } |
1339 | } |
1340 | else // delay, because of expanding the Baro-Range |
1340 | else // delay, because of expanding the Baro-Range |
1341 | { |
1341 | { |
1342 | // now clear the D-values |
1342 | // now clear the D-values |
1343 | SummenHoehe = HoehenWert * SM_FILTER; |
1343 | SummenHoehe = HoehenWert * SM_FILTER; |
1344 | VarioMeter = 0; |
1344 | VarioMeter = 0; |
1345 | BaroExpandActive--; |
1345 | BaroExpandActive--; |
1346 | } |
1346 | } |
1347 | 1347 | ||
1348 | // if height control is activated by an rc channel |
1348 | // if height control is activated by an rc channel |
1349 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1349 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1350 | { // check if parameter is less than activation threshold |
1350 | { // check if parameter is less than activation threshold |
1351 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1351 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1352 | { //height control not active |
1352 | { //height control not active |
1353 | if(!delay--) |
1353 | if(!delay--) |
1354 | { |
1354 | { |
1355 | HoehenReglerAktiv = 0; // disable height control |
1355 | HoehenReglerAktiv = 0; // disable height control |
1356 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1356 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1357 | delay = 1; |
1357 | delay = 1; |
1358 | } |
1358 | } |
1359 | } |
1359 | } |
1360 | else |
1360 | else |
1361 | { //height control is activated |
1361 | { //height control is activated |
1362 | HoehenReglerAktiv = 1; // enable height control |
1362 | HoehenReglerAktiv = 1; // enable height control |
1363 | delay = 200; |
1363 | delay = 200; |
1364 | } |
1364 | } |
1365 | } |
1365 | } |
1366 | else // no switchable height control |
1366 | else // no switchable height control |
1367 | { |
1367 | { |
1368 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1368 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1369 | HoehenReglerAktiv = 1; |
1369 | HoehenReglerAktiv = 1; |
1370 | } |
1370 | } |
1371 | 1371 | ||
1372 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1372 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1373 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1373 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1374 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1374 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1375 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1375 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1376 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1376 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1377 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1377 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1378 | VarioCharacter = ' '; |
1378 | VarioCharacter = ' '; |
1379 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1379 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1380 | { |
1380 | { |
1381 | #define HEIGHT_TRIM_UP 0x01 |
1381 | #define HEIGHT_TRIM_UP 0x01 |
1382 | #define HEIGHT_TRIM_DOWN 0x02 |
1382 | #define HEIGHT_TRIM_DOWN 0x02 |
1383 | static unsigned char HeightTrimmingFlag = 0x00; |
1383 | static unsigned char HeightTrimmingFlag = 0x00; |
1384 | 1384 | ||
1385 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1385 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1386 | // Holger original version |
1386 | // Holger original version |
1387 | // start of height control algorithm |
1387 | // start of height control algorithm |
1388 | // the height control is only an attenuation of the actual gas stick. |
1388 | // the height control is only an attenuation of the actual gas stick. |
1389 | // I.e. it will work only if the gas stick is higher than the hover gas |
1389 | // I.e. it will work only if the gas stick is higher than the hover gas |
1390 | // and the hover height will be allways larger than height setpoint. |
1390 | // and the hover height will be allways larger than height setpoint. |
1391 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1391 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1392 | { // old version |
1392 | { // old version |
1393 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1393 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1394 | HeightTrimming = 0; |
1394 | HeightTrimming = 0; |
1395 | } |
1395 | } |
1396 | else |
1396 | else |
1397 | { |
1397 | { |
1398 | // alternative height control |
1398 | // alternative height control |
1399 | // PD-Control with respect to hoover point |
1399 | // PD-Control with respect to hoover point |
1400 | // the thrust loss out of horizontal attitude is compensated |
1400 | // the thrust loss out of horizontal attitude is compensated |
1401 | // the setpoint will be fine adjusted with the gas stick position |
1401 | // the setpoint will be fine adjusted with the gas stick position |
1402 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1402 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1403 | { // gas stick is above hoover point |
1403 | { // gas stick is above hoover point |
1404 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1404 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1405 | { |
1405 | { |
1406 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1406 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1407 | { |
1407 | { |
1408 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1408 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1409 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1409 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1410 | } |
1410 | } |
1411 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1411 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1412 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1412 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1413 | VarioCharacter = '+'; |
1413 | VarioCharacter = '+'; |
