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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | 56 | ||
57 | #include "main.h" |
57 | #include "main.h" |
58 | #include "mymath.h" |
58 | #include "mymath.h" |
59 | #include "isqrt.h" |
59 | #include "isqrt.h" |
60 | 60 | ||
61 | unsigned char h,m,s; |
61 | unsigned char h,m,s; |
62 | unsigned int BaroExpandActive = 0; |
62 | unsigned int BaroExpandActive = 0; |
63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
64 | int TrimNick, TrimRoll; |
64 | int TrimNick, TrimRoll; |
65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
69 | int NeutralAccZ = 0; |
69 | int NeutralAccZ = 0; |
70 | unsigned char ControlHeading = 0;// in 2° |
70 | unsigned char ControlHeading = 0;// in 2° |
71 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralNick = 0,IntegralNick2 = 0; |
72 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralRoll = 0,IntegralRoll2 = 0; |
73 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
74 | long Integral_Gier = 0; |
74 | long Integral_Gier = 0; |
75 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
76 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
77 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
78 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
79 | long SummeNick=0,SummeRoll=0; |
79 | long SummeNick=0,SummeRoll=0; |
80 | volatile long Mess_Integral_Hoch = 0; |
80 | volatile long Mess_Integral_Hoch = 0; |
81 | int KompassValue = -1; |
81 | int KompassValue = -1; |
82 | int KompassSollWert = 0; |
82 | int KompassSollWert = 0; |
83 | //int KompassRichtung = 0; |
83 | //int KompassRichtung = 0; |
84 | char CalculateCompassTimer = 100; |
84 | char CalculateCompassTimer = 100; |
85 | unsigned char KompassFusion = 32; |
85 | unsigned char KompassFusion = 32; |
86 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned int KompassSignalSchlecht = 50; |
87 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char MAX_GAS,MIN_GAS; |
88 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char HoehenReglerAktiv = 0; |
89 | unsigned char TrichterFlug = 0; |
89 | unsigned char TrichterFlug = 0; |
90 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
91 | long ErsatzKompass; |
91 | long ErsatzKompass; |
92 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int ErsatzKompassInGrad; // Kompasswert in Grad |
93 | int GierGyroFehler = 0; |
93 | int GierGyroFehler = 0; |
94 | char GyroFaktor,GyroFaktorGier; |
94 | char GyroFaktor,GyroFaktorGier; |
95 | char IntegralFaktor,IntegralFaktorGier; |
95 | char IntegralFaktor,IntegralFaktorGier; |
96 | int DiffNick,DiffRoll; |
96 | int DiffNick,DiffRoll; |
97 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
97 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
98 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
98 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
99 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
99 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
100 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
100 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
101 | volatile unsigned char SenderOkay = 0; |
101 | volatile unsigned char SenderOkay = 0; |
102 | char MotorenEin = 0,StartTrigger = 0; |
102 | char MotorenEin = 0,StartTrigger = 0; |
103 | long HoehenWert = 0; |
103 | long HoehenWert = 0; |
104 | long SollHoehe = 0; |
104 | long SollHoehe = 0; |
105 | signed int AltitudeSetpointTrimming = 0; |
105 | signed int AltitudeSetpointTrimming = 0; |
106 | long FromNC_AltitudeSetpoint = 0; |
106 | long FromNC_AltitudeSetpoint = 0; |
107 | unsigned char FromNC_AltitudeSpeed = 0; |
107 | unsigned char FromNC_AltitudeSpeed = 0; |
108 | unsigned char carefree_old = 50; // to make the Beep when switching |
108 | unsigned char carefree_old = 50; // to make the Beep when switching |
109 | signed char WaypointTrimming = 0; |
109 | signed char WaypointTrimming = 0; |
110 | int CompassGierSetpoint = 0; |
110 | int CompassGierSetpoint = 0; |
111 | unsigned char CalibrationDone = 0; |
111 | unsigned char CalibrationDone = 0; |
112 | char NeueKompassRichtungMerken = 0; |
112 | char NeueKompassRichtungMerken = 0; |
113 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
113 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
114 | //float Ki = FAKTOR_I; |
114 | //float Ki = FAKTOR_I; |
115 | int Ki = 10300 / 33; |
115 | int Ki = 10300 / 33; |
116 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
116 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
117 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
117 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
118 | 118 | ||
119 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
119 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
120 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
120 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
121 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
121 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
122 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
122 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
123 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
123 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
124 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
124 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
125 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
125 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
126 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
126 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
127 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
128 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
128 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
129 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
129 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
130 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
130 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
131 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
131 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
132 | unsigned char Parameter_UserParam1 = 0; |
132 | unsigned char Parameter_UserParam1 = 0; |
133 | unsigned char Parameter_UserParam2 = 0; |
133 | unsigned char Parameter_UserParam2 = 0; |
134 | unsigned char Parameter_UserParam3 = 0; |
134 | unsigned char Parameter_UserParam3 = 0; |
135 | unsigned char Parameter_UserParam4 = 0; |
135 | unsigned char Parameter_UserParam4 = 0; |
136 | unsigned char Parameter_UserParam5 = 0; |
136 | unsigned char Parameter_UserParam5 = 0; |
137 | unsigned char Parameter_UserParam6 = 0; |
137 | unsigned char Parameter_UserParam6 = 0; |
138 | unsigned char Parameter_UserParam7 = 0; |
138 | unsigned char Parameter_UserParam7 = 0; |
139 | unsigned char Parameter_UserParam8 = 0; |
139 | unsigned char Parameter_UserParam8 = 0; |
140 | unsigned char Parameter_ServoNickControl = 100; |
140 | unsigned char Parameter_ServoNickControl = 100; |
141 | unsigned char Parameter_ServoRollControl = 100; |
141 | unsigned char Parameter_ServoRollControl = 100; |
142 | unsigned char Parameter_ServoNickComp = 50; |
142 | unsigned char Parameter_ServoNickComp = 50; |
143 | unsigned char Parameter_ServoRollComp = 85; |
143 | unsigned char Parameter_ServoRollComp = 85; |
144 | unsigned char Parameter_LoopGasLimit = 70; |
144 | unsigned char Parameter_LoopGasLimit = 70; |
145 | unsigned char Parameter_AchsKopplung1 = 90; |
145 | unsigned char Parameter_AchsKopplung1 = 90; |
146 | unsigned char Parameter_AchsKopplung2 = 65; |
146 | unsigned char Parameter_AchsKopplung2 = 65; |
147 | unsigned char Parameter_CouplingYawCorrection = 64; |
147 | unsigned char Parameter_CouplingYawCorrection = 64; |
148 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
148 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
149 | unsigned char Parameter_DynamicStability = 100; |
149 | unsigned char Parameter_DynamicStability = 100; |
150 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
150 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
151 | unsigned char Parameter_J16Timing; // for the J16 Output |
151 | unsigned char Parameter_J16Timing; // for the J16 Output |
152 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
152 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
153 | unsigned char Parameter_J17Timing; // for the J17 Output |
153 | unsigned char Parameter_J17Timing; // for the J17 Output |
154 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
154 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
155 | unsigned char Parameter_NaviGpsGain; |
155 | unsigned char Parameter_NaviGpsGain; |
156 | unsigned char Parameter_NaviGpsP; |
156 | unsigned char Parameter_NaviGpsP; |
157 | unsigned char Parameter_NaviGpsI; |
157 | unsigned char Parameter_NaviGpsI; |
158 | unsigned char Parameter_NaviGpsD; |
158 | unsigned char Parameter_NaviGpsD; |
159 | unsigned char Parameter_NaviGpsACC; |
159 | unsigned char Parameter_NaviGpsACC; |
160 | unsigned char Parameter_NaviOperatingRadius; |
160 | unsigned char Parameter_NaviOperatingRadius; |
161 | unsigned char Parameter_NaviWindCorrection; |
161 | unsigned char Parameter_NaviWindCorrection; |
162 | unsigned char Parameter_NaviSpeedCompensation; |
162 | unsigned char Parameter_NaviSpeedCompensation; |
163 | unsigned char Parameter_ExternalControl; |
163 | unsigned char Parameter_ExternalControl; |
164 | unsigned char Parameter_GlobalConfig; |
164 | unsigned char Parameter_GlobalConfig; |
165 | unsigned char Parameter_ExtraConfig; |
165 | unsigned char Parameter_ExtraConfig; |
166 | unsigned char Parameter_MaximumAltitude; |
166 | unsigned char Parameter_MaximumAltitude; |
167 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
167 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
168 | unsigned char CareFree = 0; |
168 | unsigned char CareFree = 0; |
169 | const 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}; // 15° steps |
169 | const 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}; // 15° steps |
170 | 170 | ||
171 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
171 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
172 | int MaxStickNick = 0,MaxStickRoll = 0; |
172 | int MaxStickNick = 0,MaxStickRoll = 0; |
173 | unsigned int modell_fliegt = 0; |
173 | unsigned int modell_fliegt = 0; |
174 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
174 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
175 | long GIER_GRAD_FAKTOR = 1291; |
175 | long GIER_GRAD_FAKTOR = 1291; |
176 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
176 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
177 | signed int tmp_motorwert[MAX_MOTORS]; |
177 | signed int tmp_motorwert[MAX_MOTORS]; |
178 | char VarioCharacter = ' '; |
178 | char VarioCharacter = ' '; |
179 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
179 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
180 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
180 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
- | 181 | signed int Variance = 0; |
|
- | 182 | signed int CosAttitude; // for projection of hoover gas |
|
- | 183 | unsigned char ACC_AltitudeControl = 0; |
|
181 | 184 | ||
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | // Debugwerte zuordnen |
186 | // Debugwerte zuordnen |
184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
185 | void CopyDebugValues(void) |
188 | void CopyDebugValues(void) |
186 | { |
189 | { |
187 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
190 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
188 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
191 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
189 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
192 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
190 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
193 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
191 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
194 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
192 | DebugOut.Analog[5] = HoehenWert/5; |
195 | DebugOut.Analog[5] = HoehenWert/10; |
193 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
196 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
194 | DebugOut.Analog[8] = KompassValue; |
197 | DebugOut.Analog[8] = KompassValue; |
195 | DebugOut.Analog[9] = UBat; |
198 | DebugOut.Analog[9] = UBat; |
196 | DebugOut.Analog[10] = SenderOkay; |
199 | DebugOut.Analog[10] = SenderOkay; |
197 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
200 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
198 | DebugOut.Analog[12] = Motor[0].SetPoint; |
201 | DebugOut.Analog[12] = Motor[0].SetPoint; |
199 | DebugOut.Analog[13] = Motor[1].SetPoint; |
202 | DebugOut.Analog[13] = Motor[1].SetPoint; |
200 | DebugOut.Analog[14] = Motor[2].SetPoint; |
203 | DebugOut.Analog[14] = Motor[2].SetPoint; |
201 | DebugOut.Analog[15] = Motor[3].SetPoint; |
204 | DebugOut.Analog[15] = Motor[3].SetPoint; |
202 | DebugOut.Analog[20] = ServoNickValue; |
205 | DebugOut.Analog[20] = ServoNickValue; |
203 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
206 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
204 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
207 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
205 | DebugOut.Analog[24] = SollHoehe/5; |
208 | DebugOut.Analog[24] = SollHoehe/10; |
206 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
- | |
207 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
- | |
208 | DebugOut.Analog[27] = KompassSollWert; |
209 | DebugOut.Analog[27] = KompassSollWert; |
209 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
210 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
210 | DebugOut.Analog[30] = GPS_Nick; |
211 | DebugOut.Analog[30] = GPS_Nick; |
211 | DebugOut.Analog[31] = GPS_Roll; |
212 | DebugOut.Analog[31] = GPS_Roll; |
212 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
213 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
213 | } |
- | |
- | 214 | ||
- | 215 | DebugOut.Analog[16] = Variance; |
|
- | 216 | DebugOut.Analog[17] = VerticalVelocity; |
|
- | 217 | DebugOut.Analog[18] = HoehenWertF; |
|
- | 218 | DebugOut.Analog[25] = Parameter_Hoehe_P; |
|
- | 219 | DebugOut.Analog[26] = Parameter_Luftdruck_D; |
|
- | 220 | ||
214 | 221 | } |
|
215 | 222 | ||
216 | 223 | ||
217 | void Piep(unsigned char Anzahl, unsigned int dauer) |
224 | void Piep(unsigned char Anzahl, unsigned int dauer) |
218 | { |
225 | { |
219 | unsigned int wait = 0; |
226 | unsigned int wait = 0; |
220 | if(MotorenEin) return; //auf keinen Fall im Flug! |
227 | if(MotorenEin) return; //auf keinen Fall im Flug! |
221 | GRN_OFF; |
228 | GRN_OFF; |
222 | while(Anzahl--) |
229 | while(Anzahl--) |
223 | { |
230 | { |
224 | beeptime = dauer; |
231 | beeptime = dauer; |
225 | wait = dauer; |
232 | wait = dauer; |
226 | while(beeptime || wait) |
233 | while(beeptime || wait) |
227 | { |
234 | { |
228 | if(UpdateMotor) |
235 | if(UpdateMotor) |
229 | { |
236 | { |
230 | UpdateMotor = 0; |
237 | UpdateMotor = 0; |
231 | if(!beeptime) wait--; |
238 | if(!beeptime) wait--; |
232 | LIBFC_Polling(); |
239 | LIBFC_Polling(); |
233 | }; |
240 | }; |
234 | } |
241 | } |
235 | } |
242 | } |
236 | GRN_ON; |
243 | GRN_ON; |
237 | } |
244 | } |
238 | 245 | ||
239 | //############################################################################ |
246 | //############################################################################ |
240 | // Messwerte beim Ermitteln der Nullage |
247 | // Messwerte beim Ermitteln der Nullage |
241 | void CalibrierMittelwert(void) |
248 | void CalibrierMittelwert(void) |
242 | //############################################################################ |
249 | //############################################################################ |
243 | { |
250 | { |
244 | unsigned char i; |
251 | unsigned char i; |
245 | if(PlatinenVersion == 13) SucheGyroOffset(); |
252 | if(PlatinenVersion == 13) SucheGyroOffset(); |
246 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
253 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
247 | ANALOG_OFF; |
254 | ANALOG_OFF; |
248 | MesswertNick = AdWertNick; |
255 | MesswertNick = AdWertNick; |
249 | MesswertRoll = AdWertRoll; |
256 | MesswertRoll = AdWertRoll; |
250 | MesswertGier = AdWertGier; |
257 | MesswertGier = AdWertGier; |
251 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
258 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
252 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
259 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
253 | // ADC einschalten |
260 | // ADC einschalten |
254 | ANALOG_ON; |
261 | ANALOG_ON; |
255 | for(i=0;i<8;i++) |
262 | for(i=0;i<8;i++) |
256 | { |
263 | { |
257 | int tmp; |
264 | int tmp; |
258 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
265 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
259 | LIMIT_MIN_MAX(tmp, 0, 255); |
266 | LIMIT_MIN_MAX(tmp, 0, 255); |
260 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
267 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
261 | } |
268 | } |
262 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
269 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
263 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
270 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
264 | } |
271 | } |
265 | 272 | ||
266 | //############################################################################ |
273 | //############################################################################ |
267 | // Nullwerte ermitteln |
274 | // Nullwerte ermitteln |
268 | void SetNeutral(unsigned char AccAdjustment) |
275 | void SetNeutral(unsigned char AccAdjustment) |
269 | //############################################################################ |
276 | //############################################################################ |
270 | { |
277 | { |
271 | unsigned char i; |
278 | unsigned char i; |
272 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
279 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
273 | VersionInfo.HardwareError[0] = 0; |
280 | VersionInfo.HardwareError[0] = 0; |
274 | // HEF4017Reset_ON; |
281 | // HEF4017Reset_ON; |
