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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 | //MartinW; added vars |
60 | //MartinW; added vars |
61 | unsigned char loop1, loop2, loop3; |
61 | unsigned char loop1, loop2, loop3; |
62 | unsigned char settingdest = 5; |
62 | unsigned char settingdest = 5; |
63 | int keynumber=-7; |
63 | int keynumber=-7; |
64 | 64 | ||
65 | unsigned short CurrentOffset = 0;/// |
65 | unsigned short CurrentOffset = 0;/// |
66 | 66 | ||
67 | unsigned char pos1, pos2, pos3, pos4=0; |
67 | unsigned char pos1, pos2, pos3, pos4=0; |
68 | unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
68 | unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
69 | unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max; |
69 | unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max; |
70 | unsigned short MotorsTmax; |
70 | unsigned short MotorsTmax; |
71 | unsigned char updatemotors=5; |
71 | unsigned char updatemotors=5; |
72 | //MartinW; added vars |
72 | //MartinW; added vars |
73 | 73 | ||
74 | 74 | ||
75 | unsigned char h,m,s; |
75 | unsigned char h,m,s; |
76 | unsigned int BaroExpandActive = 0; |
76 | unsigned int BaroExpandActive = 0; |
77 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
77 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
78 | int TrimNick, TrimRoll; |
78 | int TrimNick, TrimRoll; |
79 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
79 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
80 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
80 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
81 | unsigned int NeutralAccX=0, NeutralAccY=0; |
81 | unsigned int NeutralAccX=0, NeutralAccY=0; |
82 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
82 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
83 | int NeutralAccZ = 0; |
83 | int NeutralAccZ = 0; |
84 | unsigned char ControlHeading = 0;// in 2° |
84 | unsigned char ControlHeading = 0;// in 2° |
85 | long IntegralNick = 0,IntegralNick2 = 0; |
85 | long IntegralNick = 0,IntegralNick2 = 0; |
86 | long IntegralRoll = 0,IntegralRoll2 = 0; |
86 | long IntegralRoll = 0,IntegralRoll2 = 0; |
87 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
87 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
88 | long Integral_Gier = 0; |
88 | long Integral_Gier = 0; |
89 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
89 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
90 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
90 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
91 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
91 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
92 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
92 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
93 | long SummeNick=0,SummeRoll=0; |
93 | long SummeNick=0,SummeRoll=0; |
94 | volatile long Mess_Integral_Hoch = 0; |
94 | volatile long Mess_Integral_Hoch = 0; |
95 | int KompassValue = 0; |
95 | int KompassValue = 0; |
96 | int KompassStartwert = 0; |
96 | int KompassStartwert = 0; |
97 | int KompassRichtung = 0; |
97 | int KompassRichtung = 0; |
98 | unsigned int KompassSignalSchlecht = 500; |
98 | unsigned int KompassSignalSchlecht = 500; |
99 | unsigned char MAX_GAS,MIN_GAS; |
99 | unsigned char MAX_GAS,MIN_GAS; |
100 | unsigned char HoehenReglerAktiv = 0; |
100 | unsigned char HoehenReglerAktiv = 0; |
101 | unsigned char TrichterFlug = 0; |
101 | unsigned char TrichterFlug = 0; |
102 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
102 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
103 | long ErsatzKompass; |
103 | long ErsatzKompass; |
104 | int ErsatzKompassInGrad; // Kompasswert in Grad |
104 | int ErsatzKompassInGrad; // Kompasswert in Grad |
105 | int GierGyroFehler = 0; |
105 | int GierGyroFehler = 0; |
106 | char GyroFaktor,GyroFaktorGier; |
106 | char GyroFaktor,GyroFaktorGier; |
107 | char IntegralFaktor,IntegralFaktorGier; |
107 | char IntegralFaktor,IntegralFaktorGier; |
108 | int DiffNick,DiffRoll; |
108 | int DiffNick,DiffRoll; |
109 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
109 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
110 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
110 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
111 | volatile unsigned char SenderOkay = 0; |
111 | volatile unsigned char SenderOkay = 0; |
112 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
112 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
113 | char MotorenEin = 0,StartTrigger = 0; |
113 | char MotorenEin = 0,StartTrigger = 0; |
114 | long HoehenWert = 0; |
114 | long HoehenWert = 0; |
115 | long SollHoehe = 0; |
115 | long SollHoehe = 0; |
116 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
116 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
117 | //float Ki = FAKTOR_I; |
117 | //float Ki = FAKTOR_I; |
118 | int Ki = 10300 / 33; |
118 | int Ki = 10300 / 33; |
119 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
119 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
120 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
120 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
121 | 121 | ||
122 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
122 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
123 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
123 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
124 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
124 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
125 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
125 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
126 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
126 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
127 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
127 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
128 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
128 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
129 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
129 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
130 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
130 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
131 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
131 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
132 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
132 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
133 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
133 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
134 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
134 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
135 | unsigned char Parameter_UserParam1 = 0; |
135 | unsigned char Parameter_UserParam1 = 0; |