1414 | } // gas stick is below hoover point |
1414 | } // gas stick is below hoover point |
1415 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1415 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1416 | { |
1416 | { |
1417 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1417 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1418 | { |
1418 | { |
1419 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1419 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1420 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1420 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1421 | } |
1421 | } |
1422 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1422 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1423 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1423 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1424 | VarioCharacter = '-'; |
1424 | VarioCharacter = '-'; |
1425 | } |
1425 | } |
1426 | else // Gas Stick in Hover Range |
1426 | else // Gas Stick in Hover Range |
1427 | { |
1427 | { |
1428 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1428 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1429 | { |
1429 | { |
1430 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1430 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1431 | HeightTrimming = 0; |
1431 | HeightTrimming = 0; |
1432 | SollHoehe = HoehenWert; // update setpoint to current height |
1432 | SollHoehe = HoehenWert; // update setpoint to current height |
1433 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1433 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1434 | } |
1434 | } |
1435 | VarioCharacter = '='; |
1435 | VarioCharacter = '='; |
1436 | } |
1436 | } |
1437 | // Trim height set point |
1437 | // Trim height set point |
1438 | if(abs(HeightTrimming) > 512) |
1438 | if(abs(HeightTrimming) > 512) |
1439 | { |
1439 | { |
1440 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1440 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1441 | HeightTrimming = 0; |
1441 | HeightTrimming = 0; |
1442 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1442 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1443 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1443 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1444 | //update hoover gas stick value when setpoint is shifted |
1444 | //update hoover gas stick value when setpoint is shifted |
1445 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1445 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1446 | { |
1446 | { |
1447 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1447 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1448 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1448 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1449 | if(StickGasHover < 70) StickGasHover = 70; |
1449 | if(StickGasHover < 70) StickGasHover = 70; |
1450 | else if(StickGasHover > 150) StickGasHover = 150; |
1450 | else if(StickGasHover > 150) StickGasHover = 150; |
1451 | } |
1451 | } |
1452 | } |
1452 | } |
1453 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1453 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1454 | } //if FCFlags & MKFCFLAG_FLY |
1454 | } //if FCFlags & MKFCFLAG_FLY |
1455 | else |
1455 | else |
1456 | { |
1456 | { |
1457 | SollHoehe = HoehenWert - 400; |
1457 | SollHoehe = HoehenWert - 400; |
1458 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1458 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1459 | else StickGasHover = 120; |
1459 | else StickGasHover = 120; |
1460 | } |
1460 | } |
1461 | HCGas = HoverGas; // take hover gas (neutral point) |
1461 | HCGas = HoverGas; // take hover gas (neutral point) |
1462 | } |
1462 | } |
1463 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1463 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1464 | { |
1464 | { |
1465 | // from this point the Heigth Control Algorithm is identical for both versions |
1465 | // from this point the Heigth Control Algorithm is identical for both versions |
1466 | if(BaroExpandActive) // baro range expanding active |
1466 | if(BaroExpandActive) // baro range expanding active |
1467 | { |
1467 | { |
1468 | HCGas = HoverGas; // hover while expanding baro adc range |
1468 | HCGas = HoverGas; // hover while expanding baro adc range |
1469 | HeightDeviation = 0; |
1469 | HeightDeviation = 0; |
1470 | } // EOF // baro range expanding active |
1470 | } // EOF // baro range expanding active |
1471 | else // valid data from air pressure sensor |
1471 | else // valid data from air pressure sensor |
1472 | { |
1472 | { |
1473 | // ------------------------- P-Part ---------------------------- |
1473 | // ------------------------- P-Part ---------------------------- |
1474 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1474 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1475 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1475 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1476 | HeightDeviation = (int)(tmp_long); // positive when too high |
1476 | HeightDeviation = (int)(tmp_long); // positive when too high |
1477 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
1477 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
1478 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
1478 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
1479 | HCGas -= tmp_long; |
1479 | HCGas -= tmp_long; |
1480 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1480 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1481 | tmp_int = VarioMeter / 8; |
1481 | tmp_int = VarioMeter / 8; |
1482 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
1482 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
1483 | tmp_int2 = tmp_int; |
1483 | tmp_int2 = tmp_int; |
1484 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
1484 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
1485 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
