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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = -1; |
80 | int KompassValue = -1; |
81 | int KompassSollWert = 0; |
81 | int KompassSollWert = 0; |
82 | //int KompassRichtung = 0; |
82 | //int KompassRichtung = 0; |
83 | char CalculateCompassTimer = 100; |
83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
84 | unsigned char KompassFusion = 32; |
85 | unsigned int KompassSignalSchlecht = 50; |
85 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned char MAX_GAS,MIN_GAS; |
86 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char HoehenReglerAktiv = 0; |
87 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char TrichterFlug = 0; |
88 | unsigned char TrichterFlug = 0; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long ErsatzKompass; |
90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int GierGyroFehler = 0; |
92 | int GierGyroFehler = 0; |
93 | char GyroFaktor,GyroFaktorGier; |
93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
95 | int DiffNick,DiffRoll; |
95 | int DiffNick,DiffRoll; |
96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
100 | volatile unsigned char SenderOkay = 0; |
100 | volatile unsigned char SenderOkay = 0; |
101 | char MotorenEin = 0,StartTrigger = 0; |
101 | char MotorenEin = 0,StartTrigger = 0; |
102 | long HoehenWert = 0; |
102 | long HoehenWert = 0; |
103 | long SollHoehe = 0; |
103 | long SollHoehe = 0; |
104 | signed int AltitudeSetpointTrimming = 0; |
104 | signed int AltitudeSetpointTrimming = 0; |
105 | long FromNC_AltitudeSetpoint = 0; |
105 | long FromNC_AltitudeSetpoint = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
107 | unsigned char carefree_old = 50; // to make the Beep when switching |
107 | unsigned char carefree_old = 50; // to make the Beep when switching |
108 | signed char WaypointTrimming = 0; |
108 | signed char WaypointTrimming = 0; |
109 | int CompassGierSetpoint = 0; |
109 | int CompassGierSetpoint = 0; |
110 | unsigned char CalibrationDone = 0; |
110 | unsigned char CalibrationDone = 0; |
111 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
111 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
112 | //float Ki = FAKTOR_I; |
112 | //float Ki = FAKTOR_I; |
113 | int Ki = 10300 / 33; |
113 | int Ki = 10300 / 33; |
114 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
114 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
115 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
115 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
116 | 116 | ||
117 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
117 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
118 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
118 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
119 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
119 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
120 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
120 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
121 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
121 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
122 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
122 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
123 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
123 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
124 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
125 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
125 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
126 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
126 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
128 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
128 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
129 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
129 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
130 | unsigned char Parameter_UserParam1 = 0; |
130 | unsigned char Parameter_UserParam1 = 0; |
131 | unsigned char Parameter_UserParam2 = 0; |
131 | unsigned char Parameter_UserParam2 = 0; |
132 | unsigned char Parameter_UserParam3 = 0; |
132 | unsigned char Parameter_UserParam3 = 0; |
133 | unsigned char Parameter_UserParam4 = 0; |
133 | unsigned char Parameter_UserParam4 = 0; |
134 | unsigned char Parameter_UserParam5 = 0; |
134 | unsigned char Parameter_UserParam5 = 0; |
135 | unsigned char Parameter_UserParam6 = 0; |
135 | unsigned char Parameter_UserParam6 = 0; |
136 | unsigned char Parameter_UserParam7 = 0; |
136 | unsigned char Parameter_UserParam7 = 0; |
137 | unsigned char Parameter_UserParam8 = 0; |
137 | unsigned char Parameter_UserParam8 = 0; |
138 | unsigned char Parameter_ServoNickControl = 100; |
138 | unsigned char Parameter_ServoNickControl = 100; |
139 | unsigned char Parameter_ServoRollControl = 100; |
139 | unsigned char Parameter_ServoRollControl = 100; |
140 | unsigned char Parameter_LoopGasLimit = 70; |
140 | unsigned char Parameter_LoopGasLimit = 70; |
141 | unsigned char Parameter_AchsKopplung1 = 90; |
141 | unsigned char Parameter_AchsKopplung1 = 90; |
142 | unsigned char Parameter_AchsKopplung2 = 65; |
142 | unsigned char Parameter_AchsKopplung2 = 65; |
143 | unsigned char Parameter_CouplingYawCorrection = 64; |
143 | unsigned char Parameter_CouplingYawCorrection = 64; |
144 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
144 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
145 | unsigned char Parameter_DynamicStability = 100; |
145 | unsigned char Parameter_DynamicStability = 100; |
146 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
146 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
147 | unsigned char Parameter_J16Timing; // for the J16 Output |
147 | unsigned char Parameter_J16Timing; // for the J16 Output |
148 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
148 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
149 | unsigned char Parameter_J17Timing; // for the J17 Output |
149 | unsigned char Parameter_J17Timing; // for the J17 Output |
150 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
150 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
151 | unsigned char Parameter_NaviGpsGain; |
151 | unsigned char Parameter_NaviGpsGain; |
152 | unsigned char Parameter_NaviGpsP; |
152 | unsigned char Parameter_NaviGpsP; |
153 | unsigned char Parameter_NaviGpsI; |
153 | unsigned char Parameter_NaviGpsI; |
154 | unsigned char Parameter_NaviGpsD; |
154 | unsigned char Parameter_NaviGpsD; |
155 | unsigned char Parameter_NaviGpsACC; |
155 | unsigned char Parameter_NaviGpsACC; |
156 | unsigned char Parameter_NaviOperatingRadius; |
156 | unsigned char Parameter_NaviOperatingRadius; |
157 | unsigned char Parameter_NaviWindCorrection; |
157 | unsigned char Parameter_NaviWindCorrection; |
158 | unsigned char Parameter_NaviSpeedCompensation; |
158 | unsigned char Parameter_NaviSpeedCompensation; |
159 | unsigned char Parameter_ExternalControl; |
159 | unsigned char Parameter_ExternalControl; |
160 | unsigned char Parameter_GlobalConfig; |
160 | unsigned char Parameter_GlobalConfig; |
161 | unsigned char Parameter_ExtraConfig; |
161 | unsigned char Parameter_ExtraConfig; |
162 | unsigned char Parameter_MaximumAltitude; |
162 | unsigned char Parameter_MaximumAltitude; |
163 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
163 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
164 | unsigned char CareFree = 0; |
164 | unsigned char CareFree = 0; |
165 | 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 |
165 | 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 |
166 | 166 | ||
167 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
167 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
168 | int MaxStickNick = 0,MaxStickRoll = 0; |
168 | int MaxStickNick = 0,MaxStickRoll = 0; |
169 | unsigned int modell_fliegt = 0; |
169 | unsigned int modell_fliegt = 0; |
170 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
170 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
171 | long GIER_GRAD_FAKTOR = 1291; |
171 | long GIER_GRAD_FAKTOR = 1291; |
172 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
172 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
173 | signed int tmp_motorwert[MAX_MOTORS]; |
173 | signed int tmp_motorwert[MAX_MOTORS]; |
174 | char VarioCharacter = ' '; |
174 | char VarioCharacter = ' '; |
175 | 175 | ||
176 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
176 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
177 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
177 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
178 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
178 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
179 | 179 | ||
180 | 180 | ||
181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
182 | // Debugwerte zuordnen |
182 | // Debugwerte zuordnen |
183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
184 | void CopyDebugValues(void) |
184 | void CopyDebugValues(void) |
185 | { |
185 | { |
186 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
186 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
187 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
187 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
188 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
188 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
189 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
189 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
190 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
190 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
191 | DebugOut.Analog[5] = HoehenWert/5; |
191 | DebugOut.Analog[5] = HoehenWert/5; |
192 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
192 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
193 | DebugOut.Analog[8] = KompassValue; |
193 | DebugOut.Analog[8] = KompassValue; |
194 | DebugOut.Analog[9] = UBat; |
194 | DebugOut.Analog[9] = UBat; |
195 | DebugOut.Analog[10] = SenderOkay; |
195 | DebugOut.Analog[10] = SenderOkay; |
196 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
196 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
197 | DebugOut.Analog[12] = Motor[0].SetPoint; |
197 | DebugOut.Analog[12] = Motor[0].SetPoint; |
198 | DebugOut.Analog[13] = Motor[1].SetPoint; |
198 | DebugOut.Analog[13] = Motor[1].SetPoint; |
199 | DebugOut.Analog[14] = Motor[2].SetPoint; |
199 | DebugOut.Analog[14] = Motor[2].SetPoint; |
200 | DebugOut.Analog[15] = Motor[3].SetPoint; |
200 | DebugOut.Analog[15] = Motor[3].SetPoint; |
201 | DebugOut.Analog[20] = ServoNickValue; |
201 | DebugOut.Analog[20] = ServoNickValue; |
202 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
202 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
203 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
203 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
204 | DebugOut.Analog[24] = SollHoehe/5; |
204 | DebugOut.Analog[24] = SollHoehe/5; |
205 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
205 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
206 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
206 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
207 | DebugOut.Analog[27] = KompassSollWert; |
207 | DebugOut.Analog[27] = KompassSollWert; |
208 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
208 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
209 | DebugOut.Analog[30] = GPS_Nick; |
209 | DebugOut.Analog[30] = GPS_Nick; |
210 | DebugOut.Analog[31] = GPS_Roll; |
210 | DebugOut.Analog[31] = GPS_Roll; |
211 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
211 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
212 | } |
212 | } |
213 | 213 | ||
214 | 214 | ||
215 | 215 | ||
216 | void Piep(unsigned char Anzahl, unsigned int dauer) |
216 | void Piep(unsigned char Anzahl, unsigned int dauer) |
217 | { |
217 | { |
218 | if(MotorenEin) return; //auf keinen Fall im Flug! |
218 | if(MotorenEin) return; //auf keinen Fall im Flug! |
219 | GRN_OFF; |
219 | GRN_OFF; |
220 | while(Anzahl--) |
220 | while(Anzahl--) |
221 | { |
221 | { |
222 | beeptime = dauer; |
222 | beeptime = dauer; |
223 | while(beeptime); |
223 | while(beeptime); |
224 | Delay_ms(dauer * 2); |
224 | Delay_ms(dauer * 2); |
225 | } |
225 | } |
226 | GRN_ON; |
226 | GRN_ON; |
227 | } |
227 | } |
228 | 228 | ||
229 | //############################################################################ |
229 | //############################################################################ |
230 | // Messwerte beim Ermitteln der Nullage |
230 | // Messwerte beim Ermitteln der Nullage |
231 | void CalibrierMittelwert(void) |
231 | void CalibrierMittelwert(void) |
232 | //############################################################################ |
232 | //############################################################################ |
233 | { |
233 | { |
234 | unsigned char i; |
234 | unsigned char i; |
235 | if(PlatinenVersion == 13) SucheGyroOffset(); |
235 | if(PlatinenVersion == 13) SucheGyroOffset(); |
236 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
236 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
237 | ANALOG_OFF; |
237 | ANALOG_OFF; |
238 | MesswertNick = AdWertNick; |
238 | MesswertNick = AdWertNick; |
239 | MesswertRoll = AdWertRoll; |
239 | MesswertRoll = AdWertRoll; |
240 | MesswertGier = AdWertGier; |
240 | MesswertGier = AdWertGier; |
241 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
241 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
242 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
242 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
243 | // ADC einschalten |
243 | // ADC einschalten |
244 | ANALOG_ON; |
244 | ANALOG_ON; |
245 | for(i=0;i<8;i++) |
245 | for(i=0;i<8;i++) |
246 | { |
246 | { |
247 | int tmp; |
247 | int tmp; |
248 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
248 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
249 | LIMIT_MIN_MAX(tmp, 0, 255); |
249 | LIMIT_MIN_MAX(tmp, 0, 255); |
250 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
250 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
251 | } |
251 | } |
252 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
252 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
253 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
253 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
254 | } |
254 | } |
255 | 255 | ||
256 | //############################################################################ |
256 | //############################################################################ |
257 | // Nullwerte ermitteln |
257 | // Nullwerte ermitteln |
258 | void SetNeutral(unsigned char AccAdjustment) |
258 | void SetNeutral(unsigned char AccAdjustment) |
259 | //############################################################################ |
259 | //############################################################################ |
260 | { |
260 | { |
261 | unsigned char i; |
261 | unsigned char i; |
262 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
262 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
263 | VersionInfo.HardwareError[0] = 0; |
263 | VersionInfo.HardwareError[0] = 0; |
264 | HEF4017R_ON; |
264 | HEF4017R_ON; |
265 | NeutralAccX = 0; |
265 | NeutralAccX = 0; |
266 | NeutralAccY = 0; |
266 | NeutralAccY = 0; |
267 | NeutralAccZ = 0; |
267 | NeutralAccZ = 0; |
268 | 268 | ||
269 | AdNeutralNick = 0; |
269 | AdNeutralNick = 0; |
270 | AdNeutralRoll = 0; |
270 | AdNeutralRoll = 0; |
271 | AdNeutralGier = 0; |
271 | AdNeutralGier = 0; |
272 | 272 | ||
273 | Parameter_AchsKopplung1 = 0; |
273 | Parameter_AchsKopplung1 = 0; |
274 | Parameter_AchsKopplung2 = 0; |
274 | Parameter_AchsKopplung2 = 0; |
275 | 275 | ||
276 | ExpandBaro = 0; |
276 | ExpandBaro = 0; |
277 | 277 | ||
278 | CalibrierMittelwert(); |
278 | CalibrierMittelwert(); |
279 | Delay_ms_Mess(100); |
279 | Delay_ms_Mess(100); |
280 | 280 | ||
281 | CalibrierMittelwert(); |
281 | CalibrierMittelwert(); |
282 | 282 | ||
283 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
283 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
284 | { |
284 | { |
285 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
285 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
286 | } |
286 | } |
287 | #define NEUTRAL_FILTER 32 |
287 | #define NEUTRAL_FILTER 32 |
288 | for(i=0; i<NEUTRAL_FILTER; i++) |
288 | for(i=0; i<NEUTRAL_FILTER; i++) |
289 | { |
289 | { |
290 | Delay_ms_Mess(10); |
290 | Delay_ms_Mess(10); |
291 | gier_neutral += AdWertGier; |