136 | unsigned char Parameter_UserParam2 = 0; |
136 | unsigned char Parameter_UserParam2 = 0; |
137 | unsigned char Parameter_UserParam3 = 0; |
137 | unsigned char Parameter_UserParam3 = 0; |
138 | unsigned char Parameter_UserParam4 = 0; |
138 | unsigned char Parameter_UserParam4 = 0; |
139 | unsigned char Parameter_UserParam5 = 0; |
139 | unsigned char Parameter_UserParam5 = 0; |
140 | unsigned char Parameter_UserParam6 = 0; |
140 | unsigned char Parameter_UserParam6 = 0; |
141 | unsigned char Parameter_UserParam7 = 0; |
141 | unsigned char Parameter_UserParam7 = 0; |
142 | unsigned char Parameter_UserParam8 = 0; |
142 | unsigned char Parameter_UserParam8 = 0; |
143 | unsigned char Parameter_ServoNickControl = 100; |
143 | unsigned char Parameter_ServoNickControl = 100; |
144 | unsigned char Parameter_ServoRollControl = 100; |
144 | unsigned char Parameter_ServoRollControl = 100; |
145 | unsigned char Parameter_LoopGasLimit = 70; |
145 | unsigned char Parameter_LoopGasLimit = 70; |
146 | unsigned char Parameter_AchsKopplung1 = 90; |
146 | unsigned char Parameter_AchsKopplung1 = 90; |
147 | unsigned char Parameter_AchsKopplung2 = 65; |
147 | unsigned char Parameter_AchsKopplung2 = 65; |
148 | unsigned char Parameter_CouplingYawCorrection = 64; |
148 | unsigned char Parameter_CouplingYawCorrection = 64; |
149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
150 | unsigned char Parameter_DynamicStability = 100; |
150 | unsigned char Parameter_DynamicStability = 100; |
151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
152 | unsigned char Parameter_J16Timing; // for the J16 Output |
152 | unsigned char Parameter_J16Timing; // for the J16 Output |
153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
154 | unsigned char Parameter_J17Timing; // for the J17 Output |
154 | unsigned char Parameter_J17Timing; // for the J17 Output |
155 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
155 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
156 | unsigned char Parameter_NaviGpsGain; |
156 | unsigned char Parameter_NaviGpsGain; |
157 | unsigned char Parameter_NaviGpsP; |
157 | unsigned char Parameter_NaviGpsP; |
158 | unsigned char Parameter_NaviGpsI; |
158 | unsigned char Parameter_NaviGpsI; |
159 | unsigned char Parameter_NaviGpsD; |
159 | unsigned char Parameter_NaviGpsD; |
160 | unsigned char Parameter_NaviGpsACC; |
160 | unsigned char Parameter_NaviGpsACC; |
161 | unsigned char Parameter_NaviOperatingRadius; |
161 | unsigned char Parameter_NaviOperatingRadius; |
162 | unsigned char Parameter_NaviWindCorrection; |
162 | unsigned char Parameter_NaviWindCorrection; |
163 | unsigned char Parameter_NaviSpeedCompensation; |
163 | unsigned char Parameter_NaviSpeedCompensation; |
164 | unsigned char Parameter_ExternalControl; |
164 | unsigned char Parameter_ExternalControl; |
165 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
165 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
166 | unsigned char CareFree = 0; |
166 | unsigned char CareFree = 0; |
167 | 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}; |
167 | 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}; |
168 | 168 | ||
169 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
169 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
170 | int MaxStickNick = 0,MaxStickRoll = 0; |
170 | int MaxStickNick = 0,MaxStickRoll = 0; |
171 | unsigned int modell_fliegt = 0; |
171 | unsigned int modell_fliegt = 0; |
172 | volatile unsigned char FC_StatusFlags = 0; |
172 | volatile unsigned char FC_StatusFlags = 0; |
173 | long GIER_GRAD_FAKTOR = 1291; |
173 | long GIER_GRAD_FAKTOR = 1291; |
174 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
174 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
175 | signed int tmp_motorwert[MAX_MOTORS]; |
175 | signed int tmp_motorwert[MAX_MOTORS]; |
176 | char VarioCharacter = ' '; |
176 | char VarioCharacter = ' '; |
177 | 177 | ||
178 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
178 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
179 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
179 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
180 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
180 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
181 | 181 | ||
182 | 182 | ||
183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
184 | // Debugwerte zuordnen |
184 | // Debugwerte zuordnen |
185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
186 | void CopyDebugValues(void) |
186 | void CopyDebugValues(void) |
187 | { |
187 | { |
188 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
188 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
189 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
189 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
190 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
190 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
191 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
191 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
192 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
192 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
193 | DebugOut.Analog[5] = HoehenWert/5; |
193 | DebugOut.Analog[5] = HoehenWert/5; |
194 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
194 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
195 | DebugOut.Analog[8] = KompassValue; |
195 | DebugOut.Analog[8] = KompassValue; |
196 | DebugOut.Analog[9] = UBat; |
196 | DebugOut.Analog[9] = UBat; |
197 | DebugOut.Analog[10] = SenderOkay; |
197 | DebugOut.Analog[10] = SenderOkay; |
198 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
198 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
199 | DebugOut.Analog[12] = Motor[0].SetPoint; |
199 | DebugOut.Analog[12] = Motor[0].SetPoint; |
200 | DebugOut.Analog[13] = Motor[1].SetPoint; |
200 | DebugOut.Analog[13] = Motor[1].SetPoint; |
201 | DebugOut.Analog[14] = Motor[2].SetPoint; |
201 | DebugOut.Analog[14] = Motor[2].SetPoint; |
202 | DebugOut.Analog[15] = Motor[3].SetPoint; |
202 | DebugOut.Analog[15] = Motor[3].SetPoint; |
203 | DebugOut.Analog[20] = ServoNickValue; |
203 | DebugOut.Analog[20] = ServoNickValue; |
204 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
204 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
- | 205 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
|
205 | DebugOut.Analog[23] = Capacity.RemainCapacity; |
206 | DebugOut.Analog[24] = Capacity.RemainCapacity; |
206 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
207 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
207 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
208 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
208 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
209 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
209 | DebugOut.Analog[30] = GPS_Nick; |