275 | NeutralAccX = 0; |
282 | NeutralAccX = 0; |
276 | NeutralAccY = 0; |
283 | NeutralAccY = 0; |
277 | NeutralAccZ = 0; |
284 | NeutralAccZ = 0; |
278 | 285 | ||
279 | AdNeutralNick = 0; |
286 | AdNeutralNick = 0; |
280 | AdNeutralRoll = 0; |
287 | AdNeutralRoll = 0; |
281 | AdNeutralGier = 0; |
288 | AdNeutralGier = 0; |
282 | 289 | ||
283 | Parameter_AchsKopplung1 = 0; |
290 | Parameter_AchsKopplung1 = 0; |
284 | Parameter_AchsKopplung2 = 0; |
291 | Parameter_AchsKopplung2 = 0; |
285 | 292 | ||
286 | ExpandBaro = 0; |
293 | ExpandBaro = 0; |
287 | 294 | ||
288 | CalibrierMittelwert(); |
295 | CalibrierMittelwert(); |
289 | Delay_ms_Mess(100); |
296 | Delay_ms_Mess(100); |
290 | 297 | ||
291 | CalibrierMittelwert(); |
298 | CalibrierMittelwert(); |
292 | 299 | ||
293 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
300 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
294 | { |
301 | { |
295 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
302 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
296 | } |
303 | } |
297 | #define NEUTRAL_FILTER 32 |
304 | #define NEUTRAL_FILTER 32 |
298 | for(i=0; i<NEUTRAL_FILTER; i++) |
305 | for(i=0; i<NEUTRAL_FILTER; i++) |
299 | { |
306 | { |
300 | Delay_ms_Mess(10); |
307 | Delay_ms_Mess(10); |
301 | gier_neutral += AdWertGier; |
308 | gier_neutral += AdWertGier; |
302 | nick_neutral += AdWertNick; |
309 | nick_neutral += AdWertNick; |
303 | roll_neutral += AdWertRoll; |
310 | roll_neutral += AdWertRoll; |
304 | } |
311 | } |
305 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
312 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
306 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
313 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
307 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
314 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
308 | 315 | ||
309 | StartNeutralRoll = AdNeutralRoll; |
316 | StartNeutralRoll = AdNeutralRoll; |
310 | StartNeutralNick = AdNeutralNick; |
317 | StartNeutralNick = AdNeutralNick; |
311 | 318 | ||
312 | if(AccAdjustment) |
319 | if(AccAdjustment) |
313 | { |
320 | { |
314 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
321 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
315 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
322 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
316 | NeutralAccZ = Aktuell_az; |
323 | NeutralAccZ = Aktuell_az; |
317 | 324 | ||
318 | // Save ACC neutral settings to eeprom |
325 | // Save ACC neutral settings to eeprom |
319 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
326 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
320 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
327 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
321 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
328 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
322 | } |
329 | } |
323 | else |
330 | else |
324 | { |
331 | { |
325 | // restore from eeprom |
332 | // restore from eeprom |
326 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
333 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
327 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
334 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
328 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
335 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
329 | // strange settings? |
336 | // strange settings? |
330 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
337 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
331 | { |
338 | { |
332 | printf("\n\rACC not calibrated!\r\n"); |
339 | printf("\n\rACC not calibrated!\r\n"); |
333 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
340 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
334 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
341 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
335 | NeutralAccZ = Aktuell_az; |
342 | NeutralAccZ = Aktuell_az; |
336 | } |
343 | } |
337 | } |
344 | } |
338 | 345 | ||
339 | MesswertNick = 0; |
346 | MesswertNick = 0; |
340 | MesswertRoll = 0; |
347 | MesswertRoll = 0; |
341 | MesswertGier = 0; |
348 | MesswertGier = 0; |
342 | Delay_ms_Mess(100); |
349 | Delay_ms_Mess(100); |
343 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
350 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
344 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
351 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
345 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
352 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
346 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
353 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
347 | Mess_IntegralNick = IntegralNick; |
354 | Mess_IntegralNick = IntegralNick; |
348 | Mess_IntegralRoll = IntegralRoll; |
355 | Mess_IntegralRoll = IntegralRoll; |
349 | Mess_Integral_Gier = 0; |
356 | Mess_Integral_Gier = 0; |
350 | StartLuftdruck = Luftdruck; |
357 | StartLuftdruck = Luftdruck; |
351 | VarioMeter = 0; |
358 | VarioMeter = 0; |
- | 359 | VerticalVelocitySum = 0; |
|
352 | Mess_Integral_Hoch = 0; |
360 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
353 | KompassSollWert = KompassValue; |
361 | KompassSollWert = KompassValue; |
354 | KompassSignalSchlecht = 100; |
362 | KompassSignalSchlecht = 100; |
355 | beeptime = 50; |
363 | beeptime = 50; |
356 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
364 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
357 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
365 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
358 | ExternHoehenValue = 0; |
366 | ExternHoehenValue = 0; |
359 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
367 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
360 | GierGyroFehler = 0; |
368 | GierGyroFehler = 0; |
361 | LED_Init(); |
369 | LED_Init(); |
362 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
370 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
363 | FromNaviCtrl_Value.Kalman_K = -1; |
371 | FromNaviCtrl_Value.Kalman_K = -1; |
364 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
372 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
365 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
373 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
366 | for(i=0;i<8;i++) |
374 | for(i=0;i<8;i++) |
367 | { |
375 | { |
368 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
376 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
369 | } |
377 | } |
370 | SenderOkay = 100; |
378 | SenderOkay = 100; |
371 | if(ServoActive) |
379 | if(ServoActive) |
372 | { |
380 | { |
373 | DDRD |=0x80; // enable J7 -> Servo signal |
381 | DDRD |=0x80; // enable J7 -> Servo signal |
374 | } |
382 | } |
375 | else |
383 | else |
376 | { |
384 | { |
377 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
385 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
378 | // else |
386 | // else |
379 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
387 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
380 | } |
388 | } |
381 | 389 | ||
382 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
390 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
383 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
391 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
384 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
392 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
385 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
393 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
386 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
394 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
387 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
395 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
388 | carefree_old = 70; |
396 | carefree_old = 70; |
389 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
397 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
390 | LIBFC_HoTT_Clear(); |
398 | LIBFC_HoTT_Clear(); |
391 | #endif |
399 | #endif |
392 | } |
400 | } |
393 | 401 | ||
394 | 402 | ||
395 | //############################################################################ |
403 | //############################################################################ |
396 | // Bearbeitet die Messwerte |
404 | // Bearbeitet die Messwerte |
397 | void Mittelwert(void) |
405 | void Mittelwert(void) |
398 | //############################################################################ |
406 | //############################################################################ |
399 | { |
407 | { |
400 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
408 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
401 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
409 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
402 | signed long winkel_nick, winkel_roll; |
410 | signed long winkel_nick, winkel_roll; |
403 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
411 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
404 | MesswertNick = (signed int) AdWertNickFilter / 8; |
412 | MesswertNick = (signed int) AdWertNickFilter / 8; |
405 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
413 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
406 | RohMesswertNick = MesswertNick; |
414 | RohMesswertNick = MesswertNick; |
407 | RohMesswertRoll = MesswertRoll; |
415 | RohMesswertRoll = MesswertRoll; |
408 | 416 | ||
409 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
417 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
410 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
418 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
411 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
419 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
412 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
420 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
413 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
421 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
414 | NaviAccNick += AdWertAccNick; |
422 | NaviAccNick += AdWertAccNick; |
415 | NaviAccRoll += AdWertAccRoll; |
423 | NaviAccRoll += AdWertAccRoll; |
416 | NaviCntAcc++; |
424 | NaviCntAcc++; |
417 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
425 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
418 | 426 | ||
419 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
427 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
420 | // ADC einschalten |
428 | // ADC einschalten |
421 | ANALOG_ON; |
429 | ANALOG_ON; |
422 | AdReady = 0; |
430 | AdReady = 0; |
423 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
431 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
424 | 432 | ||
425 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
433 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
426 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
434 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
427 | else winkel_roll = Mess_IntegralRoll; |
435 | else winkel_roll = Mess_IntegralRoll; |
428 | 436 | ||
429 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
437 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
430 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
438 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
431 | else winkel_nick = Mess_IntegralNick; |
439 | else winkel_nick = Mess_IntegralNick; |
432 | 440 | ||
433 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
441 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
434 | Mess_Integral_Gier += MesswertGier; |
442 | Mess_Integral_Gier += MesswertGier; |
435 | ErsatzKompass += MesswertGier; |
443 | ErsatzKompass += MesswertGier; |
436 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
444 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
437 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
445 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
438 | { |
446 | { |
439 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
447 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
440 | tmpl3 *= Parameter_AchsKopplung2; //65 |
448 | tmpl3 *= Parameter_AchsKopplung2; //65 |
441 | tmpl3 /= 4096L; |
449 | tmpl3 /= 4096L; |
442 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
450 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
443 | tmpl4 *= Parameter_AchsKopplung2; //65 |
451 | tmpl4 *= Parameter_AchsKopplung2; //65 |
444 | tmpl4 /= 4096L; |
452 | tmpl4 /= 4096L; |
445 | KopplungsteilNickRoll = tmpl3; |
453 | KopplungsteilNickRoll = tmpl3; |
446 | KopplungsteilRollNick = tmpl4; |
454 | KopplungsteilRollNick = tmpl4; |
447 | tmpl4 -= tmpl3; |
455 | tmpl4 -= tmpl3; |
448 | ErsatzKompass += tmpl4; |
456 | ErsatzKompass += tmpl4; |
449 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
457 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
450 | 458 | ||
451 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
459 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
452 | tmpl *= Parameter_AchsKopplung1; // 90 |
460 | tmpl *= Parameter_AchsKopplung1; // 90 |
453 | tmpl /= 4096L; |
461 | tmpl /= 4096L; |
454 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
462 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
455 | tmpl2 *= Parameter_AchsKopplung1; |
463 | tmpl2 *= Parameter_AchsKopplung1; |
456 | tmpl2 /= 4096L; |
464 | tmpl2 /= 4096L; |
457 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
465 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
458 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
466 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
459 | } |
467 | } |
460 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
468 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
461 | TrimRoll = tmpl - tmpl2 / 100L; |
469 | TrimRoll = tmpl - tmpl2 / 100L; |
462 | TrimNick = -tmpl2 + tmpl / 100L; |
470 | TrimNick = -tmpl2 + tmpl / 100L; |
463 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
471 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
464 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
472 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
465 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
473 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
466 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
474 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
467 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
475 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
468 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
476 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
469 | if(Mess_IntegralRoll > Umschlag180Roll) |
477 | if(Mess_IntegralRoll > Umschlag180Roll) |
470 | { |
478 | { |
471 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
479 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
472 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
480 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
473 | } |
481 | } |
474 | if(Mess_IntegralRoll <-Umschlag180Roll) |
482 | if(Mess_IntegralRoll <-Umschlag180Roll) |
475 | { |
483 | { |
476 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
484 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
477 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
485 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
478 | } |
486 | } |
479 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
487 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
480 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
488 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
481 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
489 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
482 | if(Mess_IntegralNick > Umschlag180Nick) |
490 | if(Mess_IntegralNick > Umschlag180Nick) |
483 | { |
491 | { |
484 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
492 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
485 | Mess_IntegralNick2 = Mess_IntegralNick; |
493 | Mess_IntegralNick2 = Mess_IntegralNick; |
486 | } |
494 | } |
487 | if(Mess_IntegralNick <-Umschlag180Nick) |
495 | if(Mess_IntegralNick <-Umschlag180Nick) |
488 | { |
496 | { |
489 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
497 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
490 | Mess_IntegralNick2 = Mess_IntegralNick; |
498 | Mess_IntegralNick2 = Mess_IntegralNick; |
491 | } |
499 | } |
492 | 500 | ||
493 | Integral_Gier = Mess_Integral_Gier; |
501 | Integral_Gier = Mess_Integral_Gier; |
494 | IntegralNick = Mess_IntegralNick; |
502 | IntegralNick = Mess_IntegralNick; |
495 | IntegralRoll = Mess_IntegralRoll; |
503 | IntegralRoll = Mess_IntegralRoll; |
496 | IntegralNick2 = Mess_IntegralNick2; |
504 | IntegralNick2 = Mess_IntegralNick2; |
497 | IntegralRoll2 = Mess_IntegralRoll2; |
505 | IntegralRoll2 = Mess_IntegralRoll2; |
498 | 506 | ||
499 | #define D_LIMIT 128 |
507 | #define D_LIMIT 128 |
500 | 508 | ||
501 | MesswertNick = HiResNick / 8; |
509 | MesswertNick = HiResNick / 8; |
502 | MesswertRoll = HiResRoll / 8; |
510 | MesswertRoll = HiResRoll / 8; |
503 | 511 | ||
504 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
512 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
505 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
513 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
506 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
514 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
507 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
515 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
508 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
516 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
509 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
517 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
510 | 518 | ||
511 | if(Parameter_Gyro_D) |
519 | if(Parameter_Gyro_D) |
512 | { |
520 | { |
513 | d2Nick = HiResNick - oldNick; |
521 | d2Nick = HiResNick - oldNick; |
514 | oldNick = (oldNick + HiResNick)/2; |
522 | oldNick = (oldNick + HiResNick)/2; |
515 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
523 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
516 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
524 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
517 | 525 | ||
518 | d2Roll = HiResRoll - oldRoll; |