291 | gier_neutral += AdWertGier; |
292 | nick_neutral += AdWertNick; |
292 | nick_neutral += AdWertNick; |
293 | roll_neutral += AdWertRoll; |
293 | roll_neutral += AdWertRoll; |
294 | } |
294 | } |
295 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
295 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
296 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
296 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
297 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
297 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
298 | 298 | ||
299 | StartNeutralRoll = AdNeutralRoll; |
299 | StartNeutralRoll = AdNeutralRoll; |
300 | StartNeutralNick = AdNeutralNick; |
300 | StartNeutralNick = AdNeutralNick; |
301 | 301 | ||
302 | if(AccAdjustment) |
302 | if(AccAdjustment) |
303 | { |
303 | { |
304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
306 | NeutralAccZ = Aktuell_az; |
306 | NeutralAccZ = Aktuell_az; |
307 | 307 | ||
308 | // Save ACC neutral settings to eeprom |
308 | // Save ACC neutral settings to eeprom |
309 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
309 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
310 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
310 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
311 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
311 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
312 | } |
312 | } |
313 | else |
313 | else |
314 | { |
314 | { |
315 | // restore from eeprom |
315 | // restore from eeprom |
316 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
316 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
317 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
317 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
318 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
318 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
319 | // strange settings? |
319 | // strange settings? |
320 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
320 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
321 | { |
321 | { |
322 | printf("\n\rACC not calibrated!\r\n"); |
322 | printf("\n\rACC not calibrated!\r\n"); |
323 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
323 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
324 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
324 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
325 | NeutralAccZ = Aktuell_az; |
325 | NeutralAccZ = Aktuell_az; |
326 | } |
326 | } |
327 | } |
327 | } |
328 | 328 | ||
329 | MesswertNick = 0; |
329 | MesswertNick = 0; |
330 | MesswertRoll = 0; |
330 | MesswertRoll = 0; |
331 | MesswertGier = 0; |
331 | MesswertGier = 0; |
332 | Delay_ms_Mess(100); |
332 | Delay_ms_Mess(100); |
333 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
333 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
334 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
334 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
335 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
335 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
336 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
336 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
337 | Mess_IntegralNick2 = IntegralNick; |
337 | Mess_IntegralNick2 = IntegralNick; |
338 | Mess_IntegralRoll2 = IntegralRoll; |
338 | Mess_IntegralRoll2 = IntegralRoll; |
339 | Mess_Integral_Gier = 0; |
339 | Mess_Integral_Gier = 0; |
340 | StartLuftdruck = Luftdruck; |
340 | StartLuftdruck = Luftdruck; |
341 | VarioMeter = 0; |
341 | VarioMeter = 0; |
342 | Mess_Integral_Hoch = 0; |
342 | Mess_Integral_Hoch = 0; |
343 | KompassSollWert = KompassValue; |
343 | KompassSollWert = KompassValue; |
344 | KompassSignalSchlecht = 100; |
344 | KompassSignalSchlecht = 100; |
345 | beeptime = 50; |
345 | beeptime = 50; |
346 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
346 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
347 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
347 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
348 | ExternHoehenValue = 0; |
348 | ExternHoehenValue = 0; |
349 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
349 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
350 | GierGyroFehler = 0; |
350 | GierGyroFehler = 0; |
351 | LED_Init(); |
351 | LED_Init(); |
352 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
352 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
353 | FromNaviCtrl_Value.Kalman_K = -1; |
353 | FromNaviCtrl_Value.Kalman_K = -1; |
354 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
354 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
355 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
355 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
356 | for(i=0;i<8;i++) |
356 | for(i=0;i<8;i++) |
357 | { |
357 | { |
358 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
358 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
359 | } |
359 | } |
360 | SenderOkay = 100; |
360 | SenderOkay = 100; |
361 | if(ServoActive) |
361 | if(ServoActive) |
362 | { |
362 | { |
363 | HEF4017R_ON; |
363 | HEF4017R_ON; |
364 | DDRD |=0x80; // enable J7 -> Servo signal |
364 | DDRD |=0x80; // enable J7 -> Servo signal |
365 | } |
365 | } |
366 | 366 | ||
367 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
367 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
368 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
368 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
369 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
369 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
370 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
370 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
371 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
371 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
372 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
372 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
373 | carefree_old = 70; |
373 | carefree_old = 70; |
374 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
374 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
375 | LIBFC_HoTT_Clear(); |
375 | LIBFC_HoTT_Clear(); |
376 | #endif |
376 | #endif |
377 | } |
377 | } |
378 | 378 | ||
379 | 379 | ||
380 | //############################################################################ |
380 | //############################################################################ |
381 | // Bearbeitet die Messwerte |
381 | // Bearbeitet die Messwerte |
382 | void Mittelwert(void) |
382 | void Mittelwert(void) |
383 | //############################################################################ |
383 | //############################################################################ |
384 | { |
384 | { |
385 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
385 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
386 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
386 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
387 | signed long winkel_nick, winkel_roll; |
387 | signed long winkel_nick, winkel_roll; |
388 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
388 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
389 | MesswertNick = (signed int) AdWertNickFilter / 8; |
389 | MesswertNick = (signed int) AdWertNickFilter / 8; |
390 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
390 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
391 | RohMesswertNick = MesswertNick; |
391 | RohMesswertNick = MesswertNick; |
392 | RohMesswertRoll = MesswertRoll; |
392 | RohMesswertRoll = MesswertRoll; |
393 | 393 | ||
394 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
394 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
395 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
396 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
396 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
397 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
397 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
398 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
398 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
399 | NaviAccNick += AdWertAccNick; |
399 | NaviAccNick += AdWertAccNick; |
400 | NaviAccRoll += AdWertAccRoll; |
400 | NaviAccRoll += AdWertAccRoll; |
401 | NaviCntAcc++; |
401 | NaviCntAcc++; |
402 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
402 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
403 | 403 | ||
404 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
404 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
405 | // ADC einschalten |
405 | // ADC einschalten |
406 | ANALOG_ON; |
406 | ANALOG_ON; |
407 | AdReady = 0; |
407 | AdReady = 0; |
408 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
408 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
409 | 409 | ||
410 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
410 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
411 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
411 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
412 | else winkel_roll = Mess_IntegralRoll; |
412 | else winkel_roll = Mess_IntegralRoll; |
413 | 413 | ||
414 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
414 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
415 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
415 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
416 | else winkel_nick = Mess_IntegralNick; |
416 | else winkel_nick = Mess_IntegralNick; |
417 | 417 | ||
418 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
418 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
419 | Mess_Integral_Gier += MesswertGier; |
419 | Mess_Integral_Gier += MesswertGier; |
420 | ErsatzKompass += MesswertGier; |
420 | ErsatzKompass += MesswertGier; |
421 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
421 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
422 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
422 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
423 | { |
423 | { |
424 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
424 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
425 | tmpl3 *= Parameter_AchsKopplung2; //65 |
425 | tmpl3 *= Parameter_AchsKopplung2; //65 |
426 | tmpl3 /= 4096L; |
426 | tmpl3 /= 4096L; |
427 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
427 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
428 | tmpl4 *= Parameter_AchsKopplung2; //65 |
428 | tmpl4 *= Parameter_AchsKopplung2; //65 |
429 | tmpl4 /= 4096L; |
429 | tmpl4 /= 4096L; |
430 | KopplungsteilNickRoll = tmpl3; |
430 | KopplungsteilNickRoll = tmpl3; |
431 | KopplungsteilRollNick = tmpl4; |
431 | KopplungsteilRollNick = tmpl4; |
432 | tmpl4 -= tmpl3; |
432 | tmpl4 -= tmpl3; |
433 | ErsatzKompass += tmpl4; |
433 | ErsatzKompass += tmpl4; |
434 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
434 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
435 | 435 | ||
436 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
436 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
437 | tmpl *= Parameter_AchsKopplung1; // 90 |
437 | tmpl *= Parameter_AchsKopplung1; // 90 |
438 | tmpl /= 4096L; |
438 | tmpl /= 4096L; |
439 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
439 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
440 | tmpl2 *= Parameter_AchsKopplung1; |
440 | tmpl2 *= Parameter_AchsKopplung1; |
441 | tmpl2 /= 4096L; |
441 | tmpl2 /= 4096L; |
442 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
442 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
443 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
443 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
444 | } |
444 | } |
445 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
445 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
446 | TrimRoll = tmpl - tmpl2 / 100L; |
446 | TrimRoll = tmpl - tmpl2 / 100L; |
447 | TrimNick = -tmpl2 + tmpl / 100L; |
447 | TrimNick = -tmpl2 + tmpl / 100L; |
448 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
448 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
449 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
449 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
450 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
450 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
451 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
451 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
452 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
452 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
453 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
453 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
454 | if(Mess_IntegralRoll > Umschlag180Roll) |
454 | if(Mess_IntegralRoll > Umschlag180Roll) |
455 | { |
455 | { |
456 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
456 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
457 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
457 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
458 | } |
458 | } |
459 | if(Mess_IntegralRoll <-Umschlag180Roll) |
459 | if(Mess_IntegralRoll <-Umschlag180Roll) |
460 | { |
460 | { |
461 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
461 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
462 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
462 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
463 | } |
463 | } |
464 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
464 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
465 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
465 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
466 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
466 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
467 | if(Mess_IntegralNick > Umschlag180Nick) |
467 | if(Mess_IntegralNick > Umschlag180Nick) |
468 | { |
468 | { |
469 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
469 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
470 | Mess_IntegralNick2 = Mess_IntegralNick; |
470 | Mess_IntegralNick2 = Mess_IntegralNick; |
471 | } |
471 | } |
472 | if(Mess_IntegralNick <-Umschlag180Nick) |
472 | if(Mess_IntegralNick <-Umschlag180Nick) |
473 | { |
473 | { |
474 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
474 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
475 | Mess_IntegralNick2 = Mess_IntegralNick; |
475 | Mess_IntegralNick2 = Mess_IntegralNick; |
476 | } |
476 | } |
477 | 477 | ||
478 | Integral_Gier = Mess_Integral_Gier; |
478 | Integral_Gier = Mess_Integral_Gier; |
479 | IntegralNick = Mess_IntegralNick; |
479 | IntegralNick = Mess_IntegralNick; |
480 | IntegralRoll = Mess_IntegralRoll; |
480 | IntegralRoll = Mess_IntegralRoll; |
481 | IntegralNick2 = Mess_IntegralNick2; |
481 | IntegralNick2 = Mess_IntegralNick2; |
482 | IntegralRoll2 = Mess_IntegralRoll2; |
482 | IntegralRoll2 = Mess_IntegralRoll2; |
483 | 483 | ||
484 | #define D_LIMIT 128 |
484 | #define D_LIMIT 128 |
485 | 485 | ||
486 | MesswertNick = HiResNick / 8; |
486 | MesswertNick = HiResNick / 8; |
487 | MesswertRoll = HiResRoll / 8; |
487 | MesswertRoll = HiResRoll / 8; |
488 | 488 | ||
489 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
489 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
490 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
490 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
491 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
491 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
492 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
492 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
493 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
493 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
494 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
494 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
495 | 495 | ||
496 | if(Parameter_Gyro_D) |
496 | if(Parameter_Gyro_D) |
497 | { |
497 | { |
498 | d2Nick = HiResNick - oldNick; |
498 | d2Nick = HiResNick - oldNick; |
499 | oldNick = (oldNick + HiResNick)/2; |
499 | oldNick = (oldNick + HiResNick)/2; |
500 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
500 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
501 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
501 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
502 | 502 | ||
503 | d2Roll = HiResRoll - oldRoll; |
503 | d2Roll = HiResRoll - oldRoll; |
504 | oldRoll = (oldRoll + HiResRoll)/2; |
504 | oldRoll = (oldRoll + HiResRoll)/2; |