210 | DebugOut.Analog[30] = GPS_Nick; |
210 | DebugOut.Analog[31] = GPS_Roll; |
211 | DebugOut.Analog[31] = GPS_Roll; |
211 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
212 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
212 | 213 | ||
213 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
214 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
214 | } |
215 | } |
215 | 216 | ||
216 | 217 | ||
217 | 218 | ||
218 | void Piep(unsigned char Anzahl, unsigned int dauer) |
219 | void Piep(unsigned char Anzahl, unsigned int dauer) |
219 | { |
220 | { |
220 | if(MotorenEin) return; //auf keinen Fall im Flug! |
221 | if(MotorenEin) return; //auf keinen Fall im Flug! |
221 | while(Anzahl--) |
222 | while(Anzahl--) |
222 | { |
223 | { |
223 | beeptime = dauer; |
224 | beeptime = dauer; |
224 | while(beeptime); |
225 | while(beeptime); |
225 | Delay_ms(dauer * 2); |
226 | Delay_ms(dauer * 2); |
226 | } |
227 | } |
227 | } |
228 | } |
228 | 229 | ||
229 | //############################################################################ |
230 | //############################################################################ |
230 | // Messwerte beim Ermitteln der Nullage |
231 | // Messwerte beim Ermitteln der Nullage |
231 | void CalibrierMittelwert(void) |
232 | void CalibrierMittelwert(void) |
232 | //############################################################################ |
233 | //############################################################################ |
233 | { |
234 | { |
234 | unsigned char i; |
235 | unsigned char i; |
235 | if(PlatinenVersion == 13) SucheGyroOffset(); |
236 | if(PlatinenVersion == 13) SucheGyroOffset(); |
236 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
237 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
237 | ANALOG_OFF; |
238 | ANALOG_OFF; |
238 | MesswertNick = AdWertNick; |
239 | MesswertNick = AdWertNick; |
239 | MesswertRoll = AdWertRoll; |
240 | MesswertRoll = AdWertRoll; |
240 | MesswertGier = AdWertGier; |
241 | MesswertGier = AdWertGier; |
241 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
242 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
242 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
243 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
243 | // ADC einschalten |
244 | // ADC einschalten |
244 | ANALOG_ON; |
245 | ANALOG_ON; |
245 | for(i=0;i<8;i++) |
246 | for(i=0;i<8;i++) |
246 | { |
247 | { |
247 | int tmp; |
248 | int tmp; |
248 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
249 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
249 | LIMIT_MIN_MAX(tmp, 0, 255); |
250 | LIMIT_MIN_MAX(tmp, 0, 255); |
250 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
251 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
251 | } |
252 | } |
252 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
253 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
253 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
254 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
254 | } |
255 | } |
255 | 256 | ||
256 | //############################################################################ |
257 | //############################################################################ |
257 | // Nullwerte ermitteln |
258 | // Nullwerte ermitteln |
258 | void SetNeutral(unsigned char AccAdjustment) |
259 | void SetNeutral(unsigned char AccAdjustment) |
259 | //############################################################################ |
260 | //############################################################################ |
260 | { |
261 | { |
261 | unsigned char i; |
262 | unsigned char i; |
262 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
263 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
263 | VersionInfo.HardwareError[0] = 0; |
264 | VersionInfo.HardwareError[0] = 0; |
264 | HEF4017R_ON; |
265 | HEF4017R_ON; |
265 | NeutralAccX = 0; |
266 | NeutralAccX = 0; |
266 | NeutralAccY = 0; |
267 | NeutralAccY = 0; |
267 | NeutralAccZ = 0; |
268 | NeutralAccZ = 0; |
268 | 269 | ||
269 | AdNeutralNick = 0; |
270 | AdNeutralNick = 0; |
270 | AdNeutralRoll = 0; |
271 | AdNeutralRoll = 0; |
271 | AdNeutralGier = 0; |
272 | AdNeutralGier = 0; |
272 | 273 | ||
273 | Parameter_AchsKopplung1 = 0; |
274 | Parameter_AchsKopplung1 = 0; |
274 | Parameter_AchsKopplung2 = 0; |
275 | Parameter_AchsKopplung2 = 0; |
275 | 276 | ||
276 | ExpandBaro = 0; |
277 | ExpandBaro = 0; |
277 | 278 | ||
278 | CalibrierMittelwert(); |
279 | CalibrierMittelwert(); |
279 | Delay_ms_Mess(100); |
280 | Delay_ms_Mess(100); |
280 | 281 | ||
281 | CalibrierMittelwert(); |
282 | CalibrierMittelwert(); |
282 | 283 | ||
283 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
284 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
284 | { |
285 | { |
285 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
286 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
286 | } |
287 | } |
287 | #define NEUTRAL_FILTER 32 |
288 | #define NEUTRAL_FILTER 32 |
288 | for(i=0; i<NEUTRAL_FILTER; i++) |
289 | for(i=0; i<NEUTRAL_FILTER; i++) |
289 | { |
290 | { |
290 | Delay_ms_Mess(10); |
291 | Delay_ms_Mess(10); |
291 | gier_neutral += AdWertGier; |
292 | gier_neutral += AdWertGier; |
292 | nick_neutral += AdWertNick; |
293 | nick_neutral += AdWertNick; |
293 | roll_neutral += AdWertRoll; |
294 | roll_neutral += AdWertRoll; |
294 | } |
295 | } |
295 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
296 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
296 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
297 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
297 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
298 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
298 | 299 | ||
299 | StartNeutralRoll = AdNeutralRoll; |
300 | StartNeutralRoll = AdNeutralRoll; |
300 | StartNeutralNick = AdNeutralNick; |
301 | StartNeutralNick = AdNeutralNick; |
301 | 302 | ||
302 | if(AccAdjustment) |
303 | if(AccAdjustment) |
303 | { |
304 | { |
304 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
305 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
306 | NeutralAccZ = Aktuell_az; |
307 | NeutralAccZ = Aktuell_az; |
307 | 308 | ||
308 | // Save ACC neutral settings to eeprom |
309 | // Save ACC neutral settings to eeprom |
309 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
310 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
310 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
311 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
311 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
312 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
312 | } |
313 | } |
313 | else |
314 | else |
314 | { |
315 | { |
315 | // restore from eeprom |
316 | // restore from eeprom |
316 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