526 | d2Roll = HiResRoll - oldRoll; |
519 | oldRoll = (oldRoll + HiResRoll)/2; |
527 | oldRoll = (oldRoll + HiResRoll)/2; |
520 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
528 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
521 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
529 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
522 | 530 | ||
523 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
531 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
524 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
532 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
525 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
533 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
526 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
534 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
527 | } |
535 | } |
528 | 536 | ||
529 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
537 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
530 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
538 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
531 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
539 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
532 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
540 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
533 | 541 | ||
534 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
542 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
535 | { |
543 | { |
536 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
544 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
537 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
545 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
538 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
546 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
539 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
547 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
540 | } |
548 | } |
541 | } |
549 | } |
542 | 550 | ||
543 | //############################################################################ |
551 | //############################################################################ |
544 | // Senden der Motorwerte per I2C-Bus |
552 | // Senden der Motorwerte per I2C-Bus |
545 | void SendMotorData(void) |
553 | void SendMotorData(void) |
546 | //############################################################################ |
554 | //############################################################################ |
547 | { |
555 | { |
548 | unsigned char i; |
556 | unsigned char i; |
549 | if(!MotorenEin) |
557 | if(!MotorenEin) |
550 | { |
558 | { |
551 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
559 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
- | 560 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
|
552 | for(i=0;i<MAX_MOTORS;i++) |
561 | for(i=0;i<MAX_MOTORS;i++) |
553 | { |
562 | { |
554 | if(!PC_MotortestActive) MotorTest[i] = 0; |
563 | if(!PC_MotortestActive) MotorTest[i] = 0; |
555 | Motor[i].SetPoint = MotorTest[i]; |
564 | Motor[i].SetPoint = MotorTest[i]; |
556 | Motor[i].SetPointLowerBits = 0; |
565 | Motor[i].SetPointLowerBits = 0; |
557 | /* |
566 | /* |
558 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
567 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
559 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
568 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
560 | */ |
569 | */ |
561 | } |
570 | } |
562 | if(PC_MotortestActive) PC_MotortestActive--; |
571 | if(PC_MotortestActive) PC_MotortestActive--; |
563 | } |
572 | } |
564 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
573 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
565 | 574 | ||
566 | if(I2C_TransferActive) |
575 | if(I2C_TransferActive) |
567 | { |
576 | { |
568 | I2C_TransferActive = 0; // enable for the next time |
577 | I2C_TransferActive = 0; // enable for the next time |
569 | } |
578 | } |
570 | else |
579 | else |
571 | { |
580 | { |
572 | motor_write = 0; |
581 | motor_write = 0; |
573 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
582 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
574 | } |
583 | } |
575 | } |
584 | } |
576 | 585 | ||
577 | 586 | ||
578 | 587 | ||
579 | //############################################################################ |
588 | //############################################################################ |
580 | // Trägt ggf. das Poti als Parameter ein |
589 | // Trägt ggf. das Poti als Parameter ein |
581 | void ParameterZuordnung(void) |
590 | void ParameterZuordnung(void) |
582 | //############################################################################ |
591 | //############################################################################ |
583 | { |
592 | { |
584 | unsigned char tmp,i; |
593 | unsigned char tmp,i; |
585 | for(i=0;i<8;i++) |
594 | for(i=0;i<8;i++) |
586 | { |
595 | { |
587 | int tmp2; |
596 | int tmp2; |
588 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
597 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
589 | tmp2 = PPM_in[tmp] + 127; |
598 | tmp2 = PPM_in[tmp] + 127; |
590 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
599 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
591 | 600 | ||
592 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
601 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
593 | else |
602 | else |
594 | if(tmp2 != Poti[i]) |
603 | if(tmp2 != Poti[i]) |
595 | { |
604 | { |
596 | Poti[i] += (tmp2 - Poti[i]) / 4; |
605 | Poti[i] += (tmp2 - Poti[i]) / 4; |
597 | if(Poti[i] > tmp2) Poti[i]--; |
606 | if(Poti[i] > tmp2) Poti[i]--; |
598 | else Poti[i]++; |
607 | else Poti[i]++; |
599 | } |
608 | } |
600 | } |
609 | } |
601 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
610 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
602 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
611 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
603 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
612 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
604 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
613 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
605 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
614 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
606 | 615 | ||
607 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
616 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
608 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
617 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
609 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
618 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
610 | 619 | ||
611 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
620 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
612 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
621 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
613 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
622 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
614 | 623 | ||
615 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
624 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
616 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
625 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
617 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
626 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
618 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
627 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
619 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
628 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
620 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
629 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
621 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
630 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
622 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
631 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
623 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
632 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
624 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
633 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
625 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
634 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
626 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
635 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
627 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
636 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
628 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
637 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
629 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
638 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
630 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
639 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
631 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
640 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
632 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
641 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
633 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
642 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
634 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
643 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
635 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
644 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
636 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
645 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
637 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
646 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
638 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
647 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
639 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
648 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
640 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
649 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
641 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
650 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
642 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
651 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
643 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
652 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
644 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
653 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
645 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
654 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
646 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
655 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
647 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
656 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
648 | Ki = 10300 / (Parameter_I_Faktor + 1); |
657 | Ki = 10300 / (Parameter_I_Faktor + 1); |
649 | MAX_GAS = EE_Parameter.Gas_Max; |
658 | MAX_GAS = EE_Parameter.Gas_Max; |
650 | MIN_GAS = EE_Parameter.Gas_Min; |
659 | MIN_GAS = EE_Parameter.Gas_Min; |
651 | 660 | ||
652 | tmp = EE_Parameter.CareFreeModeControl; |
661 | tmp = EE_Parameter.CareFreeModeControl; |
653 | if(tmp > 50) |
662 | if(tmp > 50) |
654 | { |
663 | { |
655 | CareFree = 1; |
664 | CareFree = 1; |
656 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
665 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
657 | if(carefree_old != CareFree) |
666 | if(carefree_old != CareFree) |
658 | { |
667 | { |
659 | if(carefree_old < 3) |
668 | if(carefree_old < 3) |
660 | { |
669 | { |
661 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
670 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
662 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
671 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
663 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
672 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
664 | #else |
673 | #else |
665 | if(CareFree) beeptime = 1500; |
674 | if(CareFree) beeptime = 1500; |
666 | else beeptime = 200; |
675 | else beeptime = 200; |
667 | #endif |
676 | #endif |
668 | NeueKompassRichtungMerken = 5; |
677 | NeueKompassRichtungMerken = 5; |
669 | carefree_old = CareFree; |
678 | carefree_old = CareFree; |
670 | } else carefree_old--; |
679 | } else carefree_old--; |
671 | } |
680 | } |
672 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
681 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
673 | } |
682 | } |
674 | else |
683 | else |
675 | { |
684 | { |
676 | CareFree = 0; |
685 | CareFree = 0; |
677 | carefree_old = 10; |
686 | carefree_old = 10; |
678 | } |
687 | } |
679 | 688 | ||
680 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
689 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
681 | { |
690 | { |
682 | beeptime = 15000; |
691 | beeptime = 15000; |
683 | BeepMuster = 0xA400; |
692 | BeepMuster = 0xA400; |
684 | CareFree = 0; |
693 | CareFree = 0; |
685 | } |
694 | } |
686 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
695 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
687 | } |
696 | } |
688 | 697 | ||
689 | //############################################################################ |
698 | //############################################################################ |
690 | // |
699 | // |
691 | void MotorRegler(void) |
700 | void MotorRegler(void) |
692 | //############################################################################ |
701 | //############################################################################ |
693 | { |
702 | { |
694 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
703 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
695 | int GierMischanteil,GasMischanteil; |
704 | int GierMischanteil,GasMischanteil; |
696 | static long sollGier = 0,tmp_long,tmp_long2; |
705 | static long sollGier = 0,tmp_long,tmp_long2; |
697 | static long IntegralFehlerNick = 0; |
706 | static long IntegralFehlerNick = 0; |
698 | static long IntegralFehlerRoll = 0; |
707 | static long IntegralFehlerRoll = 0; |
699 | static unsigned int RcLostTimer; |
708 | static unsigned int RcLostTimer; |
700 | static unsigned char delay_neutral = 0; |
709 | static unsigned char delay_neutral = 0; |
701 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
710 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
702 | static signed char move_safety_switch = 0; |
711 | static signed char move_safety_switch = 0; |
703 | static long ausgleichNick, ausgleichRoll; |
712 | static long ausgleichNick, ausgleichRoll; |
704 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
713 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
705 | unsigned char i; |
714 | unsigned char i; |
706 | Mittelwert(); |
715 | Mittelwert(); |
707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
708 | // Gaswert ermitteln |
717 | // Gaswert ermitteln |
709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
710 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
719 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
711 | { |
720 | { |
712 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
721 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
713 | { |
722 | { |
714 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
723 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
715 | { |
724 | { |
716 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
725 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
717 | } |
726 | } |
718 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
727 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
719 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
728 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
720 | } |
729 | } |
721 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
730 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
722 | { |
731 | { |
723 | StickGas = 0; // Hold Gas down in that case |
732 | StickGas = 0; // Hold Gas down in that case |
724 | HooverGasEmergencyPercent = MIN_GAS; |
733 | HooverGasEmergencyPercent = MIN_GAS; |
725 | } |
734 | } |
726 | GasMischanteil = StickGas; |
735 | GasMischanteil = StickGas; |
727 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
736 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
729 | // Empfang schlecht |
738 | // Empfang schlecht |
730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
731 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
740 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
732 | { |
741 | { |
733 | if(RcLostTimer) RcLostTimer--; |
742 | if(RcLostTimer) RcLostTimer--; |
734 | else |
743 | else |
735 | { |
744 | { |
736 | MotorenEin = 0; |
745 | MotorenEin = 0; |
737 | modell_fliegt = 0; |
746 | modell_fliegt = 0; |
738 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
747 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
739 | } |
748 | } |
740 | ROT_ON; |
749 | ROT_ON; |
741 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
750 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
742 | { |
751 | { |
743 | GasMischanteil = HooverGasEmergencyPercent; |
752 | GasMischanteil = HooverGasEmergencyPercent; |
744 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
753 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
745 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
754 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
746 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
755 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
747 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
756 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
748 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
757 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
749 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
758 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
750 | } |
759 | } |
751 | else |
760 | else |
752 | { |
761 | { |
753 | MotorenEin = 0; |
762 | MotorenEin = 0; |
754 | } |
763 | } |
755 | } |
764 | } |
756 | else |
765 | else |
757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // Emfang gut |
767 | // Emfang gut |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
760 | if(SenderOkay > 140) |
769 | if(SenderOkay > 140) |