505 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
505 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
506 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
506 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
507 | 507 | ||
508 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
508 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
509 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
509 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
510 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
510 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
511 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
511 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
512 | } |
512 | } |
513 | 513 | ||
514 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
514 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
515 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
515 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
516 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
516 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
517 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
517 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
518 | 518 | ||
519 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
519 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
520 | { |
520 | { |
521 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
521 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
522 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
522 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
523 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
523 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
524 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
524 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
525 | } |
525 | } |
526 | } |
526 | } |
527 | 527 | ||
528 | //############################################################################ |
528 | //############################################################################ |
529 | // Senden der Motorwerte per I2C-Bus |
529 | // Senden der Motorwerte per I2C-Bus |
530 | void SendMotorData(void) |
530 | void SendMotorData(void) |
531 | //############################################################################ |
531 | //############################################################################ |
532 | { |
532 | { |
533 | unsigned char i; |
533 | unsigned char i; |
534 | if(!MotorenEin) |
534 | if(!MotorenEin) |
535 | { |
535 | { |
536 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
536 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
537 | for(i=0;i<MAX_MOTORS;i++) |
537 | for(i=0;i<MAX_MOTORS;i++) |
538 | { |
538 | { |
539 | if(!PC_MotortestActive) MotorTest[i] = 0; |
539 | if(!PC_MotortestActive) MotorTest[i] = 0; |
540 | Motor[i].SetPoint = MotorTest[i]; |
540 | Motor[i].SetPoint = MotorTest[i]; |
541 | Motor[i].SetPointLowerBits = 0; |
541 | Motor[i].SetPointLowerBits = 0; |
542 | /* |
542 | /* |
543 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
543 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
544 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
544 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
545 | */ |
545 | */ |
546 | } |
546 | } |
547 | if(PC_MotortestActive) PC_MotortestActive--; |
547 | if(PC_MotortestActive) PC_MotortestActive--; |
548 | } |
548 | } |
549 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
549 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
550 | 550 | ||
551 | if(I2C_TransferActive) |
551 | if(I2C_TransferActive) |
552 | { |
552 | { |
553 | I2C_TransferActive = 0; // enable for the next time |
553 | I2C_TransferActive = 0; // enable for the next time |
554 | } |
554 | } |
555 | else |
555 | else |
556 | { |
556 | { |
557 | motor_write = 0; |
557 | motor_write = 0; |
558 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
558 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
559 | } |
559 | } |
560 | } |
560 | } |
561 | 561 | ||
562 | 562 | ||
563 | 563 | ||
564 | //############################################################################ |
564 | //############################################################################ |
565 | // Trägt ggf. das Poti als Parameter ein |
565 | // Trägt ggf. das Poti als Parameter ein |
566 | void ParameterZuordnung(void) |
566 | void ParameterZuordnung(void) |
567 | //############################################################################ |
567 | //############################################################################ |
568 | { |
568 | { |
569 | unsigned char tmp,i; |
569 | unsigned char tmp,i; |
570 | for(i=0;i<8;i++) |
570 | for(i=0;i<8;i++) |
571 | { |
571 | { |
572 | int tmp2; |
572 | int tmp2; |
573 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
573 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
574 | tmp2 = PPM_in[tmp] + 127; |
574 | tmp2 = PPM_in[tmp] + 127; |
575 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
575 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
576 | 576 | ||
577 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
577 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
578 | else |
578 | else |
579 | if(tmp2 != Poti[i]) |
579 | if(tmp2 != Poti[i]) |
580 | { |
580 | { |
581 | Poti[i] += (tmp2 - Poti[i]) / 4; |
581 | Poti[i] += (tmp2 - Poti[i]) / 4; |
582 | if(Poti[i] > tmp2) Poti[i]--; |
582 | if(Poti[i] > tmp2) Poti[i]--; |
583 | else Poti[i]++; |
583 | else Poti[i]++; |
584 | } |
584 | } |
585 | } |
585 | } |
586 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
586 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
587 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
587 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
588 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
588 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
589 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
589 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
590 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
590 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
- | 591 | ||
- | 592 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
|
- | 593 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
|
591 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
594 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
- | 595 | ||
592 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
596 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
- | 597 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
|
593 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
598 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
- | 599 | ||
594 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
600 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
595 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
601 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
596 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
602 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
597 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
603 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
598 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
604 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
599 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
605 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
600 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
606 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
601 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
607 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
602 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
608 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
603 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
609 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
604 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
610 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
605 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
611 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
606 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
612 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
607 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
613 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
608 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
614 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
609 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
615 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
610 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
616 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
611 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
617 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
612 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
618 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
613 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
619 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
614 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
620 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
615 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
621 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
616 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
622 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
617 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
623 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
618 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
624 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
619 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
625 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
620 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
626 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
621 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
627 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
622 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
628 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
623 | Ki = 10300 / (Parameter_I_Faktor + 1); |
629 | Ki = 10300 / (Parameter_I_Faktor + 1); |
624 | MAX_GAS = EE_Parameter.Gas_Max; |
630 | MAX_GAS = EE_Parameter.Gas_Max; |
625 | MIN_GAS = EE_Parameter.Gas_Min; |
631 | MIN_GAS = EE_Parameter.Gas_Min; |
626 | 632 | ||
627 | tmp = EE_Parameter.CareFreeModeControl; |
633 | tmp = EE_Parameter.CareFreeModeControl; |
628 | if(tmp > 50) |
634 | if(tmp > 50) |
629 | { |
635 | { |
630 | CareFree = 1; |
636 | CareFree = 1; |
631 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
637 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
632 | if(carefree_old != CareFree) |
638 | if(carefree_old != CareFree) |
633 | { |
639 | { |
634 | if(carefree_old < 3) |
640 | if(carefree_old < 3) |
635 | { |
641 | { |
636 | if(CareFree) beeptime = 1500; |
642 | if(CareFree) beeptime = 1500; |
637 | else beeptime = 200; |
643 | else beeptime = 200; |
638 | carefree_old = CareFree; |
644 | carefree_old = CareFree; |
639 | } else carefree_old--; |
645 | } else carefree_old--; |
640 | } |
646 | } |
641 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
647 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
642 | } |
648 | } |
643 | else |
649 | else |
644 | { |
650 | { |
645 | CareFree = 0; |
651 | CareFree = 0; |
646 | carefree_old = 10; |
652 | carefree_old = 10; |
647 | } |
653 | } |
648 | 654 | ||
649 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
655 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
650 | { |
656 | { |
651 | beeptime = 15000; |
657 | beeptime = 15000; |
652 | BeepMuster = 0xA400; |
658 | BeepMuster = 0xA400; |
653 | CareFree = 0; |
659 | CareFree = 0; |
654 | } |
660 | } |
655 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
661 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
656 | } |
662 | } |
657 | 663 | ||
658 | //############################################################################ |
664 | //############################################################################ |
659 | // |
665 | // |
660 | void MotorRegler(void) |
666 | void MotorRegler(void) |
661 | //############################################################################ |
667 | //############################################################################ |
662 | { |
668 | { |
663 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
669 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
664 | int GierMischanteil,GasMischanteil; |
670 | int GierMischanteil,GasMischanteil; |
665 | static long sollGier = 0,tmp_long,tmp_long2; |
671 | static long sollGier = 0,tmp_long,tmp_long2; |
666 | static long IntegralFehlerNick = 0; |
672 | static long IntegralFehlerNick = 0; |
667 | static long IntegralFehlerRoll = 0; |
673 | static long IntegralFehlerRoll = 0; |
668 | static unsigned int RcLostTimer; |
674 | static unsigned int RcLostTimer; |
669 | static unsigned char delay_neutral = 0; |
675 | static unsigned char delay_neutral = 0; |
670 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
676 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
671 | static char NeueKompassRichtungMerken = 0; |
677 | static char NeueKompassRichtungMerken = 0; |
672 | static long ausgleichNick, ausgleichRoll; |
678 | static long ausgleichNick, ausgleichRoll; |
673 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
679 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
674 | unsigned char i; |
680 | unsigned char i; |
675 | unsigned int HooverGas80Percent; |
681 | unsigned int HooverGas80Percent; |
676 | Mittelwert(); |
682 | Mittelwert(); |
677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
678 | // Gaswert ermitteln |
684 | // Gaswert ermitteln |
679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
680 | HooverGas80Percent = HoverGas/(STICK_GAIN + STICK_GAIN/4); // 80% of Hovergas |
686 | HooverGas80Percent = HoverGas/(STICK_GAIN + STICK_GAIN/4); // 80% of Hovergas |
681 | GasMischanteil = StickGas; |
687 | GasMischanteil = StickGas; |
682 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
688 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
684 | // Empfang schlecht |
690 | // Empfang schlecht |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
691 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
692 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
687 | { |
693 | { |
688 | if(RcLostTimer) RcLostTimer--; |
694 | if(RcLostTimer) RcLostTimer--; |
689 | else |
695 | else |
690 | { |
696 | { |
691 | MotorenEin = 0; |
697 | MotorenEin = 0; |
692 | modell_fliegt = 0; |
698 | modell_fliegt = 0; |
693 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
699 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
694 | } |
700 | } |
695 | ROT_ON; |
701 | ROT_ON; |
696 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
702 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
697 | { |
703 | { |
698 | GasMischanteil = EE_Parameter.NotGas; |
704 | GasMischanteil = EE_Parameter.NotGas; |
699 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
705 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
700 | { |
706 | { |
701 | if(HoverGas && HoverGas < 150 * STICK_GAIN) GasMischanteil = HooverGas80Percent; // 80% of Hovergas |
707 | if(HoverGas && HoverGas < 150 * STICK_GAIN) GasMischanteil = HooverGas80Percent; // 80% of Hovergas |
702 | } |
708 | } |
703 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
709 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
704 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
710 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
705 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
711 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
706 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
712 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
707 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
713 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
708 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
714 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
709 | } |
715 | } |
710 | else |
716 | else |
711 | { |
717 | { |
712 | MotorenEin = 0; |
718 | MotorenEin = 0; |
713 | } |
719 | } |
714 | } |
720 | } |
715 | else |
721 | else |
716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
717 | // Emfang gut |
723 | // Emfang gut |
718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
719 | if(SenderOkay > 140) |
725 | if(SenderOkay > 140) |
720 | { |
726 | { |
721 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
727 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