317 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
317 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
318 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
318 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
319 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
319 | // strange settings? |
320 | // strange settings? |
320 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
321 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
321 | { |
322 | { |
322 | printf("\n\rACC not calibrated!\r\n"); |
323 | printf("\n\rACC not calibrated!\r\n"); |
323 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
324 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
324 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
325 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
325 | NeutralAccZ = Aktuell_az; |
326 | NeutralAccZ = Aktuell_az; |
326 | } |
327 | } |
327 | } |
328 | } |
328 | 329 | ||
329 | MesswertNick = 0; |
330 | MesswertNick = 0; |
330 | MesswertRoll = 0; |
331 | MesswertRoll = 0; |
331 | MesswertGier = 0; |
332 | MesswertGier = 0; |
332 | Delay_ms_Mess(100); |
333 | Delay_ms_Mess(100); |
333 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
334 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
334 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
335 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
335 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
336 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
336 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
337 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
337 | Mess_IntegralNick2 = IntegralNick; |
338 | Mess_IntegralNick2 = IntegralNick; |
338 | Mess_IntegralRoll2 = IntegralRoll; |
339 | Mess_IntegralRoll2 = IntegralRoll; |
339 | Mess_Integral_Gier = 0; |
340 | Mess_Integral_Gier = 0; |
340 | StartLuftdruck = Luftdruck; |
341 | StartLuftdruck = Luftdruck; |
341 | VarioMeter = 0; |
342 | VarioMeter = 0; |
342 | Mess_Integral_Hoch = 0; |
343 | Mess_Integral_Hoch = 0; |
343 | KompassStartwert = KompassValue; |
344 | KompassStartwert = KompassValue; |
344 | GPS_Neutral(); |
345 | GPS_Neutral(); |
345 | beeptime = 50; |
346 | beeptime = 50; |
346 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
347 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
347 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
348 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
348 | ExternHoehenValue = 0; |
349 | ExternHoehenValue = 0; |
349 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
350 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
350 | GierGyroFehler = 0; |
351 | GierGyroFehler = 0; |
351 | SendVersionToNavi = 1; |
352 | SendVersionToNavi = 1; |
352 | LED_Init(); |
353 | LED_Init(); |
353 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
354 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
354 | FromNaviCtrl_Value.Kalman_K = -1; |
355 | FromNaviCtrl_Value.Kalman_K = -1; |
355 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
356 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
356 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
357 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
357 | 358 | ||
358 | for(i=0;i<8;i++) |
359 | for(i=0;i<8;i++) |
359 | { |
360 | { |
360 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
361 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
361 | } |
362 | } |
362 | SenderOkay = 100; |
363 | SenderOkay = 100; |
363 | if(ServoActive) |
364 | if(ServoActive) |
364 | { |
365 | { |
365 | HEF4017R_ON; |
366 | HEF4017R_ON; |
366 | DDRD |=0x80; // enable J7 -> Servo signal |
367 | DDRD |=0x80; // enable J7 -> Servo signal |
367 | } |
368 | } |
368 | 369 | ||
369 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
370 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
370 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
371 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
371 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
372 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
372 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
373 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
373 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
374 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
374 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
375 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
375 | } |
376 | } |
376 | 377 | ||
377 | 378 | ||
378 | //############################################################################ |
379 | //############################################################################ |
379 | // Bearbeitet die Messwerte |
380 | // Bearbeitet die Messwerte |
380 | void Mittelwert(void) |
381 | void Mittelwert(void) |
381 | //############################################################################ |
382 | //############################################################################ |
382 | { |
383 | { |
383 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
384 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
384 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
385 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
385 | signed long winkel_nick, winkel_roll; |
386 | signed long winkel_nick, winkel_roll; |
386 | // unsigned char i; |
387 | // unsigned char i; |
387 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
388 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
388 | MesswertNick = (signed int) AdWertNickFilter / 8; |
389 | MesswertNick = (signed int) AdWertNickFilter / 8; |
389 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
390 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
390 | RohMesswertNick = MesswertNick; |
391 | RohMesswertNick = MesswertNick; |
391 | RohMesswertRoll = MesswertRoll; |
392 | RohMesswertRoll = MesswertRoll; |
392 | 393 | ||
393 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
394 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
394 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
395 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
395 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
396 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
396 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
397 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
397 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
398 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
398 | NaviAccNick += AdWertAccNick; |
399 | NaviAccNick += AdWertAccNick; |
399 | NaviAccRoll += AdWertAccRoll; |
400 | NaviAccRoll += AdWertAccRoll; |
400 | NaviCntAcc++; |
401 | NaviCntAcc++; |
401 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
402 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
402 | 403 | ||
403 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