761 | { |
770 | { |
762 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
771 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
763 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
772 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
764 | if(GasMischanteil > 40 && MotorenEin) |
773 | if(GasMischanteil > 40 && MotorenEin) |
765 | { |
774 | { |
766 | if(modell_fliegt < 0xffff) modell_fliegt++; |
775 | if(modell_fliegt < 0xffff) modell_fliegt++; |
767 | } |
776 | } |
768 | if((modell_fliegt < 256)) |
777 | if((modell_fliegt < 256)) |
769 | { |
778 | { |
770 | SummeNick = 0; |
779 | SummeNick = 0; |
771 | SummeRoll = 0; |
780 | SummeRoll = 0; |
772 | sollGier = 0; |
781 | sollGier = 0; |
773 | Mess_Integral_Gier = 0; |
782 | Mess_Integral_Gier = 0; |
- | 783 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
|
- | 784 | } |
|
- | 785 | else |
|
- | 786 | { |
|
774 | } else FC_StatusFlags |= FC_STATUS_FLY; |
787 | FC_StatusFlags |= FC_STATUS_FLY; |
- | 788 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
|
- | 789 | { |
|
- | 790 | /* |
|
- | 791 | if(Parameter_UserParam3 > 50) |
|
- | 792 | { |
|
- | 793 | FromNC_AltitudeSpeed = 15; |
|
- | 794 | FromNC_AltitudeSetpoint = 500; |
|
- | 795 | } |
|
- | 796 | */ |
|
- | 797 | if(HoehenWert > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
|
- | 798 | { |
|
- | 799 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
|
- | 800 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
- | 801 | SpeakHoTT = SPEAK_RISING; |
|
- | 802 | //SollHoehe = 250; |
|
- | 803 | #endif |
|
- | 804 | beeptime = 5000; |
|
- | 805 | } |
|
- | 806 | SummeNick = 0; |
|
- | 807 | SummeRoll = 0; |
|
- | 808 | Mess_Integral_Gier = 0; |
|
- | 809 | // sollGier = 0; |
|
- | 810 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
|
- | 811 | } |
|
- | 812 | /* |
|
- | 813 | else |
|
- | 814 | if(Parameter_UserParam3 > 150) |
|
- | 815 | { |
|
- | 816 | if(HoehenWert > 2500) FromNC_AltitudeSpeed = 30; |
|
- | 817 | else |
|
- | 818 | if(HoehenWert > 1500) FromNC_AltitudeSpeed = 30; |
|
- | 819 | else |
|
- | 820 | { |
|
- | 821 | FromNC_AltitudeSpeed = 10; |
|
- | 822 | SummeNick -= SummeNick / 4; |
|
- | 823 | SummeRoll -= SummeRoll / 4; |
|
- | 824 | } |
|
- | 825 | FromNC_AltitudeSetpoint = -300; |
|
- | 826 | } |
|
775 | 827 | */ |
|
- | 828 | } |
|
776 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
829 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
777 | { |
830 | { |
778 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
779 | // auf Nullwerte kalibrieren |
832 | // auf Nullwerte kalibrieren |
780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
834 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
782 | { |
835 | { |
783 | if(++delay_neutral > 200) // nicht sofort |
836 | if(++delay_neutral > 200) // nicht sofort |
784 | { |
837 | { |
785 | delay_neutral = 0; |
838 | delay_neutral = 0; |
786 | modell_fliegt = 0; |
839 | modell_fliegt = 0; |
787 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
840 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
788 | { |
841 | { |
789 | unsigned char setting=1; |
842 | unsigned char setting=1; |
790 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
843 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
791 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
844 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
792 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
845 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
793 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
846 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
794 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
847 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
795 | SetActiveParamSet(setting); // aktiven Datensatz merken |
848 | SetActiveParamSet(setting); // aktiven Datensatz merken |
796 | } |
849 | } |
797 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
850 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
798 | { |
851 | { |
799 | WinkelOut.CalcState = 1; |
852 | WinkelOut.CalcState = 1; |
800 | CalibrationDone = 0; |
853 | CalibrationDone = 0; |
801 | beeptime = 1000; |
854 | beeptime = 1000; |
802 | } |
855 | } |
803 | else |
856 | else |
804 | { |
857 | { |
805 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
858 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
806 | LipoDetection(0); |
859 | LipoDetection(0); |
807 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
860 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
808 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
861 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
809 | { |
862 | { |
810 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
863 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
811 | } |
864 | } |
812 | // ServoActive = 0; |
865 | // ServoActive = 0; |
813 | SetNeutral(0); |
866 | SetNeutral(0); |
814 | CalibrationDone = 1; |
867 | CalibrationDone = 1; |
815 | ServoActive = 1; |
868 | ServoActive = 1; |
816 | DDRD |=0x80; // enable J7 -> Servo signal |
869 | DDRD |=0x80; // enable J7 -> Servo signal |
817 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
870 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
- | 871 | if(abs(Aktuell_az - NeutralAccZ) > 5 && ACC_AltitudeControl) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
|
- | 872 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
|
818 | SpeakHoTT = SPEAK_CALIBRATE; |
873 | else SpeakHoTT = SPEAK_CALIBRATE; |
819 | #endif |
874 | #endif |
820 | Piep(GetActiveParamSet(),120); |
875 | Piep(GetActiveParamSet(),120); |
821 | } |
876 | } |
822 | } |
877 | } |
823 | } |
878 | } |
824 | else |
879 | else |
825 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
880 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
826 | { |
881 | { |
827 | if(++delay_neutral > 200) // nicht sofort |
882 | if(++delay_neutral > 200) // nicht sofort |
828 | { |
883 | { |
829 | MotorenEin = 0; |
884 | MotorenEin = 0; |
830 | delay_neutral = 0; |
885 | delay_neutral = 0; |
831 | modell_fliegt = 0; |
886 | modell_fliegt = 0; |
832 | SetNeutral(1); |
887 | SetNeutral(1); |
833 | CalibrationDone = 1; |
888 | CalibrationDone = 1; |
834 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
889 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
835 | SpeakHoTT = SPEAK_CALIBRATE; |
890 | SpeakHoTT = SPEAK_CALIBRATE; |
836 | #endif |
891 | #endif |
837 | Piep(GetActiveParamSet(),120); |
892 | Piep(GetActiveParamSet(),120); |
838 | } |
893 | } |
839 | } |
894 | } |
840 | else delay_neutral = 0; |
895 | else delay_neutral = 0; |
841 | } |
896 | } |
842 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
897 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
843 | // Gas ist unten |
898 | // Gas ist unten |
844 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
899 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
845 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
900 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
846 | { |
901 | { |
847 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
902 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
848 | else |
903 | else |
849 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
904 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
850 | // Motoren Starten |
905 | // Motoren Starten |
851 | if(!MotorenEin) |
906 | if(!MotorenEin) |
852 | { |
907 | { |
853 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
908 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
854 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
909 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
855 | { |
910 | { |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | // Einschalten |
912 | // Einschalten |
858 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
913 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
914 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
- | 915 | StartLuftdruck = Luftdruck; |
|
- | 916 | HoehenWertF = 0; |
|
- | 917 | HoehenWert = 0; |
|
- | 918 | SummenHoehe = 0; |
|
860 | if(++delay_einschalten > 253) |
919 | if(++delay_einschalten > 253) |
861 | { |
920 | { |
862 | delay_einschalten = 0; |
921 | delay_einschalten = 0; |
863 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
922 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
864 | { |
923 | { |
865 | modell_fliegt = 1; |
924 | modell_fliegt = 1; |
866 | MotorenEin = 1; |
925 | MotorenEin = 1; |
867 | sollGier = 0; |
926 | sollGier = 0; |
868 | Mess_Integral_Gier = 0; |
927 | Mess_Integral_Gier = 0; |
869 | Mess_Integral_Gier2 = 0; |
928 | Mess_Integral_Gier2 = 0; |
870 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
929 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
871 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
930 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
872 | Mess_IntegralNick2 = IntegralNick; |
931 | Mess_IntegralNick2 = IntegralNick; |
873 | Mess_IntegralRoll2 = IntegralRoll; |
932 | Mess_IntegralRoll2 = IntegralRoll; |
874 | SummeNick = 0; |
933 | SummeNick = 0; |
875 | SummeRoll = 0; |
934 | SummeRoll = 0; |
876 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
935 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
877 | NeueKompassRichtungMerken = 100; // 2 sekunden |
936 | NeueKompassRichtungMerken = 100; // 2 sekunden |
878 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
937 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
879 | SpeakHoTT = SPEAK_STARTING; |
938 | SpeakHoTT = SPEAK_STARTING; |
880 | #endif |
939 | #endif |
881 | } |
940 | } |
882 | else |
941 | else |
883 | { |
942 | { |
884 | beeptime = 1500; // indicate missing calibration |
943 | beeptime = 1500; // indicate missing calibration |
885 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
944 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
886 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
945 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
887 | #endif |
946 | #endif |
888 | } |
947 | } |
889 | } |
948 | } |
890 | } |
949 | } |
891 | else delay_einschalten = 0; |
950 | else delay_einschalten = 0; |
892 | } |
951 | } |
893 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
952 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
894 | // Auschalten |
953 | // Auschalten |
895 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
896 | else // only if motors are running |
955 | else // only if motors are running |
897 | { |
956 | { |
898 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
957 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
899 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
958 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
900 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
959 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
901 | { |
960 | { |
902 | if(++delay_ausschalten > 250) // nicht sofort |
961 | if(++delay_ausschalten > 250) // nicht sofort |
903 | { |
962 | { |
904 | MotorenEin = 0; |
963 | MotorenEin = 0; |
905 | delay_ausschalten = 0; |
964 | delay_ausschalten = 0; |
906 | modell_fliegt = 0; |
965 | modell_fliegt = 0; |
907 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
966 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
908 | SpeakHoTT = SPEAK_MK_OFF; |
967 | SpeakHoTT = SPEAK_MK_OFF; |
909 | #endif |
968 | #endif |
910 | } |
969 | } |
911 | } |
970 | } |
912 | else delay_ausschalten = 0; |
971 | else delay_ausschalten = 0; |
913 | } |
972 | } |
914 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
973 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
915 | } |
974 | } |
916 | else // gas not at minimum |
975 | else // gas not at minimum |
917 | { |
976 | { |
918 | move_safety_switch = 0; |
977 | move_safety_switch = 0; |
919 | GasIsZeroCnt = 0; |
978 | GasIsZeroCnt = 0; |
920 | } |
979 | } |
921 | } |
980 | } |
922 | else // Empfang zwischen 100 und 140 -> schlecht |
981 | else // Empfang zwischen 100 und 140 -> schlecht |
923 | { |
982 | { |
924 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
983 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
925 | { |
984 | { |
926 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
985 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
927 | { |
986 | { |
928 | GasIsZeroCnt = 30000; |
987 | GasIsZeroCnt = 30000; |
929 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
988 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
930 | } |
989 | } |
931 | } |
990 | } |
932 | } |
991 | } |
933 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
992 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | // neue Werte von der Funke |
993 | // neue Werte von der Funke |
935 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
994 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
936 | 995 | ||
937 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
996 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
938 | { |
997 | { |
939 | static int stick_nick,stick_roll; |
998 | static int stick_nick,stick_roll; |
940 | unsigned char stick_p; |
999 | unsigned char stick_p; |
941 | ParameterZuordnung(); |
1000 | ParameterZuordnung(); |
942 | stick_p = EE_Parameter.Stick_P; |
1001 | stick_p = EE_Parameter.Stick_P; |
943 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
1002 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
944 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1003 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
945 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
1004 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
946 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
1005 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
947 | 1006 | ||
948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1007 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | // CareFree und freie Wahl der vorderen Richtung |
1008 | // CareFree und freie Wahl der vorderen Richtung |
950 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1009 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
951 | if(CareFree) |
1010 | if(CareFree) |
952 | { |
1011 | { |
953 | signed int nick, roll; |
1012 | signed int nick, roll; |
954 | nick = stick_nick / 4; |
1013 | nick = stick_nick / 4; |
955 | roll = stick_roll / 4; |
1014 | roll = stick_roll / 4; |
956 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
1015 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
957 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
1016 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
958 | } |
1017 | } |
959 | else |
1018 | else |
960 | { |
1019 | { |
961 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
1020 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
962 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
1021 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
963 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
1022 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
964 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
1023 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
965 | } |
1024 | } |
966 | 1025 | ||
967 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1026 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
968 | if(StickGier > 4) StickGier -= 4; else |
1027 | if(StickGier > 4) StickGier -= 4; else |
969 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
1028 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
970 | 1029 | ||
971 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1030 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
972 | { |
1031 | { |
973 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
1032 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
974 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
1033 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
975 | } |
1034 | } |
976 | 1035 | ||
977 | StickNick -= GPS_Nick; |
1036 | StickNick -= GPS_Nick; |
978 | StickRoll -= GPS_Roll; |
1037 | StickRoll -= GPS_Roll; |
979 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1038 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
980 | 1039 | ||
981 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1040 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
982 | IntegralFaktor = Parameter_Gyro_I; |
1041 | IntegralFaktor = Parameter_Gyro_I; |
983 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1042 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
984 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
1043 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
985 | 1044 | ||
986 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
987 | //+ Analoge Steuerung per Seriell |
1046 | //+ Analoge Steuerung per Seriell |
988 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1047 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
989 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
1048 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
990 | { |
1049 | { |
991 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
1050 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
992 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
1051 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
993 | StickGier += ExternControl.Gier; |
1052 | StickGier += ExternControl.Gier; |
994 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
1053 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
995 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
1054 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
996 | } |
1055 | } |
997 | if(StickGas < 0) StickGas = 0; |
1056 | if(StickGas < 0) StickGas = 0; |
998 | 1057 | ||
999 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1058 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1000 | 1059 | ||
1001 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
1060 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
1002 | { |
1061 | { |
1003 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
1062 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
1004 | if(MaxStickNick > 100) MaxStickNick = 100; |
1063 | if(MaxStickNick > 100) MaxStickNick = 100; |
1005 | } |
1064 | } |
1006 | else MaxStickNick--; |
1065 | else MaxStickNick--; |