722 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
728 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
723 | if(GasMischanteil > 40 && MotorenEin) |
729 | if(GasMischanteil > 40 && MotorenEin) |
724 | { |
730 | { |
725 | if(modell_fliegt < 0xffff) modell_fliegt++; |
731 | if(modell_fliegt < 0xffff) modell_fliegt++; |
726 | } |
732 | } |
727 | if((modell_fliegt < 256)) |
733 | if((modell_fliegt < 256)) |
728 | { |
734 | { |
729 | SummeNick = 0; |
735 | SummeNick = 0; |
730 | SummeRoll = 0; |
736 | SummeRoll = 0; |
731 | sollGier = 0; |
737 | sollGier = 0; |
732 | Mess_Integral_Gier = 0; |
738 | Mess_Integral_Gier = 0; |
733 | } else FC_StatusFlags |= FC_STATUS_FLY; |
739 | } else FC_StatusFlags |= FC_STATUS_FLY; |
734 | 740 | ||
735 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
741 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
736 | { |
742 | { |
737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
743 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
738 | // auf Nullwerte kalibrieren |
744 | // auf Nullwerte kalibrieren |
739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
745 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
746 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
741 | { |
747 | { |
742 | if(++delay_neutral > 200) // nicht sofort |
748 | if(++delay_neutral > 200) // nicht sofort |
743 | { |
749 | { |
744 | MotorenEin = 0; |
750 | MotorenEin = 0; |
745 | delay_neutral = 0; |
751 | delay_neutral = 0; |
746 | modell_fliegt = 0; |
752 | modell_fliegt = 0; |
747 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
753 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
748 | { |
754 | { |
749 | unsigned char setting=1; |
755 | unsigned char setting=1; |
750 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
756 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
751 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
757 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
752 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
758 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
753 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
759 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
754 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
760 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
755 | SetActiveParamSet(setting); // aktiven Datensatz merken |
761 | SetActiveParamSet(setting); // aktiven Datensatz merken |
756 | } |
762 | } |
757 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
763 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
758 | { |
764 | { |
759 | WinkelOut.CalcState = 1; |
765 | WinkelOut.CalcState = 1; |
760 | CalibrationDone = 0; |
766 | CalibrationDone = 0; |
761 | beeptime = 1000; |
767 | beeptime = 1000; |
762 | } |
768 | } |
763 | else |
769 | else |
764 | { |
770 | { |
765 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
771 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
766 | LipoDetection(0); |
772 | LipoDetection(0); |
767 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
773 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
768 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
774 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
769 | { |
775 | { |
770 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
776 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
771 | } |
777 | } |
772 | ServoActive = 0; |
778 | ServoActive = 0; |
773 | SetNeutral(0); |
779 | SetNeutral(0); |
774 | CalibrationDone = 1; |
780 | CalibrationDone = 1; |
775 | ServoActive = 1; |
781 | ServoActive = 1; |
776 | DDRD |=0x80; // enable J7 -> Servo signal |
782 | DDRD |=0x80; // enable J7 -> Servo signal |
777 | Piep(GetActiveParamSet(),120); |
783 | Piep(GetActiveParamSet(),120); |
778 | } |
784 | } |
779 | } |
785 | } |
780 | } |
786 | } |
781 | else |
787 | else |
782 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
788 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
783 | { |
789 | { |
784 | if(++delay_neutral > 200) // nicht sofort |
790 | if(++delay_neutral > 200) // nicht sofort |
785 | { |
791 | { |
786 | MotorenEin = 0; |
792 | MotorenEin = 0; |
787 | delay_neutral = 0; |
793 | delay_neutral = 0; |
788 | modell_fliegt = 0; |
794 | modell_fliegt = 0; |
789 | SetNeutral(1); |
795 | SetNeutral(1); |
790 | CalibrationDone = 1; |
796 | CalibrationDone = 1; |
791 | Piep(GetActiveParamSet(),120); |
797 | Piep(GetActiveParamSet(),120); |
792 | } |
798 | } |
793 | } |
799 | } |
794 | else delay_neutral = 0; |
800 | else delay_neutral = 0; |
795 | } |
801 | } |
796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
797 | // Gas ist unten |
803 | // Gas ist unten |
798 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
799 | 805 | ||
800 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
806 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
801 | { |
807 | { |
802 | // Motoren Starten |
808 | // Motoren Starten |
803 | if(!MotorenEin) |
809 | if(!MotorenEin) |
804 | { |
810 | { |
805 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
811 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
806 | { |
812 | { |
807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
813 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
808 | // Einschalten |
814 | // Einschalten |
809 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
810 | if(++delay_einschalten > 200) |
816 | if(++delay_einschalten > 200) |
811 | { |
817 | { |
812 | delay_einschalten = 0; |
818 | delay_einschalten = 0; |
813 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
819 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
814 | { |
820 | { |
815 | modell_fliegt = 1; |
821 | modell_fliegt = 1; |
816 | MotorenEin = 1; |
822 | MotorenEin = 1; |
817 | sollGier = 0; |
823 | sollGier = 0; |
818 | Mess_Integral_Gier = 0; |
824 | Mess_Integral_Gier = 0; |
819 | Mess_Integral_Gier2 = 0; |
825 | Mess_Integral_Gier2 = 0; |
820 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
826 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
821 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
827 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
822 | Mess_IntegralNick2 = IntegralNick; |
828 | Mess_IntegralNick2 = IntegralNick; |
823 | Mess_IntegralRoll2 = IntegralRoll; |
829 | Mess_IntegralRoll2 = IntegralRoll; |
824 | SummeNick = 0; |
830 | SummeNick = 0; |
825 | SummeRoll = 0; |
831 | SummeRoll = 0; |
826 | FC_StatusFlags |= FC_STATUS_START; |
832 | FC_StatusFlags |= FC_STATUS_START; |
827 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
833 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
828 | NeueKompassRichtungMerken = 100; // 2 sekunden |
834 | NeueKompassRichtungMerken = 100; // 2 sekunden |
829 | } |
835 | } |
830 | else |
836 | else |
831 | { |
837 | { |
832 | beeptime = 1500; // indicate missing calibration |
838 | beeptime = 1500; // indicate missing calibration |
833 | } |
839 | } |
834 | } |
840 | } |
835 | } |
841 | } |
836 | else delay_einschalten = 0; |
842 | else delay_einschalten = 0; |
837 | } |
843 | } |
838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
844 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
839 | // Auschalten |
845 | // Auschalten |
840 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
846 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
841 | else // only if motors are running |
847 | else // only if motors are running |
842 | { |
848 | { |
843 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
849 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
844 | { |
850 | { |
845 | if(++delay_ausschalten > 200) // nicht sofort |
851 | if(++delay_ausschalten > 200) // nicht sofort |
846 | { |
852 | { |
847 | MotorenEin = 0; |
853 | MotorenEin = 0; |
848 | delay_ausschalten = 0; |
854 | delay_ausschalten = 0; |
849 | modell_fliegt = 0; |
855 | modell_fliegt = 0; |
850 | } |
856 | } |
851 | } |
857 | } |
852 | else delay_ausschalten = 0; |
858 | else delay_ausschalten = 0; |
853 | } |
859 | } |
854 | } |
860 | } |
855 | } |
861 | } |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
862 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | // neue Werte von der Funke |
863 | // neue Werte von der Funke |
858 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
864 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | 865 | ||
860 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
866 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
861 | { |
867 | { |
862 | static int stick_nick,stick_roll; |
868 | static int stick_nick,stick_roll; |
863 | unsigned char stick_p; |
869 | unsigned char stick_p; |
864 | ParameterZuordnung(); |
870 | ParameterZuordnung(); |
865 | stick_p = EE_Parameter.Stick_P; |
871 | stick_p = EE_Parameter.Stick_P; |
866 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
872 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
867 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
873 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
868 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
874 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
869 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
875 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
870 | 876 | ||
871 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
877 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
872 | // CareFree und freie Wahl der vorderen Richtung |
878 | // CareFree und freie Wahl der vorderen Richtung |
873 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
879 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
874 | if(CareFree) |
880 | if(CareFree) |
875 | { |
881 | { |
876 | signed int nick, roll; |
882 | signed int nick, roll; |
877 | nick = stick_nick / 4; |
883 | nick = stick_nick / 4; |
878 | roll = stick_roll / 4; |
884 | roll = stick_roll / 4; |
879 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
885 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
880 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
886 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
881 | } |
887 | } |
882 | else |
888 | else |
883 | { |
889 | { |
884 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
890 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
885 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
891 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
886 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
892 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
887 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
893 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
888 | } |
894 | } |
889 | 895 | ||
890 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
896 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
891 | if(StickGier > 4) StickGier -= 4; else |
897 | if(StickGier > 4) StickGier -= 4; else |
892 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
898 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
893 | 899 | ||
894 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
900 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
895 | { |
901 | { |
896 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
902 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
897 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
903 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
898 | } |
904 | } |
899 | 905 | ||
900 | StickNick -= GPS_Nick; |
906 | StickNick -= GPS_Nick; |
901 | StickRoll -= GPS_Roll; |
907 | StickRoll -= GPS_Roll; |
902 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
908 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
903 | 909 | ||
904 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
910 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
905 | IntegralFaktor = Parameter_Gyro_I; |
911 | IntegralFaktor = Parameter_Gyro_I; |
906 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
912 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
907 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
913 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
908 | 914 | ||
909 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
915 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
910 | //+ Analoge Steuerung per Seriell |
916 | //+ Analoge Steuerung per Seriell |
911 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
917 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
912 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
918 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
913 | { |
919 | { |
914 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
920 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
915 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
921 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
916 | StickGier += ExternControl.Gier; |
922 | StickGier += ExternControl.Gier; |
917 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
923 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
918 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
924 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
919 | } |
925 | } |
920 | if(StickGas < 0) StickGas = 0; |
926 | if(StickGas < 0) StickGas = 0; |
921 | 927 | ||
922 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
928 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
923 | 929 | ||
924 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
930 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
925 | { |
931 | { |
926 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
932 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
927 | if(MaxStickNick > 100) MaxStickNick = 100; |
933 | if(MaxStickNick > 100) MaxStickNick = 100; |
928 | } |
934 | } |
929 | else MaxStickNick--; |
935 | else MaxStickNick--; |
930 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
936 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
931 | { |
937 | { |
932 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
938 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
933 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
939 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
934 | } |
940 | } |
935 | else MaxStickRoll--; |
941 | else MaxStickRoll--; |
936 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
942 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
937 | 943 | ||
938 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
944 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
939 | // Looping? |
945 | // Looping? |
940 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
941 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
947 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
942 | else |
948 | else |
943 | { |
949 | { |
944 | { |
950 | { |
945 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
951 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
946 | } |
952 | } |
947 | } |
953 | } |
948 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
954 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
949 | else |
955 | else |
950 | { |
956 | { |
951 | if(Looping_Rechts) // Hysterese |
957 | if(Looping_Rechts) // Hysterese |
952 | { |
958 | { |
953 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
959 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
954 | } |
960 | } |
955 | } |
961 | } |
956 | 962 | ||
957 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
963 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
958 | else |
964 | else |
959 | { |
965 | { |
960 | if(Looping_Oben) // Hysterese |
966 | if(Looping_Oben) // Hysterese |
961 | { |
967 | { |
962 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
968 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
963 | } |
969 | } |
964 | } |
970 | } |
965 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
971 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
966 | else |
972 | else |
967 | { |
973 | { |
968 | if(Looping_Unten) // Hysterese |
974 | if(Looping_Unten) // Hysterese |
969 | { |
975 | { |
970 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
976 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
971 | } |
977 | } |
972 | } |
978 | } |
973 | 979 | ||
974 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
980 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
975 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
981 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
976 | } // Ende neue Funken-Werte |
982 | } // Ende neue Funken-Werte |
977 | 983 | ||