404 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
404 | // ADC einschalten |
405 | // ADC einschalten |
405 | ANALOG_ON; |
406 | ANALOG_ON; |
406 | AdReady = 0; |
407 | AdReady = 0; |
407 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
408 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
408 | 409 | ||
409 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
410 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
410 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
411 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
411 | else winkel_roll = Mess_IntegralRoll; |
412 | else winkel_roll = Mess_IntegralRoll; |
412 | 413 | ||
413 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
414 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
414 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
415 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
415 | else winkel_nick = Mess_IntegralNick; |
416 | else winkel_nick = Mess_IntegralNick; |
416 | 417 | ||
417 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
418 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
418 | Mess_Integral_Gier += MesswertGier; |
419 | Mess_Integral_Gier += MesswertGier; |
419 | ErsatzKompass += MesswertGier; |
420 | ErsatzKompass += MesswertGier; |
420 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
421 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
421 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
422 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
422 | { |
423 | { |
423 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
424 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
424 | tmpl3 *= Parameter_AchsKopplung2; //65 |
425 | tmpl3 *= Parameter_AchsKopplung2; //65 |
425 | tmpl3 /= 4096L; |
426 | tmpl3 /= 4096L; |
426 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
427 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
427 | tmpl4 *= Parameter_AchsKopplung2; //65 |
428 | tmpl4 *= Parameter_AchsKopplung2; //65 |
428 | tmpl4 /= 4096L; |
429 | tmpl4 /= 4096L; |
429 | KopplungsteilNickRoll = tmpl3; |
430 | KopplungsteilNickRoll = tmpl3; |
430 | KopplungsteilRollNick = tmpl4; |
431 | KopplungsteilRollNick = tmpl4; |
431 | tmpl4 -= tmpl3; |
432 | tmpl4 -= tmpl3; |
432 | ErsatzKompass += tmpl4; |
433 | ErsatzKompass += tmpl4; |
433 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
434 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
434 | 435 | ||
435 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
436 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
436 | tmpl *= Parameter_AchsKopplung1; // 90 |
437 | tmpl *= Parameter_AchsKopplung1; // 90 |
437 | tmpl /= 4096L; |
438 | tmpl /= 4096L; |
438 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
439 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
439 | tmpl2 *= Parameter_AchsKopplung1; |
440 | tmpl2 *= Parameter_AchsKopplung1; |
440 | tmpl2 /= 4096L; |
441 | tmpl2 /= 4096L; |
441 | 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; |
442 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
443 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
443 | } |
444 | } |
444 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
445 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
445 | TrimRoll = tmpl - tmpl2 / 100L; |
446 | TrimRoll = tmpl - tmpl2 / 100L; |
446 | TrimNick = -tmpl2 + tmpl / 100L; |
447 | TrimNick = -tmpl2 + tmpl / 100L; |
447 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
448 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
448 | 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 |
449 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
450 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
450 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
451 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
451 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
452 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
452 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
453 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
453 | if(Mess_IntegralRoll > Umschlag180Roll) |
454 | if(Mess_IntegralRoll > Umschlag180Roll) |
454 | { |
455 | { |
455 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
456 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
456 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
457 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
457 | } |
458 | } |
458 | if(Mess_IntegralRoll <-Umschlag180Roll) |
459 | if(Mess_IntegralRoll <-Umschlag180Roll) |
459 | { |
460 | { |
460 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
461 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
461 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
462 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
462 | } |
463 | } |
463 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
464 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
464 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
465 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
465 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
466 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
466 | if(Mess_IntegralNick > Umschlag180Nick) |
467 | if(Mess_IntegralNick > Umschlag180Nick) |
467 | { |
468 | { |
468 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
469 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
469 | Mess_IntegralNick2 = Mess_IntegralNick; |
470 | Mess_IntegralNick2 = Mess_IntegralNick; |
470 | } |
471 | } |
471 | if(Mess_IntegralNick <-Umschlag180Nick) |
472 | if(Mess_IntegralNick <-Umschlag180Nick) |
472 | { |
473 | { |
473 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
474 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
474 | Mess_IntegralNick2 = Mess_IntegralNick; |
475 | Mess_IntegralNick2 = Mess_IntegralNick; |
475 | } |
476 | } |
476 | 477 | ||
477 | Integral_Gier = Mess_Integral_Gier; |
478 | Integral_Gier = Mess_Integral_Gier; |
478 | IntegralNick = Mess_IntegralNick; |
479 | IntegralNick = Mess_IntegralNick; |
479 | IntegralRoll = Mess_IntegralRoll; |
480 | IntegralRoll = Mess_IntegralRoll; |
480 | IntegralNick2 = Mess_IntegralNick2; |
481 | IntegralNick2 = Mess_IntegralNick2; |
481 | IntegralRoll2 = Mess_IntegralRoll2; |
482 | IntegralRoll2 = Mess_IntegralRoll2; |
482 | 483 | ||
483 | #define D_LIMIT 128 |
484 | #define D_LIMIT 128 |
484 | 485 | ||
485 | MesswertNick = HiResNick / 8; |
486 | MesswertNick = HiResNick / 8; |
486 | MesswertRoll = HiResRoll / 8; |
487 | MesswertRoll = HiResRoll / 8; |
487 | 488 | ||
488 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
489 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
489 | 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; } |
490 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