1007 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
1066 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
1008 | { |
1067 | { |
1009 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
1068 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
1010 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1069 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1011 | } |
1070 | } |
1012 | else MaxStickRoll--; |
1071 | else MaxStickRoll--; |
1013 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
1072 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
1014 | 1073 | ||
1015 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1016 | // Looping? |
1075 | // Looping? |
1017 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1076 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1018 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1077 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1019 | else |
1078 | else |
1020 | { |
1079 | { |
1021 | { |
1080 | { |
1022 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1081 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1023 | } |
1082 | } |
1024 | } |
1083 | } |
1025 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1084 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1026 | else |
1085 | else |
1027 | { |
1086 | { |
1028 | if(Looping_Rechts) // Hysterese |
1087 | if(Looping_Rechts) // Hysterese |
1029 | { |
1088 | { |
1030 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
1089 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
1031 | } |
1090 | } |
1032 | } |
1091 | } |
1033 | 1092 | ||
1034 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1093 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1035 | else |
1094 | else |
1036 | { |
1095 | { |
1037 | if(Looping_Oben) // Hysterese |
1096 | if(Looping_Oben) // Hysterese |
1038 | { |
1097 | { |
1039 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1098 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1040 | } |
1099 | } |
1041 | } |
1100 | } |
1042 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1101 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1043 | else |
1102 | else |
1044 | { |
1103 | { |
1045 | if(Looping_Unten) // Hysterese |
1104 | if(Looping_Unten) // Hysterese |
1046 | { |
1105 | { |
1047 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
1106 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
1048 | } |
1107 | } |
1049 | } |
1108 | } |
1050 | 1109 | ||
1051 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
1110 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
1052 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
1111 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
1053 | } // Ende neue Funken-Werte |
1112 | } // Ende neue Funken-Werte |
1054 | 1113 | ||
1055 | if(Looping_Roll || Looping_Nick) |
1114 | if(Looping_Roll || Looping_Nick) |
1056 | { |
1115 | { |
1057 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1116 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1058 | TrichterFlug = 1; |
1117 | TrichterFlug = 1; |
1059 | } |
1118 | } |
1060 | 1119 | ||
1061 | 1120 | ||
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1063 | // Bei Empfangsausfall im Flug |
1122 | // Bei Empfangsausfall im Flug |
1064 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1123 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1065 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1124 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1066 | { |
1125 | { |
1067 | StickNick = -GPS_Nick; |
1126 | StickNick = -GPS_Nick; |
1068 | StickRoll = -GPS_Roll; |
1127 | StickRoll = -GPS_Roll; |
1069 | StickGas = StickGasHover; |
1128 | StickGas = StickGasHover; |
1070 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1129 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1071 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1130 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1072 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1131 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1073 | Parameter_HoehenSchalter = 200; // switch on |
1132 | Parameter_HoehenSchalter = 200; // switch on |
1074 | } |
1133 | } |
1075 | else |
1134 | else |
1076 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1135 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1077 | { |
1136 | { |
1078 | StickGier = 0; |
1137 | StickGier = 0; |
1079 | StickNick = 0; |
1138 | StickNick = 0; |
1080 | StickRoll = 0; |
1139 | StickRoll = 0; |
1081 | GyroFaktor = 90; |
1140 | GyroFaktor = 90; |
1082 | IntegralFaktor = 120; |
1141 | IntegralFaktor = 120; |
1083 | GyroFaktorGier = 90; |
1142 | GyroFaktorGier = 90; |
1084 | IntegralFaktorGier = 120; |
1143 | IntegralFaktorGier = 120; |
1085 | Looping_Roll = 0; |
1144 | Looping_Roll = 0; |
1086 | Looping_Nick = 0; |
1145 | Looping_Nick = 0; |
1087 | } |
1146 | } |
1088 | 1147 | ||
1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1148 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1090 | // Integrale auf ACC-Signal abgleichen |
1149 | // Integrale auf ACC-Signal abgleichen |
1091 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1150 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1092 | #define ABGLEICH_ANZAHL 256L |
1151 | #define ABGLEICH_ANZAHL 256L |
1093 | 1152 | ||
1094 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1153 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1095 | MittelIntegralRoll += IntegralRoll; |
1154 | MittelIntegralRoll += IntegralRoll; |
1096 | MittelIntegralNick2 += IntegralNick2; |
1155 | MittelIntegralNick2 += IntegralNick2; |
1097 | MittelIntegralRoll2 += IntegralRoll2; |
1156 | MittelIntegralRoll2 += IntegralRoll2; |
1098 | 1157 | ||
1099 | if(Looping_Nick || Looping_Roll) |
1158 | if(Looping_Nick || Looping_Roll) |
1100 | { |
1159 | { |
1101 | IntegralAccNick = 0; |
1160 | IntegralAccNick = 0; |
1102 | IntegralAccRoll = 0; |
1161 | IntegralAccRoll = 0; |
1103 | MittelIntegralNick = 0; |
1162 | MittelIntegralNick = 0; |
1104 | MittelIntegralRoll = 0; |
1163 | MittelIntegralRoll = 0; |
1105 | MittelIntegralNick2 = 0; |
1164 | MittelIntegralNick2 = 0; |
1106 | MittelIntegralRoll2 = 0; |
1165 | MittelIntegralRoll2 = 0; |
1107 | Mess_IntegralNick2 = Mess_IntegralNick; |
1166 | Mess_IntegralNick2 = Mess_IntegralNick; |
1108 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1167 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1109 | ZaehlMessungen = 0; |
1168 | ZaehlMessungen = 0; |
1110 | LageKorrekturNick = 0; |
1169 | LageKorrekturNick = 0; |
1111 | LageKorrekturRoll = 0; |
1170 | LageKorrekturRoll = 0; |
1112 | } |
1171 | } |
1113 | 1172 | ||
1114 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1173 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1115 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1174 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1116 | { |
1175 | { |
1117 | long tmp_long, tmp_long2; |
1176 | long tmp_long, tmp_long2; |
1118 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1177 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1119 | { |
1178 | { |
1120 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1179 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1121 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1180 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1122 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1181 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1123 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1182 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1124 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1183 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1125 | { |
1184 | { |
1126 | tmp_long /= 2; |
1185 | tmp_long /= 2; |
1127 | tmp_long2 /= 2; |
1186 | tmp_long2 /= 2; |
1128 | } |
1187 | } |
1129 | /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
- | |
1130 | { |
- | |
1131 | tmp_long /= 3; |
- | |
1132 | tmp_long2 /= 3; |
- | |
1133 | } |
- | |
1134 | */ if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1188 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1135 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1189 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1136 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1190 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1137 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1191 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1138 | } |
1192 | } |
1139 | else |
1193 | else |
1140 | { |
1194 | { |
1141 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1195 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1142 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1196 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1143 | tmp_long /= 16; |
1197 | tmp_long /= 16; |
1144 | tmp_long2 /= 16; |
1198 | tmp_long2 /= 16; |
1145 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1199 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1146 | { |
1200 | { |
1147 | tmp_long /= 3; |
1201 | tmp_long /= 3; |
1148 | tmp_long2 /= 3; |
1202 | tmp_long2 /= 3; |
1149 | } |
1203 | } |
1150 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1204 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1151 | { |
1205 | { |
1152 | tmp_long /= 3; |
1206 | tmp_long /= 3; |
1153 | tmp_long2 /= 3; |
1207 | tmp_long2 /= 3; |
1154 | } |
1208 | } |
1155 | KompassFusion = 25; |
1209 | KompassFusion = 25; |
1156 | #define AUSGLEICH 32 |
1210 | #define AUSGLEICH 32 |
1157 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1211 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1158 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1212 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1159 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1213 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1160 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1214 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1161 | } |
1215 | } |
1162 | 1216 | ||
1163 | Mess_IntegralNick -= tmp_long; |
1217 | Mess_IntegralNick -= tmp_long; |
1164 | Mess_IntegralRoll -= tmp_long2; |
1218 | Mess_IntegralRoll -= tmp_long2; |
1165 | } |
1219 | } |
1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1220 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1221 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1168 | { |
1222 | { |
1169 | static int cnt = 0; |
1223 | static int cnt = 0; |
1170 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1224 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1171 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1225 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1172 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1226 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1173 | { |
1227 | { |
1174 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1228 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1175 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1229 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1176 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1230 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1177 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1231 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1178 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1232 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1179 | #define MAX_I 0 |
1233 | #define MAX_I 0 |
1180 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1234 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1181 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1235 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1182 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1236 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1183 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1237 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1184 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1238 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1185 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1239 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1186 | 1240 | ||
1187 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1241 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1188 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1242 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1189 | 1243 | ||
1190 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1244 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1191 | { |
1245 | { |
1192 | LageKorrekturNick /= 2; |
1246 | LageKorrekturNick /= 2; |
1193 | LageKorrekturRoll /= 2; |
1247 | LageKorrekturRoll /= 2; |
1194 | } |
1248 | } |
1195 | 1249 | ||
1196 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1250 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | // Gyro-Drift ermitteln |
1251 | // Gyro-Drift ermitteln |
1198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1199 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1253 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1200 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1254 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1201 | tmp_long = IntegralNick2 - IntegralNick; |
1255 | tmp_long = IntegralNick2 - IntegralNick; |
1202 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1256 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1203 | 1257 | ||
1204 | IntegralFehlerNick = tmp_long; |
1258 | IntegralFehlerNick = tmp_long; |
1205 | IntegralFehlerRoll = tmp_long2; |
1259 | IntegralFehlerRoll = tmp_long2; |
1206 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1260 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1207 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1261 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1208 | 1262 | ||
1209 | if(EE_Parameter.Driftkomp) |
1263 | if(EE_Parameter.Driftkomp) |
1210 | { |
1264 | { |
1211 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1265 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1212 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1266 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1213 | } |
1267 | } |
1214 | GierGyroFehler = 0; |
1268 | GierGyroFehler = 0; |
1215 | 1269 | ||
1216 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1270 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1217 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1271 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1218 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1272 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1219 | #define BEWEGUNGS_LIMIT 20000 |
1273 | #define BEWEGUNGS_LIMIT 20000 |
1220 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1274 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1221 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1275 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1222 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1276 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1223 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1277 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1224 | { |
1278 | { |
1225 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1279 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1226 | { |
1280 | { |
1227 | if(last_n_p) |
1281 | if(last_n_p) |
1228 | { |
1282 | { |
1229 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1283 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1230 | ausgleichNick = IntegralFehlerNick / 8; |
1284 | ausgleichNick = IntegralFehlerNick / 8; |
1231 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1285 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1232 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1286 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1233 | } |
1287 | } |
1234 | else last_n_p = 1; |
1288 | else last_n_p = 1; |
1235 | } else last_n_p = 0; |
1289 | } else last_n_p = 0; |
1236 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1290 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1237 | { |
1291 | { |
1238 | if(last_n_n) |
1292 | if(last_n_n) |
1239 | { |
1293 | { |
1240 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1294 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1241 | ausgleichNick = IntegralFehlerNick / 8; |
1295 | ausgleichNick = IntegralFehlerNick / 8; |
1242 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1296 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1243 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1297 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1244 | } |
1298 | } |
1245 | else last_n_n = 1; |
1299 | else last_n_n = 1; |
1246 | } else last_n_n = 0; |
1300 | } else last_n_n = 0; |
1247 | } |
1301 | } |
1248 | else |
1302 | else |
1249 | { |
1303 | { |
1250 | cnt = 0; |
1304 | cnt = 0; |
1251 | KompassSignalSchlecht = 100; |
1305 | KompassSignalSchlecht = 100; |
1252 | } |
1306 | } |
1253 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1307 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1254 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1308 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1255 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1309 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1256 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1310 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1257 | 1311 | ||
1258 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1312 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1259 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1313 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1260 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1314 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1261 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1315 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1262 | { |
1316 | { |
1263 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1317 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1264 | { |
1318 | { |
1265 | if(last_r_p) |
1319 | if(last_r_p) |
1266 | { |
1320 | { |
1267 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1321 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1268 | ausgleichRoll = IntegralFehlerRoll / 8; |