978 | if(Looping_Roll || Looping_Nick) |
984 | if(Looping_Roll || Looping_Nick) |
979 | { |
985 | { |
980 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
986 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
981 | TrichterFlug = 1; |
987 | TrichterFlug = 1; |
982 | } |
988 | } |
983 | 989 | ||
984 | 990 | ||
985 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
991 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
986 | // Bei Empfangsausfall im Flug |
992 | // Bei Empfangsausfall im Flug |
987 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
988 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
994 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
989 | { |
995 | { |
990 | StickNick = -GPS_Nick; |
996 | StickNick = -GPS_Nick; |
991 | StickRoll = -GPS_Roll; |
997 | StickRoll = -GPS_Roll; |
992 | StickGas = StickGasHover; |
998 | StickGas = StickGasHover; |
993 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
999 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
994 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1000 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
995 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1001 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
996 | Parameter_HoehenSchalter = 200; // switch on |
1002 | Parameter_HoehenSchalter = 200; // switch on |
997 | } |
1003 | } |
998 | else |
1004 | else |
999 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1005 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1000 | { |
1006 | { |
1001 | StickGier = 0; |
1007 | StickGier = 0; |
1002 | StickNick = 0; |
1008 | StickNick = 0; |
1003 | StickRoll = 0; |
1009 | StickRoll = 0; |
1004 | GyroFaktor = 90; |
1010 | GyroFaktor = 90; |
1005 | IntegralFaktor = 120; |
1011 | IntegralFaktor = 120; |
1006 | GyroFaktorGier = 90; |
1012 | GyroFaktorGier = 90; |
1007 | IntegralFaktorGier = 120; |
1013 | IntegralFaktorGier = 120; |
1008 | Looping_Roll = 0; |
1014 | Looping_Roll = 0; |
1009 | Looping_Nick = 0; |
1015 | Looping_Nick = 0; |
1010 | } |
1016 | } |
1011 | 1017 | ||
1012 | 1018 | ||
1013 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1019 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1014 | // Integrale auf ACC-Signal abgleichen |
1020 | // Integrale auf ACC-Signal abgleichen |
1015 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1021 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1016 | #define ABGLEICH_ANZAHL 256L |
1022 | #define ABGLEICH_ANZAHL 256L |
1017 | 1023 | ||
1018 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1024 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1019 | MittelIntegralRoll += IntegralRoll; |
1025 | MittelIntegralRoll += IntegralRoll; |
1020 | MittelIntegralNick2 += IntegralNick2; |
1026 | MittelIntegralNick2 += IntegralNick2; |
1021 | MittelIntegralRoll2 += IntegralRoll2; |
1027 | MittelIntegralRoll2 += IntegralRoll2; |
1022 | 1028 | ||
1023 | if(Looping_Nick || Looping_Roll) |
1029 | if(Looping_Nick || Looping_Roll) |
1024 | { |
1030 | { |
1025 | IntegralAccNick = 0; |
1031 | IntegralAccNick = 0; |
1026 | IntegralAccRoll = 0; |
1032 | IntegralAccRoll = 0; |
1027 | MittelIntegralNick = 0; |
1033 | MittelIntegralNick = 0; |
1028 | MittelIntegralRoll = 0; |
1034 | MittelIntegralRoll = 0; |
1029 | MittelIntegralNick2 = 0; |
1035 | MittelIntegralNick2 = 0; |
1030 | MittelIntegralRoll2 = 0; |
1036 | MittelIntegralRoll2 = 0; |
1031 | Mess_IntegralNick2 = Mess_IntegralNick; |
1037 | Mess_IntegralNick2 = Mess_IntegralNick; |
1032 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1038 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1033 | ZaehlMessungen = 0; |
1039 | ZaehlMessungen = 0; |
1034 | LageKorrekturNick = 0; |
1040 | LageKorrekturNick = 0; |
1035 | LageKorrekturRoll = 0; |
1041 | LageKorrekturRoll = 0; |
1036 | } |
1042 | } |
1037 | 1043 | ||
1038 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1044 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1039 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1045 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1040 | { |
1046 | { |
1041 | long tmp_long, tmp_long2; |
1047 | long tmp_long, tmp_long2; |
1042 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1048 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1043 | { |
1049 | { |
1044 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1050 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1045 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1051 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1046 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1052 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1047 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1053 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1048 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1054 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1049 | { |
1055 | { |
1050 | tmp_long /= 2; |
1056 | tmp_long /= 2; |
1051 | tmp_long2 /= 2; |
1057 | tmp_long2 /= 2; |
1052 | } |
1058 | } |
1053 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1059 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1054 | { |
1060 | { |
1055 | tmp_long /= 3; |
1061 | tmp_long /= 3; |
1056 | tmp_long2 /= 3; |
1062 | tmp_long2 /= 3; |
1057 | } |
1063 | } |
1058 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1064 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1059 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1065 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1060 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1066 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1061 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1067 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1062 | } |
1068 | } |
1063 | else |
1069 | else |
1064 | { |
1070 | { |
1065 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1071 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1066 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1072 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1067 | tmp_long /= 16; |
1073 | tmp_long /= 16; |
1068 | tmp_long2 /= 16; |
1074 | tmp_long2 /= 16; |
1069 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1075 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1070 | { |
1076 | { |
1071 | tmp_long /= 3; |
1077 | tmp_long /= 3; |
1072 | tmp_long2 /= 3; |
1078 | tmp_long2 /= 3; |
1073 | } |
1079 | } |
1074 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1080 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1075 | { |
1081 | { |
1076 | tmp_long /= 3; |
1082 | tmp_long /= 3; |
1077 | tmp_long2 /= 3; |
1083 | tmp_long2 /= 3; |
1078 | } |
1084 | } |
1079 | KompassFusion = 25; |
1085 | KompassFusion = 25; |
1080 | #define AUSGLEICH 32 |
1086 | #define AUSGLEICH 32 |
1081 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1087 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1082 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1088 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1083 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1089 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1084 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1090 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1085 | } |
1091 | } |
1086 | 1092 | ||
1087 | Mess_IntegralNick -= tmp_long; |
1093 | Mess_IntegralNick -= tmp_long; |
1088 | Mess_IntegralRoll -= tmp_long2; |
1094 | Mess_IntegralRoll -= tmp_long2; |
1089 | } |
1095 | } |
1090 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1096 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1091 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1097 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1092 | { |
1098 | { |
1093 | static int cnt = 0; |
1099 | static int cnt = 0; |
1094 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1100 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1095 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1101 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1096 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1102 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1097 | { |
1103 | { |
1098 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1104 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1099 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1105 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1100 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1106 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1101 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1107 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1102 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1108 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1103 | #define MAX_I 0 |
1109 | #define MAX_I 0 |
1104 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1110 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1105 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1111 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1106 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1112 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1107 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1113 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1108 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1114 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1109 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1115 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1110 | 1116 | ||
1111 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1117 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1112 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1118 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1113 | 1119 | ||
1114 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1120 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1115 | { |
1121 | { |
1116 | LageKorrekturNick /= 2; |
1122 | LageKorrekturNick /= 2; |
1117 | LageKorrekturRoll /= 2; |
1123 | LageKorrekturRoll /= 2; |
1118 | } |
1124 | } |
1119 | 1125 | ||
1120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1126 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1121 | // Gyro-Drift ermitteln |
1127 | // Gyro-Drift ermitteln |
1122 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1128 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1123 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1129 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1124 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1130 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1125 | tmp_long = IntegralNick2 - IntegralNick; |
1131 | tmp_long = IntegralNick2 - IntegralNick; |
1126 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1132 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1127 | 1133 | ||
1128 | IntegralFehlerNick = tmp_long; |
1134 | IntegralFehlerNick = tmp_long; |
1129 | IntegralFehlerRoll = tmp_long2; |
1135 | IntegralFehlerRoll = tmp_long2; |
1130 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1136 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1131 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1137 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1132 | 1138 | ||
1133 | if(EE_Parameter.Driftkomp) |
1139 | if(EE_Parameter.Driftkomp) |
1134 | { |
1140 | { |
1135 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1141 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1136 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1142 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1137 | } |
1143 | } |
1138 | GierGyroFehler = 0; |
1144 | GierGyroFehler = 0; |
1139 | 1145 | ||
1140 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1146 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1141 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1147 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1142 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1148 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1143 | #define BEWEGUNGS_LIMIT 20000 |
1149 | #define BEWEGUNGS_LIMIT 20000 |
1144 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1150 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1145 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1151 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1146 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1152 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1147 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1153 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1148 | { |
1154 | { |
1149 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1155 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1150 | { |
1156 | { |
1151 | if(last_n_p) |
1157 | if(last_n_p) |
1152 | { |
1158 | { |
1153 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1159 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1154 | ausgleichNick = IntegralFehlerNick / 8; |
1160 | ausgleichNick = IntegralFehlerNick / 8; |
1155 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1161 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1156 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1162 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1157 | } |
1163 | } |
1158 | else last_n_p = 1; |
1164 | else last_n_p = 1; |
1159 | } else last_n_p = 0; |
1165 | } else last_n_p = 0; |
1160 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1166 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1161 | { |
1167 | { |
1162 | if(last_n_n) |
1168 | if(last_n_n) |
1163 | { |
1169 | { |
1164 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1170 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1165 | ausgleichNick = IntegralFehlerNick / 8; |
1171 | ausgleichNick = IntegralFehlerNick / 8; |
1166 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1172 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1167 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1173 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1168 | } |
1174 | } |
1169 | else last_n_n = 1; |
1175 | else last_n_n = 1; |
1170 | } else last_n_n = 0; |
1176 | } else last_n_n = 0; |
1171 | } |
1177 | } |
1172 | else |
1178 | else |
1173 | { |
1179 | { |
1174 | cnt = 0; |
1180 | cnt = 0; |
1175 | KompassSignalSchlecht = 100; |
1181 | KompassSignalSchlecht = 100; |
1176 | } |
1182 | } |
1177 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1183 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1178 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1184 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1179 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1185 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1180 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1186 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1181 | 1187 | ||
1182 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1188 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1183 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1189 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1184 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1190 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1185 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1191 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1186 | { |
1192 | { |
1187 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1193 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1188 | { |
1194 | { |
1189 | if(last_r_p) |
1195 | if(last_r_p) |
1190 | { |
1196 | { |
1191 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1197 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1192 | ausgleichRoll = IntegralFehlerRoll / 8; |
1198 | ausgleichRoll = IntegralFehlerRoll / 8; |
1193 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1199 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1194 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1200 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1195 | } |
1201 | } |
1196 | else last_r_p = 1; |
1202 | else last_r_p = 1; |
1197 | } else last_r_p = 0; |
1203 | } else last_r_p = 0; |
1198 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1204 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1199 | { |
1205 | { |
1200 | if(last_r_n) |
1206 | if(last_r_n) |
1201 | { |
1207 | { |
1202 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1208 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1203 | ausgleichRoll = IntegralFehlerRoll / 8; |
1209 | ausgleichRoll = IntegralFehlerRoll / 8; |