491 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
491 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
492 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
492 | 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; } |
493 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
494 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
494 | 495 | ||
495 | if(Parameter_Gyro_D) |
496 | if(Parameter_Gyro_D) |
496 | { |
497 | { |
497 | d2Nick = HiResNick - oldNick; |
498 | d2Nick = HiResNick - oldNick; |
498 | oldNick = (oldNick + HiResNick)/2; |
499 | oldNick = (oldNick + HiResNick)/2; |
499 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
500 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
500 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
501 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
501 | 502 | ||
502 | d2Roll = HiResRoll - oldRoll; |
503 | d2Roll = HiResRoll - oldRoll; |
503 | oldRoll = (oldRoll + HiResRoll)/2; |
504 | oldRoll = (oldRoll + HiResRoll)/2; |
504 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
505 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
505 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
506 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
506 | 507 | ||
507 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
508 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
508 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
509 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
509 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
510 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
510 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
511 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
511 | } |
512 | } |
512 | 513 | ||
513 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
514 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
514 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
515 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
515 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
516 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
516 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
517 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
517 | 518 | ||
518 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
519 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
519 | { |
520 | { |
520 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
521 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
521 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
522 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
522 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
523 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
523 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
524 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
524 | } |
525 | } |
525 | } |
526 | } |
526 | 527 | ||
527 | //############################################################################ |
528 | //############################################################################ |
528 | // Senden der Motorwerte per I2C-Bus |
529 | // Senden der Motorwerte per I2C-Bus |
529 | void SendMotorData(void) |
530 | void SendMotorData(void) |
530 | //############################################################################ |
531 | //############################################################################ |
531 | { |
532 | { |
532 | unsigned char i; |
533 | unsigned char i; |
533 | if(!MotorenEin) |
534 | if(!MotorenEin) |
534 | { |
535 | { |
535 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
536 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
536 | for(i=0;i<MAX_MOTORS;i++) |
537 | for(i=0;i<MAX_MOTORS;i++) |
537 | { |
538 | { |
538 | if(!PC_MotortestActive) MotorTest[i] = 0; |
539 | if(!PC_MotortestActive) MotorTest[i] = 0; |
539 | Motor[i].SetPoint = MotorTest[i]; |
540 | Motor[i].SetPoint = MotorTest[i]; |
540 | Motor[i].SetPointLowerBits = 0; |
541 | Motor[i].SetPointLowerBits = 0; |
541 | /* |
542 | /* |
542 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
543 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
543 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
544 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
544 | */ |
545 | */ |
545 | } |
546 | } |
546 | if(PC_MotortestActive) PC_MotortestActive--; |
547 | if(PC_MotortestActive) PC_MotortestActive--; |
547 | } |
548 | } |
548 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
549 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
549 | 550 | ||
550 | if(I2C_TransferActive) |
551 | if(I2C_TransferActive) |
551 | { |
552 | { |
552 | I2C_TransferActive = 0; // enable for the next time |
553 | I2C_TransferActive = 0; // enable for the next time |
553 | } |
554 | } |
554 | else |
555 | else |
555 | { |
556 | { |
556 | motor_write = 0; |
557 | motor_write = 0; |
557 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
558 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
558 | } |
559 | } |
559 | } |
560 | } |
560 | 561 | ||
561 | 562 | ||
562 | 563 | ||
563 | //############################################################################ |
564 | //############################################################################ |
564 | // Trägt ggf. das Poti als Parameter ein |
565 | // Trägt ggf. das Poti als Parameter ein |
565 | void ParameterZuordnung(void) |
566 | void ParameterZuordnung(void) |
566 | //############################################################################ |
567 | //############################################################################ |
567 | { |
568 | { |
568 | unsigned char tmp,i; |
569 | unsigned char tmp,i; |
569 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
570 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
570 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
571 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
571 | for(i=0;i<8;i++) |
572 | for(i=0;i<8;i++) |
572 | { |
573 | { |
573 | int tmp2; |
574 | int tmp2; |
574 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
575 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
575 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
576 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
576 | if(tmp2 != Poti[i]) |
577 | if(tmp2 != Poti[i]) |
577 | { |
578 | { |
578 | Poti[i] += (tmp2 - Poti[i]) / 4; |
579 | Poti[i] += (tmp2 - Poti[i]) / 4; |
579 | if(Poti[i] > tmp2) Poti[i]--; |
580 | if(Poti[i] > tmp2) Poti[i]--; |
580 | else Poti[i]++; |
581 | else Poti[i]++; |
581 | } |
582 | } |
582 | } |
583 | } |
583 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
584 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
584 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
585 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
585 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