1322 | ausgleichRoll = IntegralFehlerRoll / 8; |
1269 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1323 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1270 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1324 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1271 | } |
1325 | } |
1272 | else last_r_p = 1; |
1326 | else last_r_p = 1; |
1273 | } else last_r_p = 0; |
1327 | } else last_r_p = 0; |
1274 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1328 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1275 | { |
1329 | { |
1276 | if(last_r_n) |
1330 | if(last_r_n) |
1277 | { |
1331 | { |
1278 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1332 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1279 | ausgleichRoll = IntegralFehlerRoll / 8; |
1333 | ausgleichRoll = IntegralFehlerRoll / 8; |
1280 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1334 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1281 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1335 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1282 | } |
1336 | } |
1283 | else last_r_n = 1; |
1337 | else last_r_n = 1; |
1284 | } else last_r_n = 0; |
1338 | } else last_r_n = 0; |
1285 | } else |
1339 | } else |
1286 | { |
1340 | { |
1287 | cnt = 0; |
1341 | cnt = 0; |
1288 | KompassSignalSchlecht = 100; |
1342 | KompassSignalSchlecht = 100; |
1289 | } |
1343 | } |
1290 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1344 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1291 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1345 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1292 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1346 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1293 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1347 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1294 | } |
1348 | } |
1295 | else |
1349 | else |
1296 | { |
1350 | { |
1297 | LageKorrekturRoll = 0; |
1351 | LageKorrekturRoll = 0; |
1298 | LageKorrekturNick = 0; |
1352 | LageKorrekturNick = 0; |
1299 | TrichterFlug = 0; |
1353 | TrichterFlug = 0; |
1300 | } |
1354 | } |
1301 | 1355 | ||
1302 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1356 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1303 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1357 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1304 | MittelIntegralNick_Alt = MittelIntegralNick; |
1358 | MittelIntegralNick_Alt = MittelIntegralNick; |
1305 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1359 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1306 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1360 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1307 | IntegralAccNick = 0; |
1361 | IntegralAccNick = 0; |
1308 | IntegralAccRoll = 0; |
1362 | IntegralAccRoll = 0; |
1309 | IntegralAccZ = 0; |
1363 | IntegralAccZ = 0; |
1310 | MittelIntegralNick = 0; |
1364 | MittelIntegralNick = 0; |
1311 | MittelIntegralRoll = 0; |
1365 | MittelIntegralRoll = 0; |
1312 | MittelIntegralNick2 = 0; |
1366 | MittelIntegralNick2 = 0; |
1313 | MittelIntegralRoll2 = 0; |
1367 | MittelIntegralRoll2 = 0; |
1314 | ZaehlMessungen = 0; |
1368 | ZaehlMessungen = 0; |
1315 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1369 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1316 | 1370 | ||
1317 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1371 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1318 | // Gieren |
1372 | // Gieren |
1319 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1373 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1320 | if(abs(StickGier) > 3) // war 15 |
1374 | if(abs(StickGier) > 3) // war 15 |
1321 | { |
1375 | { |
1322 | // KompassSignalSchlecht = 1000; |
1376 | // KompassSignalSchlecht = 1000; |
1323 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1377 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1324 | { |
1378 | { |
1325 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1379 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1326 | }; |
1380 | }; |
1327 | } |
1381 | } |
1328 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1382 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1329 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1383 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
- | 1384 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
|
1330 | tmp_int += CompassGierSetpoint; |
1385 | tmp_int += CompassGierSetpoint; |
1331 | sollGier = tmp_int; |
1386 | sollGier = tmp_int; |
1332 | Mess_Integral_Gier -= tmp_int; |
1387 | Mess_Integral_Gier -= tmp_int; |
1333 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1388 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1334 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1389 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1335 | 1390 | ||
1336 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1391 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1337 | // Kompass |
1392 | // Kompass |
1338 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1393 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1339 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1394 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1340 | { |
1395 | { |
1341 | if(CalculateCompassTimer-- == 1) |
1396 | if(CalculateCompassTimer-- == 1) |
1342 | { |
1397 | { |
1343 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1398 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1344 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1399 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1345 | // max. Korrekturwert schätzen |
1400 | // max. Korrekturwert schätzen |
1346 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1401 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1347 | v = abs(IntegralRoll /512); |
1402 | v = abs(IntegralRoll /512); |
1348 | if(v > w) w = v; // grösste Neigung ermitteln |
1403 | if(v > w) w = v; // grösste Neigung ermitteln |
1349 | // korrektur = w / 4 + 1; |
1404 | // korrektur = w / 4 + 1; |
1350 | korrektur = w / 8 + 2; |
1405 | korrektur = w / 8 + 2; |
1351 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1406 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1352 | // Kompassfehlerwert bestimmen |
1407 | // Kompassfehlerwert bestimmen |
1353 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1408 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1354 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1409 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1355 | // Kompasswert einloggen |
1410 | // Kompasswert einloggen |
1356 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1411 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1357 | else |
1412 | else |
1358 | if(w < 25) |
1413 | if(w < 25) |
1359 | { |
1414 | { |
1360 | GierGyroFehler += fehler; |
1415 | GierGyroFehler += fehler; |
1361 | if(NeueKompassRichtungMerken) |
1416 | if(NeueKompassRichtungMerken) |
1362 | { |
1417 | { |
1363 | if(--NeueKompassRichtungMerken == 0) |
1418 | if(--NeueKompassRichtungMerken == 0) |
1364 | { |
1419 | { |
1365 | KompassSollWert = ErsatzKompassInGrad; |
1420 | KompassSollWert = ErsatzKompassInGrad; |
1366 | } |
1421 | } |
1367 | } |
1422 | } |
1368 | } |
1423 | } |
1369 | // Kompass fusionieren |
1424 | // Kompass fusionieren |
1370 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1425 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1371 | // MK Gieren |
1426 | // MK Gieren |
1372 | if(!NeueKompassRichtungMerken) |
1427 | if(!NeueKompassRichtungMerken) |
1373 | { |
1428 | { |
1374 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1429 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1375 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1430 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1376 | CompassGierSetpoint = v / 16; |
1431 | CompassGierSetpoint = v / 16; |
1377 | } |
1432 | } |
1378 | else CompassGierSetpoint = 0; |
1433 | else CompassGierSetpoint = 0; |
1379 | } // CalculateCompassTimer |
1434 | } // CalculateCompassTimer |
1380 | } |
1435 | } |
1381 | else CompassGierSetpoint = 0; |
1436 | else CompassGierSetpoint = 0; |
1382 | 1437 | ||
1383 | //DebugOut.Analog[16] = KompassFusion; |
1438 | //DebugOut.Analog[16] = KompassFusion; |
1384 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1385 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1440 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1386 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1387 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1442 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1388 | 1443 | ||
1389 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1444 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1390 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1445 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1391 | 1446 | ||
1392 | #define TRIM_MAX 200 |
1447 | #define TRIM_MAX 200 |
1393 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1448 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1394 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1449 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1395 | 1450 | ||
1396 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1451 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1397 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1452 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1398 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1453 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1399 | 1454 | ||
1400 | // Maximalwerte abfangen |
1455 | // Maximalwerte abfangen |
1401 | #define MAX_SENSOR (4096) |
1456 | #define MAX_SENSOR (4096) |
1402 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1457 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1403 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1458 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1404 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1459 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1405 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1460 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1406 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1461 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1407 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1462 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1408 | 1463 | ||
1409 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1464 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1410 | // Höhenregelung |
1465 | // Höhenregelung |
1411 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1466 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1412 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1467 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1413 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1468 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1414 | GasMischanteil *= STICK_GAIN; |
1469 | GasMischanteil *= STICK_GAIN; |
1415 | // if height control is activated |
1470 | // if height control is activated |
1416 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1471 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1417 | { |
1472 | { |
1418 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1473 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1419 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1474 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1420 | 1475 | ||
1421 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1476 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1422 | #define OPA_OFFSET_STEP 15 |
1477 | #define OPA_OFFSET_STEP 15 |
1423 | #else |
1478 | #else |
1424 | #define OPA_OFFSET_STEP 10 |
1479 | #define OPA_OFFSET_STEP 10 |
1425 | #endif |
1480 | #endif |
1426 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1481 | int HCGas, GasReduction = 0; |
1427 | static int HeightTrimming = 0; // rate for change of height setpoint |
1482 | static int HeightTrimming = 0; // rate for change of height setpoint |
1428 | static int FilterHCGas = 0; |
1483 | static int HeightDeviation = 0, FilterHCGas = 0; |
1429 | static unsigned long HoverGasFilter = 0; |
1484 | static unsigned long HoverGasFilter = 0; |
1430 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1485 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1431 | int CosAttitude; // for projection of hoover gas |
- | |
1432 | 1486 | ||
1433 | // get the current hooverpoint |
1487 | // get the current hooverpoint |
1434 | DebugOut.Analog[21] = HoverGas; |
1488 | DebugOut.Analog[21] = HoverGas; |
1435 | 1489 | ||
1436 | // Expand the measurement |
1490 | // Expand the measurement |
1437 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1491 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1438 | if(!BaroExpandActive) |
1492 | if(!BaroExpandActive) |
1439 | { |
1493 | { |
1440 | if(MessLuftdruck > 920) |
1494 | if(MessLuftdruck > 920) |
1441 | { // increase offset |
1495 | { // increase offset |
1442 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1496 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1443 | { |
1497 | { |
1444 | ExpandBaro -= 1; |
1498 | ExpandBaro -= 1; |
1445 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1499 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1446 | beeptime = 300; |
1500 | beeptime = 300; |
1447 | BaroExpandActive = 350; |
1501 | BaroExpandActive = 350; |
1448 | } |
1502 | } |
1449 | else |
1503 | else |
1450 | { |
1504 | { |
1451 | BaroAtLowerLimit = 1; |
1505 | BaroAtLowerLimit = 1; |
1452 | } |
1506 | } |
1453 | } |
1507 | } |
1454 | // measurement of air pressure close to lower limit and |
1508 | // measurement of air pressure close to lower limit and |
1455 | else |
1509 | else |
1456 | if(MessLuftdruck < 100) |
1510 | if(MessLuftdruck < 100) |
1457 | { // decrease offset |
1511 | { // decrease offset |
1458 | if(OCR0A > OPA_OFFSET_STEP) |
1512 | if(OCR0A > OPA_OFFSET_STEP) |
1459 | { |
1513 | { |
1460 | ExpandBaro += 1; |
1514 | ExpandBaro += 1; |
1461 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1515 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1462 | beeptime = 300; |
1516 | beeptime = 300; |
1463 | BaroExpandActive = 350; |
1517 | BaroExpandActive = 350; |
1464 | } |
1518 | } |
1465 | else |
1519 | else |
1466 | { |
1520 | { |
1467 | BaroAtUpperLimit = 1; |
1521 | BaroAtUpperLimit = 1; |
1468 | } |
1522 | } |
1469 | } |
1523 | } |
1470 | else |
1524 | else |
1471 | { |
1525 | { |
1472 | BaroAtUpperLimit = 0; |
1526 | BaroAtUpperLimit = 0; |
1473 | BaroAtLowerLimit = 0; |
1527 | BaroAtLowerLimit = 0; |
1474 | } |
1528 | } |
1475 | } |
1529 | } |
1476 | else // delay, because of expanding the Baro-Range |
1530 | else // delay, because of expanding the Baro-Range |
1477 | { |
1531 | { |
1478 | // now clear the D-values |
1532 | // now clear the D-values |
- | 1533 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
- | 1534 | if(ACC_AltitudeControl) SummenHoehe = HoehenWert * SA_FILTER; |
|
1479 | SummenHoehe = HoehenWert * SM_FILTER; |
1535 | else SummenHoehe = HoehenWert * SM_FILTER; |
- | 1536 | #else |
|
- | 1537 | SummenHoehe = HoehenWert * SM_FILTER; |
|
- | 1538 | #endif |
|
- | 1539 | ||
- | 1540 | VerticalVelocitySum = 0; |
|
1480 | VarioMeter = 0; |
1541 | VarioMeter = 0; |
1481 | BaroExpandActive--; |
1542 | BaroExpandActive--; |
1482 | } |
1543 | } |
1483 | 1544 | ||
1484 | // if height control is activated by an rc channel |
1545 | // if height control is activated by an rc channel |
1485 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1546 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1486 | { // check if parameter is less than activation threshold |
1547 | { // check if parameter is less than activation threshold |
1487 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1548 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1488 | { //height control not active |
1549 | { //height control not active |
1489 | if(!delay--) |
1550 | if(!delay--) |
1490 | { |
1551 | { |
1491 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1552 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1492 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
1553 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
1493 | #endif |
1554 | #endif |
1494 | HoehenReglerAktiv = 0; // disable height control |
1555 | HoehenReglerAktiv = 0; // disable height control |
1495 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1556 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1496 | delay = 1; |
1557 | delay = 1; |
1497 | } |
1558 | } |
1498 | } |
1559 | } |
1499 | else |
1560 | else |
1500 | if(Parameter_HoehenSchalter > 70) |
1561 | if(Parameter_HoehenSchalter > 70) |
1501 | { //height control is activated |
1562 | { //height control is activated |
1502 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1563 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1503 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
1564 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
1504 | #endif |
1565 | #endif |
1505 | delay = 200; |
1566 | delay = 200; |
1506 | HoehenReglerAktiv = 1; // enable height control |
1567 | HoehenReglerAktiv = 1; // enable height control |
1507 | } |
1568 | } |
1508 | } |
1569 | } |
1509 | else // no switchable height control |
1570 | else // no switchable height control |
1510 | { |
1571 | { |
1511 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1572 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1512 | HoehenReglerAktiv = 1; |
1573 | HoehenReglerAktiv = 1; |
1513 | } |
1574 | } |
1514 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1575 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1515 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1576 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1516 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1577 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1517 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1578 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1518 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1579 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1519 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1580 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1520 | VarioCharacter = ' '; |