1204 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1210 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1205 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1211 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1206 | } |
1212 | } |
1207 | else last_r_n = 1; |
1213 | else last_r_n = 1; |
1208 | } else last_r_n = 0; |
1214 | } else last_r_n = 0; |
1209 | } else |
1215 | } else |
1210 | { |
1216 | { |
1211 | cnt = 0; |
1217 | cnt = 0; |
1212 | KompassSignalSchlecht = 100; |
1218 | KompassSignalSchlecht = 100; |
1213 | } |
1219 | } |
1214 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1220 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1215 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1221 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1216 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1222 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1217 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1223 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1218 | } |
1224 | } |
1219 | else |
1225 | else |
1220 | { |
1226 | { |
1221 | LageKorrekturRoll = 0; |
1227 | LageKorrekturRoll = 0; |
1222 | LageKorrekturNick = 0; |
1228 | LageKorrekturNick = 0; |
1223 | TrichterFlug = 0; |
1229 | TrichterFlug = 0; |
1224 | } |
1230 | } |
1225 | 1231 | ||
1226 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1232 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1227 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1233 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1228 | MittelIntegralNick_Alt = MittelIntegralNick; |
1234 | MittelIntegralNick_Alt = MittelIntegralNick; |
1229 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1235 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1230 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1231 | IntegralAccNick = 0; |
1237 | IntegralAccNick = 0; |
1232 | IntegralAccRoll = 0; |
1238 | IntegralAccRoll = 0; |
1233 | IntegralAccZ = 0; |
1239 | IntegralAccZ = 0; |
1234 | MittelIntegralNick = 0; |
1240 | MittelIntegralNick = 0; |
1235 | MittelIntegralRoll = 0; |
1241 | MittelIntegralRoll = 0; |
1236 | MittelIntegralNick2 = 0; |
1242 | MittelIntegralNick2 = 0; |
1237 | MittelIntegralRoll2 = 0; |
1243 | MittelIntegralRoll2 = 0; |
1238 | ZaehlMessungen = 0; |
1244 | ZaehlMessungen = 0; |
1239 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1245 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1240 | 1246 | ||
1241 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1242 | // Gieren |
1248 | // Gieren |
1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1244 | if(abs(StickGier) > 3) // war 15 |
1250 | if(abs(StickGier) > 3) // war 15 |
1245 | { |
1251 | { |
1246 | // KompassSignalSchlecht = 1000; |
1252 | // KompassSignalSchlecht = 1000; |
1247 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1253 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1248 | { |
1254 | { |
1249 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1255 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1250 | }; |
1256 | }; |
1251 | } |
1257 | } |
1252 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1258 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1253 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1259 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1254 | tmp_int += CompassGierSetpoint; |
1260 | tmp_int += CompassGierSetpoint; |
1255 | sollGier = tmp_int; |
1261 | sollGier = tmp_int; |
1256 | Mess_Integral_Gier -= tmp_int; |
1262 | Mess_Integral_Gier -= tmp_int; |
1257 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1263 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1258 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1264 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1259 | 1265 | ||
1260 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1266 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1261 | // Kompass |
1267 | // Kompass |
1262 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1268 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1263 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1269 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1264 | { |
1270 | { |
1265 | if(CalculateCompassTimer-- == 1) |
1271 | if(CalculateCompassTimer-- == 1) |
1266 | { |
1272 | { |
1267 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1273 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1268 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1274 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1269 | // max. Korrekturwert schätzen |
1275 | // max. Korrekturwert schätzen |
1270 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1276 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1271 | v = abs(IntegralRoll /512); |
1277 | v = abs(IntegralRoll /512); |
1272 | if(v > w) w = v; // grösste Neigung ermitteln |
1278 | if(v > w) w = v; // grösste Neigung ermitteln |
1273 | // korrektur = w / 4 + 1; |
1279 | // korrektur = w / 4 + 1; |
1274 | korrektur = w / 8 + 2; |
1280 | korrektur = w / 8 + 2; |
1275 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1281 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1276 | // Kompassfehlerwert bestimmen |
1282 | // Kompassfehlerwert bestimmen |
1277 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1283 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1278 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1284 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1279 | // Kompasswert einloggen |
1285 | // Kompasswert einloggen |
1280 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1286 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1281 | else |
1287 | else |
1282 | if(w < 25) |
1288 | if(w < 25) |
1283 | { |
1289 | { |
1284 | GierGyroFehler += fehler; |
1290 | GierGyroFehler += fehler; |
1285 | if(NeueKompassRichtungMerken) |
1291 | if(NeueKompassRichtungMerken) |
1286 | { |
1292 | { |
1287 | if(--NeueKompassRichtungMerken == 0) |
1293 | if(--NeueKompassRichtungMerken == 0) |
1288 | { |
1294 | { |
1289 | KompassSollWert = ErsatzKompassInGrad; |
1295 | KompassSollWert = ErsatzKompassInGrad; |
1290 | } |
1296 | } |
1291 | } |
1297 | } |
1292 | } |
1298 | } |
1293 | // Kompass fusionieren |
1299 | // Kompass fusionieren |
1294 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1300 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1295 | // MK Gieren |
1301 | // MK Gieren |
1296 | if(!NeueKompassRichtungMerken) |
1302 | if(!NeueKompassRichtungMerken) |
1297 | { |
1303 | { |
1298 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1304 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1299 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1305 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1300 | CompassGierSetpoint = v / 16; |
1306 | CompassGierSetpoint = v / 16; |
1301 | } |
1307 | } |
1302 | else CompassGierSetpoint = 0; |
1308 | else CompassGierSetpoint = 0; |
1303 | } // CalculateCompassTimer |
1309 | } // CalculateCompassTimer |
1304 | } |
1310 | } |
1305 | else CompassGierSetpoint = 0; |
1311 | else CompassGierSetpoint = 0; |
1306 | 1312 | ||
1307 | //DebugOut.Analog[16] = KompassFusion; |
1313 | //DebugOut.Analog[16] = KompassFusion; |
1308 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1314 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1309 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1315 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1310 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1316 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1311 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1317 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1312 | 1318 | ||
1313 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1319 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1314 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1320 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1315 | 1321 | ||
1316 | #define TRIM_MAX 200 |
1322 | #define TRIM_MAX 200 |
1317 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1323 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1318 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1324 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1319 | 1325 | ||
1320 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1326 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1321 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1327 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1322 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1328 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1323 | 1329 | ||
1324 | // Maximalwerte abfangen |
1330 | // Maximalwerte abfangen |
1325 | #define MAX_SENSOR (4096) |
1331 | #define MAX_SENSOR (4096) |
1326 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1332 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1327 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1333 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1328 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1334 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1329 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1335 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1330 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1336 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1331 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1337 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1332 | 1338 | ||
1333 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1339 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1334 | // Höhenregelung |
1340 | // Höhenregelung |
1335 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1341 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1336 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1342 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1337 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1343 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1338 | GasMischanteil *= STICK_GAIN; |
1344 | GasMischanteil *= STICK_GAIN; |
1339 | // if height control is activated |
1345 | // if height control is activated |
1340 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1346 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1341 | { |
1347 | { |
1342 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1348 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1343 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1349 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1344 | 1350 | ||
1345 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1351 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1346 | #define OPA_OFFSET_STEP 15 |
1352 | #define OPA_OFFSET_STEP 15 |
1347 | #else |
1353 | #else |
1348 | #define OPA_OFFSET_STEP 10 |
1354 | #define OPA_OFFSET_STEP 10 |
1349 | #endif |
1355 | #endif |
1350 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1356 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1351 | static int HeightTrimming = 0; // rate for change of height setpoint |
1357 | static int HeightTrimming = 0; // rate for change of height setpoint |
1352 | static int FilterHCGas = 0; |
1358 | static int FilterHCGas = 0; |
1353 | static unsigned long HoverGasFilter = 0; |
1359 | static unsigned long HoverGasFilter = 0; |
1354 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1360 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1355 | int CosAttitude; // for projection of hoover gas |
1361 | int CosAttitude; // for projection of hoover gas |
1356 | 1362 | ||
1357 | // get the current hooverpoint |
1363 | // get the current hooverpoint |
1358 | DebugOut.Analog[21] = HoverGas; |
1364 | DebugOut.Analog[21] = HoverGas; |
1359 | 1365 | ||
1360 | // Expand the measurement |
1366 | // Expand the measurement |
1361 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1367 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1362 | if(!BaroExpandActive) |
1368 | if(!BaroExpandActive) |
1363 | { |
1369 | { |
1364 | if(MessLuftdruck > 920) |
1370 | if(MessLuftdruck > 920) |
1365 | { // increase offset |
1371 | { // increase offset |
1366 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1372 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1367 | { |
1373 | { |
1368 | ExpandBaro -= 1; |
1374 | ExpandBaro -= 1; |
1369 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1375 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1370 | beeptime = 300; |
1376 | beeptime = 300; |
1371 | BaroExpandActive = 350; |
1377 | BaroExpandActive = 350; |
1372 | } |
1378 | } |
1373 | else |
1379 | else |
1374 | { |
1380 | { |
1375 | BaroAtLowerLimit = 1; |
1381 | BaroAtLowerLimit = 1; |
1376 | } |
1382 | } |
1377 | } |
1383 | } |
1378 | // measurement of air pressure close to lower limit and |
1384 | // measurement of air pressure close to lower limit and |
1379 | else |
1385 | else |
1380 | if(MessLuftdruck < 100) |
1386 | if(MessLuftdruck < 100) |
1381 | { // decrease offset |
1387 | { // decrease offset |
1382 | if(OCR0A > OPA_OFFSET_STEP) |
1388 | if(OCR0A > OPA_OFFSET_STEP) |
1383 | { |
1389 | { |
1384 | ExpandBaro += 1; |
1390 | ExpandBaro += 1; |
1385 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1391 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1386 | beeptime = 300; |
1392 | beeptime = 300; |
1387 | BaroExpandActive = 350; |
1393 | BaroExpandActive = 350; |
1388 | } |
1394 | } |
1389 | else |
1395 | else |
1390 | { |
1396 | { |
1391 | BaroAtUpperLimit = 1; |
1397 | BaroAtUpperLimit = 1; |
1392 | } |
1398 | } |
1393 | } |
1399 | } |
1394 | else |
1400 | else |
1395 | { |
1401 | { |
1396 | BaroAtUpperLimit = 0; |
1402 | BaroAtUpperLimit = 0; |
1397 | BaroAtLowerLimit = 0; |
1403 | BaroAtLowerLimit = 0; |
1398 | } |
1404 | } |
1399 | } |
1405 | } |
1400 | else // delay, because of expanding the Baro-Range |
1406 | else // delay, because of expanding the Baro-Range |
1401 | { |
1407 | { |
1402 | // now clear the D-values |
1408 | // now clear the D-values |
1403 | SummenHoehe = HoehenWert * SM_FILTER; |
1409 | SummenHoehe = HoehenWert * SM_FILTER; |
1404 | VarioMeter = 0; |
1410 | VarioMeter = 0; |
1405 | BaroExpandActive--; |
1411 | BaroExpandActive--; |
1406 | } |
1412 | } |
1407 | 1413 | ||
1408 | // if height control is activated by an rc channel |
1414 | // if height control is activated by an rc channel |
1409 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1415 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1410 | { // check if parameter is less than activation threshold |
1416 | { // check if parameter is less than activation threshold |
1411 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1417 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1412 | { //height control not active |
1418 | { //height control not active |
1413 | if(!delay--) |
1419 | if(!delay--) |
1414 | { |
1420 | { |
1415 | HoehenReglerAktiv = 0; // disable height control |
1421 | HoehenReglerAktiv = 0; // disable height control |
1416 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1422 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1417 | delay = 1; |
1423 | delay = 1; |
1418 | } |
1424 | } |
1419 | } |
1425 | } |
1420 | else |
1426 | else |
1421 | { //height control is activated |
1427 | { //height control is activated |
1422 | HoehenReglerAktiv = 1; // enable height control |
1428 | HoehenReglerAktiv = 1; // enable height control |
1423 | delay = 200; |
1429 | delay = 200; |
1424 | } |
1430 | } |
1425 | } |
1431 | } |
1426 | else // no switchable height control |
1432 | else // no switchable height control |
1427 | { |
1433 | { |
1428 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1434 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1429 | HoehenReglerAktiv = 1; |
1435 | HoehenReglerAktiv = 1; |
1430 | } |
1436 | } |
1431 | 1437 | ||
1432 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1438 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1433 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1439 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1434 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1440 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1435 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1441 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1436 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1442 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1437 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1443 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1438 | VarioCharacter = ' '; |
1444 | VarioCharacter = ' '; |