1485 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
1486 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
1486 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
1487 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
1487 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
1488 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
1488 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
1489 | HCGas -= tmp_int; |
1489 | HCGas -= tmp_int; |
1490 | } // EOF no baro range expanding |
1490 | } // EOF no baro range expanding |
1491 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1491 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1492 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1492 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1493 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1493 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1494 | HCGas -= tmp_long; |
1494 | HCGas -= tmp_long; |
1495 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1495 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1496 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1496 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1497 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1497 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1498 | HCGas -= tmp_int; |
1498 | HCGas -= tmp_int; |
1499 | 1499 | ||
1500 | // limit deviation from hoover point within the target region |
1500 | // limit deviation from hoover point within the target region |
1501 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1501 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1502 | { |
1502 | { |
1503 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1503 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1504 | } |
1504 | } |
1505 | 1505 | ||
1506 | // strech control output by inverse attitude projection 1/cos |
1506 | // strech control output by inverse attitude projection 1/cos |
1507 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1507 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1508 | tmp_long2 = (int32_t)HCGas; |
1508 | tmp_long2 = (int32_t)HCGas; |
1509 | tmp_long2 *= 8192L; |
1509 | tmp_long2 *= 8192L; |
1510 | tmp_long2 /= CosAttitude; |
1510 | tmp_long2 /= CosAttitude; |
1511 | HCGas = (int16_t)tmp_long2; |
1511 | HCGas = (int16_t)tmp_long2; |
1512 | // update height control gas averaging |
1512 | // update height control gas averaging |
1513 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1513 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1514 | // limit height control gas pd-control output |
1514 | // limit height control gas pd-control output |
1515 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1515 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1516 | // set GasMischanteil to HeightControlGasFilter |
1516 | // set GasMischanteil to HeightControlGasFilter |
1517 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1517 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1518 | { // old version |
1518 | { // old version |
1519 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1519 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1520 | } |
1520 | } |
1521 | GasMischanteil = FilterHCGas; |
1521 | GasMischanteil = FilterHCGas; |
1522 | } |
1522 | } |
1523 | }// EOF height control active |
1523 | }// EOF height control active |
1524 | else // HC not active |
1524 | else // HC not active |
1525 | { |
1525 | { |
1526 | //update hoover gas stick value when HC is not active |
1526 | //update hoover gas stick value when HC is not active |
1527 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1527 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1528 | { |
1528 | { |
1529 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1529 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1530 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1530 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1531 | } |
1531 | } |
1532 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1532 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1533 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1533 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1534 | FilterHCGas = GasMischanteil; |
1534 | FilterHCGas = GasMischanteil; |
1535 | } |
1535 | } |
1536 | 1536 | ||
1537 | // Hover gas estimation by averaging gas control output on small z-velocities |
1537 | // Hover gas estimation by averaging gas control output on small z-velocities |
1538 | // this is done only if height contol option is selected in global config and aircraft is flying |
1538 | // this is done only if height contol option is selected in global config and aircraft is flying |
1539 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1539 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1540 | { |
1540 | { |
1541 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1541 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1542 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1542 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1543 | { |
1543 | { |
1544 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1544 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1545 | tmp_long2 *= CosAttitude; // apply attitude projection |
1545 | tmp_long2 *= CosAttitude; // apply attitude projection |
1546 | tmp_long2 /= 8192; |
1546 | tmp_long2 /= 8192; |
1547 | 1547 | ||
1548 | // average vertical projected thrust |
1548 | // average vertical projected thrust |
1549 | if(modell_fliegt < 2000) // the first 4 seconds |
1549 | if(modell_fliegt < 2000) // the first 4 seconds |
1550 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1550 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1551 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1551 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1552 | HoverGasFilter += 8L * tmp_long2; |