1581 | VarioCharacter = ' '; |
1521 | AltitudeSetpointTrimming = 0; |
1582 | AltitudeSetpointTrimming = 0; |
1522 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1583 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1523 | { |
1584 | { |
1524 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1585 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1525 | // Holger original version |
1586 | // Holger original version |
1526 | // start of height control algorithm |
1587 | // start of height control algorithm |
1527 | // the height control is only an attenuation of the actual gas stick. |
1588 | // the height control is only an attenuation of the actual gas stick. |
1528 | // I.e. it will work only if the gas stick is higher than the hover gas |
1589 | // I.e. it will work only if the gas stick is higher than the hover gas |
1529 | // and the hover height will be allways larger than height setpoint. |
1590 | // and the hover height will be allways larger than height setpoint. |
1530 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1591 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1531 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1592 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1532 | { // old version |
1593 | { // old version |
1533 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1594 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1534 | HeightTrimming = 0; |
1595 | HeightTrimming = 0; |
1535 | AltitudeSetpointTrimming = 0; |
1596 | AltitudeSetpointTrimming = 0; |
1536 | // set both flags to indicate no vario mode |
1597 | // set both flags to indicate no vario mode |
1537 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1598 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1538 | } |
1599 | } |
1539 | else |
1600 | else |
1540 | { |
1601 | { |
1541 | // alternative height control |
1602 | // alternative height control |
1542 | // PD-Control with respect to hoover point |
1603 | // PD-Control with respect to hoover point |
1543 | // the thrust loss out of horizontal attitude is compensated |
1604 | // the thrust loss out of horizontal attitude is compensated |
1544 | // the setpoint will be fine adjusted with the gas stick position |
1605 | // the setpoint will be fine adjusted with the gas stick position |
1545 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1606 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1546 | { // gas stick is above hoover point |
1607 | { // gas stick is above hoover point |
1547 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1608 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1548 | { |
1609 | { |
- | 1610 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
|
1549 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1611 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1550 | { |
1612 | { |
1551 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1613 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1552 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1614 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1553 | } |
1615 | } |
1554 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1616 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1555 | // Limit the maximum Altitude |
1617 | // Limit the maximum Altitude |
1556 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1618 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1557 | else |
1619 | else |
1558 | { |
1620 | { |
1559 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1621 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1560 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1622 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1561 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1623 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1562 | VarioCharacter = '+'; |
1624 | VarioCharacter = '+'; |
1563 | } |
1625 | } |
1564 | WaypointTrimming = 0; |
1626 | WaypointTrimming = 0; |
1565 | } // gas stick is below hoover point |
1627 | } // gas stick is below hoover point |
1566 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1628 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1567 | { |
1629 | { |
1568 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1630 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1569 | { |
1631 | { |
1570 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1632 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1571 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1633 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1572 | } |
1634 | } |
1573 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1635 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1574 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1636 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1575 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1637 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1576 | VarioCharacter = '-'; |
1638 | VarioCharacter = '-'; |
1577 | WaypointTrimming = 0; |
1639 | WaypointTrimming = 0; |
1578 | } |
1640 | } |
1579 | else // Gas Stick in Hover Range |
1641 | else // Gas Stick in Hover Range |
1580 | { |
1642 | { |
1581 | VarioCharacter = '='; |
1643 | VarioCharacter = '='; |
1582 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1644 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1583 | { |
1645 | { |
1584 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1646 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1585 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1647 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1586 | //HeightTrimming += FromNC_AltitudeSpeed; |
1648 | //HeightTrimming += FromNC_AltitudeSpeed; |
1587 | WaypointTrimming = 10; |
1649 | WaypointTrimming = 10; |
1588 | VarioCharacter = '^'; |
1650 | VarioCharacter = '^'; |
1589 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1651 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1590 | { |
1652 | { |
1591 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1653 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1592 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1654 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1593 | } |
1655 | } |
1594 | } |
1656 | } |
1595 | else |
1657 | else |
1596 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1658 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1597 | { |
1659 | { |
1598 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1660 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1599 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1661 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1600 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1662 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1601 | WaypointTrimming = -10; |
1663 | WaypointTrimming = -10; |
1602 | VarioCharacter = 'v'; |
1664 | VarioCharacter = 'v'; |
1603 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1665 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1604 | { |
1666 | { |
1605 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1667 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1606 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1668 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1607 | } |
1669 | } |
1608 | } |
1670 | } |
1609 | else |
1671 | else |
1610 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1672 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1611 | { |
1673 | { |
1612 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1674 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1613 | else WaypointTrimming = 0; |
1675 | else WaypointTrimming = 0; |
1614 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1676 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1615 | HeightTrimming = 0; |
1677 | HeightTrimming = 0; |
1616 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1678 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1617 | if(!StartTrigger && HoehenWert > 50) |
1679 | if(!StartTrigger && HoehenWert > 50) |
1618 | { |
1680 | { |
1619 | StartTrigger = 1; |
1681 | StartTrigger = 1; |
1620 | } |
1682 | } |
1621 | } |
1683 | } |
1622 | } |
1684 | } |
1623 | // Trim height set point |
1685 | // Trim height set point |
1624 | HeightTrimming += AltitudeSetpointTrimming; |
1686 | HeightTrimming += AltitudeSetpointTrimming; |
1625 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1687 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1626 | { |
1688 | { |
1627 | if(WaypointTrimming) |
1689 | if(WaypointTrimming) |
1628 | { |
1690 | { |
1629 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1691 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1630 | else SollHoehe += WaypointTrimming; |
1692 | else SollHoehe += WaypointTrimming; |
1631 | } |
1693 | } |
1632 | else |
1694 | else |
1633 | { |
1695 | { |
1634 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1696 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1635 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1697 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1636 | } |
1698 | } |
1637 | HeightTrimming = 0; |
1699 | HeightTrimming = 0; |
1638 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1700 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1639 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1701 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1640 | //update hoover gas stick value when setpoint is shifted |
1702 | //update hoover gas stick value when setpoint is shifted |
1641 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1703 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1642 | { |
1704 | { |
1643 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1705 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1644 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1706 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1645 | if(StickGasHover < 70) StickGasHover = 70; |
1707 | if(StickGasHover < 70) StickGasHover = 70; |
1646 | else if(StickGasHover > 150) StickGasHover = 150; |
1708 | else if(StickGasHover > 150) StickGasHover = 150; |
1647 | } |
1709 | } |
1648 | } |
1710 | } |
1649 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1711 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1650 | } //if FCFlags & MKFCFLAG_FLY |
1712 | } //if FCFlags & MKFCFLAG_FLY |
1651 | else |
1713 | else |
1652 | { |
1714 | { |
1653 | SollHoehe = HoehenWert - 400; |
1715 | SollHoehe = HoehenWert - 400; |
1654 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1716 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1655 | else StickGasHover = 120; |
1717 | else StickGasHover = 120; |
1656 | HoverGas = GasMischanteil; |
1718 | HoverGas = GasMischanteil; |
1657 | VarioCharacter = '.'; |
1719 | VarioCharacter = '.'; |
1658 | } |
1720 | } |
1659 | HCGas = HoverGas; // take hover gas (neutral point) |
1721 | HCGas = HoverGas; // take hover gas (neutral point) |
1660 | } |
1722 | } |
1661 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1723 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1662 | { |
1724 | { |
- | 1725 | if(!ACC_AltitudeControl) |
|
- | 1726 | { |
|
1663 | // from this point the Heigth Control Algorithm is identical for both versions |
1727 | // from this point the Heigth Control Algorithm is identical for both versions |
1664 | if(BaroExpandActive) // baro range expanding active |
1728 | if(BaroExpandActive) // baro range expanding active |
1665 | { |
1729 | { |
1666 | HCGas = HoverGas; // hover while expanding baro adc range |
1730 | HCGas = HoverGas; // hover while expanding baro adc range |
1667 | HeightDeviation = 0; |
1731 | HeightDeviation = 0; |
1668 | } // EOF // baro range expanding active |
1732 | } // EOF // baro range expanding active |
1669 | else // valid data from air pressure sensor |
1733 | else // valid data from air pressure sensor |
1670 | { |
1734 | { |
1671 | // ------------------------- P-Part ---------------------------- |
1735 | // ------------------------- P-Part ---------------------------- |
1672 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1736 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1673 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1737 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1674 | HeightDeviation = (int)(tmp_long); // positive when too high |
1738 | HeightDeviation = (int)(tmp_long); // positive when too high |
1675 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1739 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1676 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1740 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1677 | GasReduction = tmp_long; |
1741 | GasReduction = tmp_long; |
1678 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1742 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1679 | tmp_int = VarioMeter / 8; |
1743 | tmp_int = VarioMeter / 8; |
1680 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1744 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1681 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1745 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1682 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1746 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1683 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1747 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1684 | else |
1748 | else |
1685 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1749 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1686 | GasReduction += tmp_int; |
1750 | GasReduction += tmp_int; |
1687 | } // EOF no baro range expanding |
1751 | } // EOF no baro range expanding |
1688 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1752 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1689 | if(Parameter_Hoehe_ACC_Wirkung) |
1753 | if(Parameter_Hoehe_ACC_Wirkung) |
1690 | { |
1754 | { |
1691 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1755 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1692 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1756 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1693 | GasReduction += tmp_long; |
1757 | GasReduction += tmp_long; |
1694 | } |
1758 | } |
1695 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1759 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1696 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1760 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1697 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1761 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1698 | GasReduction += tmp_int; |
1762 | GasReduction += tmp_int; |
1699 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1763 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
- | 1764 | ||
1700 | // ------------------------ ---------------------------------- |
1765 | // ------------------------ ---------------------------------- |
1701 | HCGas -= GasReduction; |
1766 | HCGas -= GasReduction; |
1702 | // limit deviation from hoover point within the target region |
1767 | // limit deviation from hoover point within the target region |
1703 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1768 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1704 | { |
1769 | { |
1705 | unsigned int tmp; |
1770 | unsigned int tmp; |
1706 | tmp = abs(HeightDeviation); |
1771 | tmp = abs(HeightDeviation); |
1707 | if(tmp <= 60) |
1772 | if(tmp <= 60) |
1708 | { |
1773 | { |
1709 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1774 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1710 | } |
1775 | } |
1711 | else |
1776 | else |
1712 | { |
1777 | { |
1713 | tmp = (tmp - 60) / 32; |
1778 | tmp = (tmp - 60) / 32; |
1714 | if(tmp > 15) tmp = 15; |
1779 | if(tmp > 15) tmp = 15; |
1715 | if(HeightDeviation > 0) |
1780 | if(HeightDeviation > 0) |
1716 | { |
1781 | { |
1717 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1782 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1718 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1783 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1719 | } |
1784 | } |
1720 | else |
1785 | else |
1721 | { |
1786 | { |
1722 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1787 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1723 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1788 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1724 | } |
1789 | } |
1725 | } |
1790 | } |
1726 | } |
1791 | } |
1727 | // strech control output by inverse attitude projection 1/cos |
1792 | // strech control output by inverse attitude projection 1/cos |
1728 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1793 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1729 | tmp_long2 = (int32_t)HCGas; |
1794 | tmp_long2 = (int32_t)HCGas; |
1730 | tmp_long2 *= 8192L; |
1795 | tmp_long2 *= 8192L; |
1731 | tmp_long2 /= CosAttitude; |
1796 | tmp_long2 /= CosAttitude; |
1732 | HCGas = (int16_t)tmp_long2; |
1797 | HCGas = (int16_t)tmp_long2; |
1733 | // update height control gas averaging |
1798 | // update height control gas averaging |
1734 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1799 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1735 | // limit height control gas pd-control output |
1800 | // limit height control gas pd-control output |
1736 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1801 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1737 | // set GasMischanteil to HeightControlGasFilter |
1802 | // set GasMischanteil to HeightControlGasFilter |
1738 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1803 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1739 | { // old version |
1804 | { // old version |
1740 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1805 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1741 | GasMischanteil = FilterHCGas; |
1806 | GasMischanteil = FilterHCGas; |
1742 | } |
1807 | } |
1743 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1808 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
- | 1809 | } |
|
- | 1810 | else |
|
- | 1811 | { |
|
- | 1812 | // from this point the Heigth Control Algorithm is identical for both versions |