1439 | AltitudeSetpointTrimming = 0; |
1445 | AltitudeSetpointTrimming = 0; |
1440 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1446 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1441 | { |
1447 | { |
1442 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1448 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1443 | // Holger original version |
1449 | // Holger original version |
1444 | // start of height control algorithm |
1450 | // start of height control algorithm |
1445 | // the height control is only an attenuation of the actual gas stick. |
1451 | // the height control is only an attenuation of the actual gas stick. |
1446 | // I.e. it will work only if the gas stick is higher than the hover gas |
1452 | // I.e. it will work only if the gas stick is higher than the hover gas |
1447 | // and the hover height will be allways larger than height setpoint. |
1453 | // and the hover height will be allways larger than height setpoint. |
1448 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1454 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1449 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1455 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1450 | { // old version |
1456 | { // old version |
1451 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1457 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1452 | HeightTrimming = 0; |
1458 | HeightTrimming = 0; |
1453 | AltitudeSetpointTrimming = 0; |
1459 | AltitudeSetpointTrimming = 0; |
1454 | // set both flags to indicate no vario mode |
1460 | // set both flags to indicate no vario mode |
1455 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1461 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1456 | } |
1462 | } |
1457 | else |
1463 | else |
1458 | { |
1464 | { |
1459 | // alternative height control |
1465 | // alternative height control |
1460 | // PD-Control with respect to hoover point |
1466 | // PD-Control with respect to hoover point |
1461 | // the thrust loss out of horizontal attitude is compensated |
1467 | // the thrust loss out of horizontal attitude is compensated |
1462 | // the setpoint will be fine adjusted with the gas stick position |
1468 | // the setpoint will be fine adjusted with the gas stick position |
1463 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1469 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1464 | { // gas stick is above hoover point |
1470 | { // gas stick is above hoover point |
1465 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1471 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1466 | { |
1472 | { |
1467 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1473 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1468 | { |
1474 | { |
1469 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1475 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1470 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1476 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1471 | } |
1477 | } |
1472 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1478 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1473 | // Limit the maximum Altitude |
1479 | // Limit the maximum Altitude |
1474 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1480 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1475 | else |
1481 | else |
1476 | { |
1482 | { |
1477 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1483 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1478 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1484 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1479 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1485 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1480 | VarioCharacter = '+'; |
1486 | VarioCharacter = '+'; |
1481 | } |
1487 | } |
1482 | WaypointTrimming = 0; |
1488 | WaypointTrimming = 0; |
1483 | } // gas stick is below hoover point |
1489 | } // gas stick is below hoover point |
1484 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1490 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1485 | { |
1491 | { |
1486 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1492 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1487 | { |
1493 | { |
1488 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1494 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1489 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1495 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1490 | } |
1496 | } |
1491 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1497 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1492 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1498 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1493 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1499 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1494 | VarioCharacter = '-'; |
1500 | VarioCharacter = '-'; |
1495 | WaypointTrimming = 0; |
1501 | WaypointTrimming = 0; |
1496 | } |
1502 | } |
1497 | else // Gas Stick in Hover Range |
1503 | else // Gas Stick in Hover Range |
1498 | { |
1504 | { |
1499 | VarioCharacter = '='; |
1505 | VarioCharacter = '='; |
1500 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1506 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1501 | { |
1507 | { |
1502 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1508 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1503 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1509 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1504 | //HeightTrimming += FromNC_AltitudeSpeed; |
1510 | //HeightTrimming += FromNC_AltitudeSpeed; |
1505 | WaypointTrimming = 10; |
1511 | WaypointTrimming = 10; |
1506 | VarioCharacter = '^'; |
1512 | VarioCharacter = '^'; |
1507 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1513 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1508 | { |
1514 | { |
1509 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1515 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1510 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1516 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1511 | } |
1517 | } |
1512 | } |
1518 | } |
1513 | else |
1519 | else |
1514 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1520 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1515 | { |
1521 | { |
1516 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1522 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1517 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1523 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1518 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1524 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1519 | WaypointTrimming = -10; |
1525 | WaypointTrimming = -10; |
1520 | VarioCharacter = 'v'; |
1526 | VarioCharacter = 'v'; |
1521 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1527 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1522 | { |
1528 | { |
1523 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1529 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1524 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1530 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1525 | } |
1531 | } |
1526 | } |
1532 | } |
1527 | else |
1533 | else |
1528 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1534 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1529 | { |
1535 | { |
1530 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1536 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1531 | else WaypointTrimming = 0; |
1537 | else WaypointTrimming = 0; |
1532 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1538 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1533 | HeightTrimming = 0; |
1539 | HeightTrimming = 0; |
1534 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1540 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1535 | if(!StartTrigger && HoehenWert > 50) |
1541 | if(!StartTrigger && HoehenWert > 50) |
1536 | { |
1542 | { |
1537 | StartTrigger = 1; |
1543 | StartTrigger = 1; |
1538 | } |
1544 | } |
1539 | } |
1545 | } |
1540 | } |
1546 | } |
1541 | // Trim height set point |
1547 | // Trim height set point |
1542 | HeightTrimming += AltitudeSetpointTrimming; |
1548 | HeightTrimming += AltitudeSetpointTrimming; |
1543 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1549 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1544 | { |
1550 | { |
1545 | if(WaypointTrimming) |
1551 | if(WaypointTrimming) |
1546 | { |
1552 | { |
1547 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1553 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1548 | else SollHoehe += WaypointTrimming; |
1554 | else SollHoehe += WaypointTrimming; |
1549 | } |
1555 | } |
1550 | else |
1556 | else |
1551 | { |
1557 | { |
1552 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1558 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1553 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1559 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1554 | } |
1560 | } |
1555 | HeightTrimming = 0; |
1561 | HeightTrimming = 0; |
1556 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1562 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1557 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1563 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1558 | //update hoover gas stick value when setpoint is shifted |
1564 | //update hoover gas stick value when setpoint is shifted |
1559 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1565 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1560 | { |
1566 | { |
1561 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1567 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1562 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1568 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1563 | if(StickGasHover < 70) StickGasHover = 70; |
1569 | if(StickGasHover < 70) StickGasHover = 70; |
1564 | else if(StickGasHover > 150) StickGasHover = 150; |
1570 | else if(StickGasHover > 150) StickGasHover = 150; |
1565 | } |
1571 | } |
1566 | } |
1572 | } |
1567 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1573 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1568 | } //if FCFlags & MKFCFLAG_FLY |
1574 | } //if FCFlags & MKFCFLAG_FLY |
1569 | else |
1575 | else |
1570 | { |
1576 | { |
1571 | SollHoehe = HoehenWert - 400; |
1577 | SollHoehe = HoehenWert - 400; |
1572 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1578 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1573 | else StickGasHover = 120; |
1579 | else StickGasHover = 120; |
1574 | HoverGas = GasMischanteil; |
1580 | HoverGas = GasMischanteil; |
1575 | VarioCharacter = '.'; |
1581 | VarioCharacter = '.'; |
1576 | } |
1582 | } |
1577 | HCGas = HoverGas; // take hover gas (neutral point) |
1583 | HCGas = HoverGas; // take hover gas (neutral point) |
1578 | } |
1584 | } |
1579 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1585 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1580 | { |
1586 | { |
1581 | // from this point the Heigth Control Algorithm is identical for both versions |
1587 | // from this point the Heigth Control Algorithm is identical for both versions |
1582 | if(BaroExpandActive) // baro range expanding active |
1588 | if(BaroExpandActive) // baro range expanding active |
1583 | { |
1589 | { |
1584 | HCGas = HoverGas; // hover while expanding baro adc range |
1590 | HCGas = HoverGas; // hover while expanding baro adc range |
1585 | HeightDeviation = 0; |
1591 | HeightDeviation = 0; |
1586 | } // EOF // baro range expanding active |
1592 | } // EOF // baro range expanding active |
1587 | else // valid data from air pressure sensor |
1593 | else // valid data from air pressure sensor |
1588 | { |
1594 | { |
1589 | // ------------------------- P-Part ---------------------------- |
1595 | // ------------------------- P-Part ---------------------------- |
1590 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1596 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1591 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1597 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1592 | HeightDeviation = (int)(tmp_long); // positive when too high |
1598 | HeightDeviation = (int)(tmp_long); // positive when too high |
1593 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1599 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1594 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1600 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1595 | GasReduction = tmp_long; |
1601 | GasReduction = tmp_long; |
1596 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1602 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1597 | tmp_int = VarioMeter / 8; |
1603 | tmp_int = VarioMeter / 8; |
1598 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1604 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1599 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1605 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1600 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1606 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1601 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1607 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1602 | else |
1608 | else |
1603 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1609 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1604 | GasReduction += tmp_int; |
1610 | GasReduction += tmp_int; |
1605 | } // EOF no baro range expanding |
1611 | } // EOF no baro range expanding |
1606 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1612 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1607 | if(Parameter_Hoehe_ACC_Wirkung) |
1613 | if(Parameter_Hoehe_ACC_Wirkung) |
1608 | { |
1614 | { |
1609 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1615 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1610 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1616 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1611 | GasReduction += tmp_long; |
1617 | GasReduction += tmp_long; |
1612 | } |
1618 | } |
1613 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1619 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1614 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1620 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1615 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1621 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1616 | GasReduction += tmp_int; |
1622 | GasReduction += tmp_int; |
1617 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1623 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1618 | // ------------------------ ---------------------------------- |
1624 | // ------------------------ ---------------------------------- |
1619 | HCGas -= GasReduction; |
1625 | HCGas -= GasReduction; |
1620 | // limit deviation from hoover point within the target region |
1626 | // limit deviation from hoover point within the target region |
1621 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1627 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1622 | { |
1628 | { |
1623 | unsigned int tmp; |
1629 | unsigned int tmp; |
1624 | tmp = abs(HeightDeviation); |
1630 | tmp = abs(HeightDeviation); |
1625 | if(tmp <= 60) |
1631 | if(tmp <= 60) |
1626 | { |
1632 | { |
1627 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1633 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1628 | } |
1634 | } |
1629 | else |
1635 | else |
1630 | { |
1636 | { |
1631 | tmp = (tmp - 60) / 32; |
1637 | tmp = (tmp - 60) / 32; |
1632 | if(tmp > 15) tmp = 15; |
1638 | if(tmp > 15) tmp = 15; |
1633 | if(HeightDeviation > 0) |
1639 | if(HeightDeviation > 0) |
1634 | { |
1640 | { |
1635 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1641 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1636 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1642 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1637 | } |
1643 | } |
1638 | else |
1644 | else |
1639 | { |
1645 | { |
1640 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1646 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1641 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1647 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1642 | } |
1648 | } |
1643 | } |
1649 | } |
1644 | } |
1650 | } |
1645 | // strech control output by inverse attitude projection 1/cos |
1651 | // strech control output by inverse attitude projection 1/cos |
1646 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1652 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1647 | tmp_long2 = (int32_t)HCGas; |