1552 | HoverGasFilter += 8L * tmp_long2; |
1553 | } |
1553 | } |
1554 | else if(modell_fliegt < 4000) // the first 8 seconds |
1554 | else if(modell_fliegt < 4000) // the first 8 seconds |
1555 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1555 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1556 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1556 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1557 | HoverGasFilter += 4L * tmp_long2; |
1557 | HoverGasFilter += 4L * tmp_long2; |
1558 | } |
1558 | } |
1559 | else if(modell_fliegt < 8000) // the first 16 seconds |
1559 | else if(modell_fliegt < 8000) // the first 16 seconds |
1560 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1560 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1561 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1561 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1562 | HoverGasFilter += 2L * tmp_long2; |
1562 | HoverGasFilter += 2L * tmp_long2; |
1563 | } |
1563 | } |
1564 | else //later |
1564 | else //later |
1565 | { |
1565 | { |
1566 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1566 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1567 | HoverGasFilter += tmp_long2; |
1567 | HoverGasFilter += tmp_long2; |
1568 | } |
1568 | } |
1569 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1569 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1570 | if(EE_Parameter.Hoehe_HoverBand) |
1570 | if(EE_Parameter.Hoehe_HoverBand) |
1571 | { |
1571 | { |
1572 | int16_t band; |
1572 | int16_t band; |
1573 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1573 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1574 | HoverGasMin = HoverGas - band; |
1574 | HoverGasMin = HoverGas - band; |
1575 | HoverGasMax = HoverGas + band; |
1575 | HoverGasMax = HoverGas + band; |
1576 | } |
1576 | } |
1577 | else |
1577 | else |
1578 | { // no limit |
1578 | { // no limit |
1579 | HoverGasMin = 0; |
1579 | HoverGasMin = 0; |
1580 | HoverGasMax = 1023; |
1580 | HoverGasMax = 1023; |
1581 | } |
1581 | } |
1582 | } |
1582 | } |
1583 | } |
1583 | } |
1584 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1584 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1585 | 1585 | ||
1586 | // limit gas to parameter setting |
1586 | // limit gas to parameter setting |
1587 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1587 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1588 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1588 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1589 | 1589 | ||
1590 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1590 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1591 | // all BL-Ctrl connected? |
1591 | // all BL-Ctrl connected? |
1592 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1592 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1593 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1593 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1594 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1594 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1595 | { |
1595 | { |
1596 | modell_fliegt = 1; |
1596 | modell_fliegt = 1; |
1597 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1597 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1598 | } |
1598 | } |
1599 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1599 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1600 | // + Mischer und PI-Regler |
1600 | // + Mischer und PI-Regler |
1601 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1601 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1602 | DebugOut.Analog[7] = GasMischanteil; |
1602 | DebugOut.Analog[7] = GasMischanteil; |
1603 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1603 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1604 | // Gier-Anteil |
1604 | // Gier-Anteil |
1605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1606 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1606 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1607 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1607 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1608 | if(GasMischanteil > MIN_GIERGAS) |
1608 | if(GasMischanteil > MIN_GIERGAS) |
1609 | { |
1609 | { |
1610 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1610 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1611 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1611 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1612 | } |
1612 | } |
1613 | else |
1613 | else |
1614 | { |
1614 | { |
1615 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1615 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1616 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1616 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1617 | } |
1617 | } |
1618 | tmp_int = MAX_GAS*STICK_GAIN; |
1618 | tmp_int = MAX_GAS*STICK_GAIN; |
1619 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1619 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1620 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1620 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1621 | 1621 | ||
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1623 | // Nick-Achse |
1623 | // Nick-Achse |
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1625 | #define ABSCHWAECHEN 2 |
- | |
1626 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1625 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1627 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1626 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1628 | else SummeNick += DiffNick; // I-Anteil bei HH |
1627 | else SummeNick += DiffNick; // I-Anteil bei HH |
1629 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1628 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1630 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1629 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
- | 1630 | ||