|
- | 1813 | if(BaroExpandActive) // baro range expanding active |
|
- | 1814 | { |
|
- | 1815 | HCGas = HoverGas; // hover while expanding baro adc range |
|
- | 1816 | HeightDeviation = 0; |
|
- | 1817 | } // EOF // baro range expanding active |
|
- | 1818 | else // valid data from air pressure sensor |
|
- | 1819 | { |
|
- | 1820 | // ------------------------- P-Part ---------------------------- |
|
- | 1821 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
|
- | 1822 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
|
- | 1823 | HeightDeviation = (int)(tmp_long); // positive when too high |
|
- | 1824 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
|
- | 1825 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
|
- | 1826 | GasReduction = tmp_long; |
|
- | 1827 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
|
- | 1828 | tmp_long = VerticalVelocity + AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung/256; |
|
- | 1829 | // ------------------------- D-Part: Vario Meter ---------------------------- |
|
- | 1830 | if(WaypointTrimming) { |
|
- | 1831 | Variance = AltitudeSetpointTrimming * 8; |
|
- | 1832 | } else { |
|
- | 1833 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
|
- | 1834 | } |
|
- | 1835 | tmp_long -= (long)Variance; |
|
- | 1836 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
|
- | 1837 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
|
- | 1838 | GasReduction += tmp_long; |
|
- | 1839 | } // EOF no baro range expanding |
|
- | 1840 | DebugOut.Analog[19] = -GasReduction; |
|
- | 1841 | HCGas -= GasReduction; |
|
- | 1842 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
|
- | 1843 | // strech control output by inverse attitude projection 1/cos |
|
- | 1844 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
|
- | 1845 | tmp_long2 = (int32_t)HCGas; |
|
- | 1846 | tmp_long2 *= 8192L; |
|
- | 1847 | tmp_long2 /= CosAttitude; |
|
- | 1848 | HCGas = (int16_t)tmp_long2; |
|
- | 1849 | // update height control gas averaging |
|
- | 1850 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
|
- | 1851 | // limit height control gas pd-control output |
|
- | 1852 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
|
- | 1853 | // set GasMischanteil to HeightControlGasFilter |
|
- | 1854 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
|
- | 1855 | { // old version |
|
- | 1856 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
|
- | 1857 | GasMischanteil = FilterHCGas; |
|
- | 1858 | } |
|
- | 1859 | else GasMischanteil = FilterHCGas;// + (GasMischanteil - HoverGas) / 4; // Qopter: geändert |
|
- | 1860 | } |
|
1744 | } |
1861 | } |
1745 | }// EOF height control active |
1862 | }// EOF height control active |
1746 | else // HC not active |
1863 | else // HC not active |
1747 | { |
1864 | { |
1748 | //update hoover gas stick value when HC is not active |
1865 | //update hoover gas stick value when HC is not active |
1749 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1866 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1750 | { |
1867 | { |
1751 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1868 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1752 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1869 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1753 | } |
1870 | } |
1754 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1871 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1755 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1872 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1756 | FilterHCGas = GasMischanteil; |
1873 | FilterHCGas = GasMischanteil; |
1757 | // set both flags to indicate no vario mode |
1874 | // set both flags to indicate no vario mode |
1758 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1875 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1759 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1876 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1760 | } |
1877 | } |
1761 | // Hover gas estimation by averaging gas control output on small z-velocities |
1878 | // Hover gas estimation by averaging gas control output on small z-velocities |
1762 | // this is done only if height contol option is selected in global config and aircraft is flying |
1879 | // this is done only if height contol option is selected in global config and aircraft is flying |
1763 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1880 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1764 | { |
1881 | { |
1765 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1882 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
- | 1883 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // Qopter: geändert |
|
1766 | if(StartTrigger == 1) StartTrigger = 2; |
1884 | if(StartTrigger == 1) StartTrigger = 2; |
1767 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1885 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1768 | tmp_long2 *= CosAttitude; // apply attitude projection |
1886 | tmp_long2 *= CosAttitude; // apply attitude projection |
1769 | tmp_long2 /= 8192; |
1887 | tmp_long2 /= 8192; |
1770 | // average vertical projected thrust |
1888 | // average vertical projected thrust |
1771 | if(modell_fliegt < 4000) // the first 8 seconds |
1889 | if(modell_fliegt < 4000) // the first 8 seconds |
1772 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1890 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1773 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1891 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1774 | HoverGasFilter += 16L * tmp_long2; |
1892 | HoverGasFilter += 16L * tmp_long2; |
1775 | } |
1893 | } |
1776 | if(modell_fliegt < 8000) // the first 16 seconds |
1894 | if(modell_fliegt < 8000) // the first 16 seconds |
1777 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1895 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1778 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1896 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1779 | HoverGasFilter += 4L * tmp_long2; |
1897 | HoverGasFilter += 4L * tmp_long2; |
1780 | } |
1898 | } |
1781 | else //later |
1899 | else //later |
- | 1900 | //if(abs(VerticalVelocity) < 50 && abs(HoehenWertF - SollHoehe) < 256) // Qopter: geändert, Anpassung nötig? |
|
1782 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1901 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1783 | { |
1902 | { |
1784 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1903 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1785 | HoverGasFilter += tmp_long2; |
1904 | HoverGasFilter += tmp_long2; |
1786 | } |
1905 | } |
1787 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1906 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1788 | if(EE_Parameter.Hoehe_HoverBand) |
1907 | if(EE_Parameter.Hoehe_HoverBand) |
1789 | { |
1908 | { |
1790 | int16_t band; |
1909 | int16_t band; |
1791 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1910 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1792 | HoverGasMin = HoverGas - band; |
1911 | HoverGasMin = HoverGas - band; |
1793 | HoverGasMax = HoverGas + band; |
1912 | HoverGasMax = HoverGas + band; |
1794 | } |
1913 | } |
1795 | else |
1914 | else |
1796 | { // no limit |
1915 | { // no limit |
1797 | HoverGasMin = 0; |
1916 | HoverGasMin = 0; |
1798 | HoverGasMax = 1023; |
1917 | HoverGasMax = 1023; |
1799 | } |
1918 | } |
1800 | } |
1919 | } |
1801 | else |
1920 | else |
1802 | { |
1921 | { |
1803 | StartTrigger = 0; |
1922 | StartTrigger = 0; |
1804 | HoverGasFilter = 0; |
1923 | HoverGasFilter = 0; |
1805 | HoverGas = 0; |
1924 | HoverGas = 0; |
1806 | } |
1925 | } |
1807 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1926 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1808 | else |
1927 | else |
1809 | { |
1928 | { |
1810 | // set undefined state to indicate vario off |
1929 | // set undefined state to indicate vario off |
1811 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1930 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1812 | } // EOF no height control |
1931 | } // EOF no height control |
1813 | 1932 | ||
1814 | // Linits the maximum gas in case of "Out of Range emergency landing" |
1933 | // Limits the maximum gas in case of "Out of Range emergency landing" |
1815 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1934 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1816 | { |
1935 | { |
1817 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
1936 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
1818 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1937 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1819 | beeptime = 15000; |
1938 | beeptime = 15000; |
1820 | BeepMuster = 0x0E00; |
1939 | BeepMuster = 0x0E00; |
1821 | } |
1940 | } |
1822 | // limit gas to parameter setting |
1941 | // limit gas to parameter setting |
1823 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1942 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1824 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1943 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1825 | 1944 | ||
1826 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1945 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1827 | // all BL-Ctrl connected? |
1946 | // all BL-Ctrl connected? |
1828 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1947 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1829 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1948 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1830 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1949 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1831 | { |
1950 | { |
1832 | modell_fliegt = 1; |
1951 | modell_fliegt = 1; |
1833 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1952 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1834 | } |
1953 | } |
1835 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1836 | // + Mischer und PI-Regler |
1955 | // + Mischer und PI-Regler |
1837 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1838 | DebugOut.Analog[7] = GasMischanteil; |
1957 | DebugOut.Analog[7] = GasMischanteil; |
1839 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1958 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1840 | // Gier-Anteil |
1959 | // Gier-Anteil |
1841 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1960 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1842 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1961 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1843 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1962 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1844 | if(GasMischanteil > MIN_GIERGAS) |
1963 | if(GasMischanteil > MIN_GIERGAS) |
1845 | { |
1964 | { |
1846 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1965 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1847 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1966 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1848 | } |
1967 | } |
1849 | else |
1968 | else |
1850 | { |
1969 | { |
1851 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1970 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1852 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1971 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1853 | } |
1972 | } |
1854 | tmp_int = MAX_GAS*STICK_GAIN; |
1973 | tmp_int = MAX_GAS*STICK_GAIN; |
1855 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1974 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1856 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1975 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1857 | 1976 | ||
1858 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1859 | // Nick-Achse |
1978 | // Nick-Achse |
1860 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1861 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1980 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1862 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1981 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1863 | else SummeNick += DiffNick; // I-Anteil bei HH |
1982 | else SummeNick += DiffNick; // I-Anteil bei HH |
1864 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1983 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1865 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1984 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1866 | 1985 | ||
1867 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1986 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1868 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1987 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1869 | pd_ergebnis_nick += SummeNick / Ki; |
1988 | pd_ergebnis_nick += SummeNick / Ki; |
1870 | 1989 | ||
1871 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1990 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1872 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1991 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1873 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1992 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1874 | 1993 | ||
1875 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1994 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1876 | // Roll-Achse |
1995 | // Roll-Achse |
1877 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1878 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1997 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1879 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1998 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1880 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1999 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1881 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
2000 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1882 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
2001 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1883 | 2002 | ||
1884 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
2003 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1885 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
2004 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1886 | pd_ergebnis_roll += SummeRoll / Ki; |
2005 | pd_ergebnis_roll += SummeRoll / Ki; |
1887 | 2006 | ||
1888 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
2007 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1889 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2008 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1890 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
2009 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1891 | 2010 | ||
1892 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2011 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1893 | // Universal Mixer |
2012 | // Universal Mixer |
1894 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2013 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1895 | for(i=0; i<MAX_MOTORS; i++) |
2014 | for(i=0; i<MAX_MOTORS; i++) |
1896 | { |
2015 | { |
1897 | signed int tmp_int; |
2016 | signed int tmp_int; |
1898 | if(Mixer.Motor[i][0] > 0) |
2017 | if(Mixer.Motor[i][0] > 0) |
1899 | { |
2018 | { |
1900 | // Gas |
2019 | // Gas |
1901 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
2020 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1902 | // Nick |
2021 | // Nick |
1903 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
2022 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1904 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
2023 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1905 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
2024 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1906 | // Roll |
2025 | // Roll |
1907 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
2026 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1908 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
2027 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1909 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
2028 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1910 | // Gier |
2029 | // Gier |
1911 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2030 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1912 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
2031 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1913 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
2032 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1914 | 2033 | ||
1915 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
2034 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1916 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
2035 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1917 | else |
2036 | else |
1918 | { |
2037 | { |
1919 | if(EE_Parameter.MotorSmooth == 0) |
2038 | if(EE_Parameter.MotorSmooth == 0) |
1920 | { |
2039 | { |
1921 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
2040 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1922 | } |
2041 | } |
1923 | else // 1 means tmp_int = tmp_int; |
2042 | else // 1 means tmp_int = tmp_int; |
1924 | if(EE_Parameter.MotorSmooth > 1) |
2043 | if(EE_Parameter.MotorSmooth > 1) |
1925 | { |
2044 | { |
1926 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
2045 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1927 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
2046 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1928 | } |
2047 | } |
1929 | } |
2048 | } |
1930 | 2049 | ||
1931 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
2050 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1932 | Motor[i].SetPoint = tmp_int / 4; |
2051 | Motor[i].SetPoint = tmp_int / 4; |
1933 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
2052 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1934 | tmp_motorwert[i] = tmp_int; |
2053 | tmp_motorwert[i] = tmp_int; |
1935 | } |
2054 | } |
1936 | else |
2055 | else |
1937 | { |
2056 | { |
1938 | Motor[i].SetPoint = 0; |
2057 | Motor[i].SetPoint = 0; |
1939 | Motor[i].SetPointLowerBits = 0; |
2058 | Motor[i].SetPointLowerBits = 0; |
1940 | } |
2059 | } |
1941 | } |
2060 | } |
1942 | } |
2061 | } |
1943 | //DebugOut.Analog[16] |
2062 | //DebugOut.Analog[16] |
1944 | 2063 |