1653 | tmp_long2 = (int32_t)HCGas; |
1648 | tmp_long2 *= 8192L; |
1654 | tmp_long2 *= 8192L; |
1649 | tmp_long2 /= CosAttitude; |
1655 | tmp_long2 /= CosAttitude; |
1650 | HCGas = (int16_t)tmp_long2; |
1656 | HCGas = (int16_t)tmp_long2; |
1651 | // update height control gas averaging |
1657 | // update height control gas averaging |
1652 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1658 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1653 | // limit height control gas pd-control output |
1659 | // limit height control gas pd-control output |
1654 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1660 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1655 | // set GasMischanteil to HeightControlGasFilter |
1661 | // set GasMischanteil to HeightControlGasFilter |
1656 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1662 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1657 | { // old version |
1663 | { // old version |
1658 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1664 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1659 | GasMischanteil = FilterHCGas; |
1665 | GasMischanteil = FilterHCGas; |
1660 | } |
1666 | } |
1661 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1667 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1662 | } |
1668 | } |
1663 | }// EOF height control active |
1669 | }// EOF height control active |
1664 | else // HC not active |
1670 | else // HC not active |
1665 | { |
1671 | { |
1666 | //update hoover gas stick value when HC is not active |
1672 | //update hoover gas stick value when HC is not active |
1667 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1673 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1668 | { |
1674 | { |
1669 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1675 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1670 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1676 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1671 | } |
1677 | } |
1672 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1678 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1673 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1679 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1674 | FilterHCGas = GasMischanteil; |
1680 | FilterHCGas = GasMischanteil; |
1675 | // set both flags to indicate no vario mode |
1681 | // set both flags to indicate no vario mode |
1676 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1682 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1677 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1683 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1678 | } |
1684 | } |
1679 | // Hover gas estimation by averaging gas control output on small z-velocities |
1685 | // Hover gas estimation by averaging gas control output on small z-velocities |
1680 | // this is done only if height contol option is selected in global config and aircraft is flying |
1686 | // this is done only if height contol option is selected in global config and aircraft is flying |
1681 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1687 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1682 | { |
1688 | { |
1683 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1689 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1684 | if(StartTrigger == 1) StartTrigger = 2; |
1690 | if(StartTrigger == 1) StartTrigger = 2; |
1685 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1691 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1686 | tmp_long2 *= CosAttitude; // apply attitude projection |
1692 | tmp_long2 *= CosAttitude; // apply attitude projection |
1687 | tmp_long2 /= 8192; |
1693 | tmp_long2 /= 8192; |
1688 | // average vertical projected thrust |
1694 | // average vertical projected thrust |
1689 | if(modell_fliegt < 4000) // the first 8 seconds |
1695 | if(modell_fliegt < 4000) // the first 8 seconds |
1690 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1696 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1691 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1697 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1692 | HoverGasFilter += 16L * tmp_long2; |
1698 | HoverGasFilter += 16L * tmp_long2; |
1693 | } |
1699 | } |
1694 | if(modell_fliegt < 8000) // the first 16 seconds |
1700 | if(modell_fliegt < 8000) // the first 16 seconds |
1695 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1701 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1696 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1702 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1697 | HoverGasFilter += 4L * tmp_long2; |
1703 | HoverGasFilter += 4L * tmp_long2; |
1698 | } |
1704 | } |
1699 | else //later |
1705 | else //later |
1700 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1706 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1701 | { |
1707 | { |
1702 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1708 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1703 | HoverGasFilter += tmp_long2; |
1709 | HoverGasFilter += tmp_long2; |
1704 | } |
1710 | } |
1705 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1711 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1706 | if(EE_Parameter.Hoehe_HoverBand) |
1712 | if(EE_Parameter.Hoehe_HoverBand) |
1707 | { |
1713 | { |
1708 | int16_t band; |
1714 | int16_t band; |
1709 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1715 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1710 | HoverGasMin = HoverGas - band; |
1716 | HoverGasMin = HoverGas - band; |
1711 | HoverGasMax = HoverGas + band; |
1717 | HoverGasMax = HoverGas + band; |
1712 | } |
1718 | } |
1713 | else |
1719 | else |
1714 | { // no limit |
1720 | { // no limit |
1715 | HoverGasMin = 0; |
1721 | HoverGasMin = 0; |
1716 | HoverGasMax = 1023; |
1722 | HoverGasMax = 1023; |
1717 | } |
1723 | } |
1718 | } |
1724 | } |
1719 | else |
1725 | else |
1720 | { |
1726 | { |
1721 | StartTrigger = 0; |
1727 | StartTrigger = 0; |
1722 | HoverGasFilter = 0; |
1728 | HoverGasFilter = 0; |
1723 | HoverGas = 0; |
1729 | HoverGas = 0; |
1724 | } |
1730 | } |
1725 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1731 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1726 | else |
1732 | else |
1727 | { |
1733 | { |
1728 | // set undefined state to indicate vario off |
1734 | // set undefined state to indicate vario off |
1729 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1735 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1730 | } // EOF no height control |
1736 | } // EOF no height control |
1731 | 1737 | ||
1732 | // limit gas to parameter setting |
1738 | // limit gas to parameter setting |
1733 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1739 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1734 | { |
1740 | { |
1735 | if(GasMischanteil/STICK_GAIN > HooverGas80Percent && HoverGas) GasMischanteil = HooverGas80Percent * STICK_GAIN; |
1741 | if(GasMischanteil/STICK_GAIN > HooverGas80Percent && HoverGas) GasMischanteil = HooverGas80Percent * STICK_GAIN; |
1736 | beeptime = 15000; |
1742 | beeptime = 15000; |
1737 | BeepMuster = 0x0E00; |
1743 | BeepMuster = 0x0E00; |
1738 | } |
1744 | } |
1739 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1745 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1740 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1746 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1741 | 1747 | ||
1742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1748 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1743 | // all BL-Ctrl connected? |
1749 | // all BL-Ctrl connected? |
1744 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1745 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1751 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1746 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1752 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1747 | { |
1753 | { |
1748 | modell_fliegt = 1; |
1754 | modell_fliegt = 1; |
1749 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1755 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1750 | } |
1756 | } |
1751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1752 | // + Mischer und PI-Regler |
1758 | // + Mischer und PI-Regler |
1753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1754 | DebugOut.Analog[7] = GasMischanteil; |
1760 | DebugOut.Analog[7] = GasMischanteil; |
1755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1761 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1756 | // Gier-Anteil |
1762 | // Gier-Anteil |
1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1763 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1758 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1764 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1759 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1765 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1760 | if(GasMischanteil > MIN_GIERGAS) |
1766 | if(GasMischanteil > MIN_GIERGAS) |
1761 | { |
1767 | { |
1762 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1768 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1763 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1769 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1764 | } |
1770 | } |
1765 | else |
1771 | else |
1766 | { |
1772 | { |
1767 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1773 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1768 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1774 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1769 | } |
1775 | } |
1770 | tmp_int = MAX_GAS*STICK_GAIN; |
1776 | tmp_int = MAX_GAS*STICK_GAIN; |
1771 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1777 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1772 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1778 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1773 | 1779 | ||
1774 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1775 | // Nick-Achse |
1781 | // Nick-Achse |
1776 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1777 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1783 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1778 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1784 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1779 | else SummeNick += DiffNick; // I-Anteil bei HH |
1785 | else SummeNick += DiffNick; // I-Anteil bei HH |
1780 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1786 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1781 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1787 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1782 | 1788 | ||
1783 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1789 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1784 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1790 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1785 | pd_ergebnis_nick += SummeNick / Ki; |
1791 | pd_ergebnis_nick += SummeNick / Ki; |
1786 | 1792 | ||
1787 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1793 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1788 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1794 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1789 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1795 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1790 | 1796 | ||
1791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1797 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1792 | // Roll-Achse |
1798 | // Roll-Achse |
1793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1794 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1800 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1795 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1801 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1796 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1802 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1797 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1803 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1798 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1804 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1799 | 1805 | ||
1800 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1806 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1801 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1807 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1802 | pd_ergebnis_roll += SummeRoll / Ki; |
1808 | pd_ergebnis_roll += SummeRoll / Ki; |
1803 | 1809 | ||
1804 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1810 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1805 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1811 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1806 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1812 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1807 | 1813 | ||
1808 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1809 | // Universal Mixer |
1815 | // Universal Mixer |
1810 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1816 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1811 | for(i=0; i<MAX_MOTORS; i++) |
1817 | for(i=0; i<MAX_MOTORS; i++) |
1812 | { |
1818 | { |
1813 | signed int tmp_int; |
1819 | signed int tmp_int; |
1814 | if(Mixer.Motor[i][0] > 0) |
1820 | if(Mixer.Motor[i][0] > 0) |
1815 | { |
1821 | { |
1816 | // Gas |
1822 | // Gas |
1817 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1823 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1818 | // Nick |
1824 | // Nick |
1819 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1825 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1820 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1826 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1821 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1827 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1822 | // Roll |
1828 | // Roll |
1823 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1829 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1824 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1830 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1825 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1831 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1826 | // Gier |
1832 | // Gier |
1827 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1833 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1828 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1834 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1829 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1835 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1830 | 1836 | ||
1831 | //if(Parameter_UserParam7 < 128) |
1837 | //if(Parameter_UserParam7 < 128) |
1832 | { |
1838 | { |
1833 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1839 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1834 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1840 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1835 | else |
1841 | else |
1836 | { |
1842 | { |
1837 | if(EE_Parameter.MotorSmooth == 0) |
1843 | if(EE_Parameter.MotorSmooth == 0) |
1838 | { |
1844 | { |
1839 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1845 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1840 | } |
1846 | } |
1841 | else // 1 means tmp_int = tmp_int; |
1847 | else // 1 means tmp_int = tmp_int; |
1842 | if(EE_Parameter.MotorSmooth > 1) |
1848 | if(EE_Parameter.MotorSmooth > 1) |
1843 | { |
1849 | { |
1844 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1850 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1845 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1851 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1846 | } |
1852 | } |
1847 | } |
1853 | } |
1848 | } |
1854 | } |
1849 | 1855 | ||
1850 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1856 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1851 | Motor[i].SetPoint = tmp_int / 4; |
1857 | Motor[i].SetPoint = tmp_int / 4; |
1852 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1858 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1853 | tmp_motorwert[i] = tmp_int; |
1859 | tmp_motorwert[i] = tmp_int; |
1854 | } |
1860 | } |
1855 | else |
1861 | else |
1856 | { |
1862 | { |
1857 | Motor[i].SetPoint = 0; |
1863 | Motor[i].SetPoint = 0; |
1858 | Motor[i].SetPointLowerBits = 0; |
1864 | Motor[i].SetPointLowerBits = 0; |
1859 | } |
1865 | } |
1860 | } |
1866 | } |
1861 | } |
1867 | } |
1862 | 1868 |