- | 1631 | DebugOut.Analog[16] = MesswertNick; |
|
- | 1632 | DebugOut.Analog[17] = DiffNick; |
|
- | 1633 | ||
- | 1634 | ||
1631 | if(Parameter_UserParam5 > 50) |
1635 | if(Parameter_UserParam5 > 50) |
1632 | pd_ergebnis_nick = DiffNick/ABSCHWAECHEN + SummeNick / Ki; // PI-Regler für Nick |
1636 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1633 | else |
1637 | else |
1634 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1638 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1635 | 1639 | ||
1636 | // Motor Vorn |
1640 | // Motor Vorn |
1637 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1641 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1638 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1642 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1639 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1643 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1640 | 1644 | ||
1641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | // Roll-Achse |
1646 | // Roll-Achse |
1643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1644 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1648 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1645 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1649 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1646 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1650 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1647 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1651 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1648 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1652 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1649 | 1653 | ||
1650 | if(Parameter_UserParam5 > 50) |
1654 | if(Parameter_UserParam5 > 50) |
1651 | pd_ergebnis_roll = DiffRoll/ABSCHWAECHEN + SummeRoll / Ki; // PI-Regler für Roll |
1655 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1652 | else |
1656 | else |
1653 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
1657 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
1654 | 1658 | ||
1655 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1659 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1656 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1660 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1657 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1661 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1658 | - | ||
1659 | DebugOut.Analog[17] = SummeRoll / 4; |
- | |
1660 | DebugOut.Analog[16] = SummeNick / 4; |
- | |
1661 | DebugOut.Analog[18] = Mess_Integral_Gier/2; |
- | |
1662 | 1662 | ||
1663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1664 | // Universal Mixer |
1664 | // Universal Mixer |
1665 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1665 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1666 | for(i=0; i<MAX_MOTORS; i++) |
1666 | for(i=0; i<MAX_MOTORS; i++) |
1667 | { |
1667 | { |
1668 | signed int tmp_int; |
1668 | signed int tmp_int; |
1669 | if(Mixer.Motor[i][0] > 0) |
1669 | if(Mixer.Motor[i][0] > 0) |
1670 | { |
1670 | { |
1671 | // Gas |
1671 | // Gas |
1672 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1672 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1673 | // Nick |
1673 | // Nick |
1674 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1674 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1675 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1675 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1676 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1676 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1677 | // Roll |
1677 | // Roll |
1678 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1678 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1679 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1679 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1680 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1680 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1681 | // Gier |
1681 | // Gier |
1682 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1682 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1683 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1683 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1684 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1684 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1685 | 1685 | ||
1686 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1686 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1687 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1687 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1688 | 1688 | ||
1689 | /* |
1689 | /* |
1690 | if(Parameter_UserParam5 > 50) |
1690 | if(Parameter_UserParam5 > 50) |
1691 | { |
1691 | { |
1692 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1692 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1693 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1693 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1694 | else tmp_int -= Parameter_UserParam6 * (tmp_motorwert[i] - tmp_int); // MotorSmoothing |
1694 | else tmp_int -= Parameter_UserParam6 * (tmp_motorwert[i] - tmp_int); // MotorSmoothing |
1695 | } |
1695 | } |
1696 | */ |
1696 | */ |
1697 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1697 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1698 | Motor[i].SetPoint = tmp_int / 4; |
1698 | Motor[i].SetPoint = tmp_int / 4; |
1699 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1699 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1700 | tmp_motorwert[i] = tmp_int; |
1700 | tmp_motorwert[i] = tmp_int; |
1701 | } |
1701 | } |
1702 | else |
1702 | else |
1703 | { |
1703 | { |
1704 | Motor[i].SetPoint = 0; |
1704 | Motor[i].SetPoint = 0; |
1705 | Motor[i].SetPointLowerBits = 0; |
1705 | Motor[i].SetPointLowerBits = 0; |
1706 | } |
1706 | } |
1707 | } |
1707 | } |
1708 | } |
1708 | } |
1709 | 1709 |