586 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
586 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
587 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
587 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
588 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
588 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
589 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
589 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
590 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
590 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
591 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
591 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
592 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
592 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
593 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
593 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
594 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
594 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
595 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
595 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
596 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
596 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
597 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
597 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
598 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
598 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
599 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
599 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
600 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
600 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
601 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
601 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
602 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
602 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
603 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
603 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
604 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
604 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
605 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
605 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
606 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
606 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
607 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
607 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
608 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
608 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
609 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
609 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
610 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
610 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
611 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
611 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
612 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
612 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
613 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
613 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
614 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
614 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
615 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
615 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
616 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
616 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
617 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
617 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
618 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
618 | Ki = 10300 / (Parameter_I_Faktor + 1); |
619 | Ki = 10300 / (Parameter_I_Faktor + 1); |
619 | MAX_GAS = EE_Parameter.Gas_Max; |
620 | MAX_GAS = EE_Parameter.Gas_Max; |
620 | MIN_GAS = EE_Parameter.Gas_Min; |
621 | MIN_GAS = EE_Parameter.Gas_Min; |
621 | 622 | ||
622 | tmp = EE_Parameter.OrientationModeControl; |
623 | tmp = EE_Parameter.OrientationModeControl; |
623 | if(tmp > 50) |
624 | if(tmp > 50) |
624 | { |
625 | { |
625 | #ifdef SWITCH_LEARNS_CAREFREE |
626 | #ifdef SWITCH_LEARNS_CAREFREE |
626 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
627 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
627 | #endif |
628 | #endif |
628 | CareFree = 1; |
629 | CareFree = 1; |
629 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
630 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
630 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
631 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
631 | } |
632 | } |
632 | else CareFree = 0; |
633 | else CareFree = 0; |
633 | 634 | ||
634 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
635 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
635 | { |
636 | { |
636 | beeptime = 15000; |
637 | beeptime = 15000; |
637 | BeepMuster = 0xA400; |
638 | BeepMuster = 0xA400; |
638 | CareFree = 0; |
639 | CareFree = 0; |
639 | } |
640 | } |
640 | 641 | ||
641 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
642 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
642 | } |
643 | } |
643 | 644 | ||
644 | //############################################################################ |
645 | //############################################################################ |
645 | // |
646 | // |
646 | void MotorRegler(void) |
647 | void MotorRegler(void) |
647 | //############################################################################ |
648 | //############################################################################ |
648 | { |
649 | { |
649 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
650 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
650 | int GierMischanteil,GasMischanteil; |
651 | int GierMischanteil,GasMischanteil; |
651 | static long sollGier = 0,tmp_long,tmp_long2; |
652 | static long sollGier = 0,tmp_long,tmp_long2; |
652 | static long IntegralFehlerNick = 0; |
653 | static long IntegralFehlerNick = 0; |
653 | static long IntegralFehlerRoll = 0; |
654 | static long IntegralFehlerRoll = 0; |
654 | static unsigned int RcLostTimer; |
655 | static unsigned int RcLostTimer; |
655 | static unsigned char delay_neutral = 0; |
656 | static unsigned char delay_neutral = 0; |
656 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
657 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
657 | static unsigned char calibration_done = 0; |
658 | static unsigned char calibration_done = 0; |
658 | static char NeueKompassRichtungMerken = 0; |
659 | static char NeueKompassRichtungMerken = 0; |
659 | static long ausgleichNick, ausgleichRoll; |
660 | static long ausgleichNick, ausgleichRoll; |
660 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
661 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
661 | unsigned char i; |
662 | unsigned char i; |
662 | Mittelwert(); |
663 | Mittelwert(); |
663 | GRN_ON; |
664 | GRN_ON; |
664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | // Gaswert ermitteln |
666 | // Gaswert ermitteln |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | GasMischanteil = StickGas; |
668 | GasMischanteil = StickGas; |
668 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
669 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
669 | 670 | ||
670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
671 | // Empfang schlecht |
672 | // Empfang schlecht |
672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
673 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
673 | if(SenderOkay < 100) |
674 | if(SenderOkay < 100) |
674 | { |
675 | { |
675 | if(RcLostTimer) RcLostTimer--; |
676 | if(RcLostTimer) RcLostTimer--; |
676 | else |
677 | else |
677 | { |
678 | { |
678 | MotorenEin = 0; |
679 | MotorenEin = 0; |
679 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
680 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
680 | } |
681 | } |
681 | ROT_ON; |
682 | ROT_ON; |
682 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
683 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
683 | { |
684 | { |
684 | GasMischanteil = EE_Parameter.NotGas; |
685 | GasMischanteil = EE_Parameter.NotGas; |
685 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
686 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
686 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
687 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
687 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
688 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
688 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
689 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
689 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
690 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
690 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
691 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
691 | } |
692 | } |
692 | else MotorenEin = 0; |
693 | else MotorenEin = 0; |
693 | } |
694 | } |
694 | else |
695 | else |
695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | // Emfang gut |
697 | // Emfang gut |
697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
698 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
698 | if(SenderOkay > 140) |
699 | if(SenderOkay > 140) |
699 | { |
700 | { |
700 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
701 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
701 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
702 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
702 | if(GasMischanteil > 40 && MotorenEin) |
703 | if(GasMischanteil > 40 && MotorenEin) |
703 | { |
704 | { |
704 | if(modell_fliegt < 0xffff) modell_fliegt++; |
705 | if(modell_fliegt < 0xffff) modell_fliegt++; |
705 | } |
706 | } |
706 | if((modell_fliegt < 256)) |
707 | if((modell_fliegt < 256)) |
707 | { |
708 | { |
708 | SummeNick = 0; |
709 | SummeNick = 0; |
709 | SummeRoll = 0; |
710 | SummeRoll = 0; |
710 | sollGier = 0; |
711 | sollGier = 0; |
711 | Mess_Integral_Gier = 0; |
712 | Mess_Integral_Gier = 0; |
712 | if(modell_fliegt == 250) |
713 | if(modell_fliegt == 250) |
713 | { |
714 | { |
714 | NeueKompassRichtungMerken = 1; |
715 | NeueKompassRichtungMerken = 1; |
715 | } |
716 | } |
716 | } else FC_StatusFlags |= FC_STATUS_FLY; |
717 | } else FC_StatusFlags |= FC_STATUS_FLY; |
717 | 718 | ||
718 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
719 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
719 | { |
720 | { |
720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
721 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
721 | // auf Nullwerte kalibrieren |
722 | // auf Nullwerte kalibrieren |
722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
724 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
724 | { |
725 | { |
725 | if(++delay_neutral > 200) // nicht sofort |
726 | if(++delay_neutral > 200) // nicht sofort |
726 | { |
727 | { |
727 | GRN_OFF; |
728 | GRN_OFF; |
728 | MotorenEin = 0; |
729 | MotorenEin = 0; |
729 | delay_neutral = 0; |
730 | delay_neutral = 0; |
730 | modell_fliegt = 0; |
731 | modell_fliegt = 0; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
732 | { |
733 | { |
733 | unsigned char setting=1; |
734 | unsigned char setting=1; |
734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
735 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
735 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
739 | SetActiveParamSet(setting); // aktiven Datensatz merken |
740 | SetActiveParamSet(setting); // aktiven Datensatz merken |
740 | } |
741 | } |
741 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
742 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
742 | { |
743 | { |
743 | WinkelOut.CalcState = 1; |
744 | WinkelOut.CalcState = 1; |
744 | beeptime = 1000; |
745 | beeptime = 1000; |
745 | } |
746 | } |
746 | else |
747 | else |
747 | { |
748 | { |
748 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
749 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
749 | LipoDetection(0); |
750 | LipoDetection(0); |
750 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
751 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
751 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
752 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
752 | { |
753 | { |
753 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
754 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
754 | } |
755 | } |
755 | ServoActive = 0; |
756 | ServoActive = 0; |
756 | SetNeutral(0); |
757 | SetNeutral(0); |
757 | calibration_done = 1; |
758 | calibration_done = 1; |
758 | ServoActive = 1; |
759 | ServoActive = 1; |
759 | DDRD |=0x80; // enable J7 -> Servo signal |
760 | DDRD |=0x80; // enable J7 -> Servo signal |
760 | Piep(GetActiveParamSet(),120); |
761 | Piep(GetActiveParamSet(),120); |
761 | } |
762 | } |
762 | } |
763 | } |
763 | } |
764 | } |
764 | else |
765 | else |
765 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
766 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
766 | { |
767 | { |
767 | if(++delay_neutral > 200) // nicht sofort |
768 | if(++delay_neutral > 200) // nicht sofort |
768 | { |
769 | { |
769 | GRN_OFF; |
770 | GRN_OFF; |
770 | MotorenEin = 0; |
771 | MotorenEin = 0; |
771 | delay_neutral = 0; |
772 | delay_neutral = 0; |
772 | modell_fliegt = 0; |
773 | modell_fliegt = 0; |
773 | SetNeutral(1); |
774 | SetNeutral(1); |
774 | calibration_done = 1; |
775 | calibration_done = 1; |
775 | Piep(GetActiveParamSet(),120); |
776 | Piep(GetActiveParamSet(),120); |
776 | } |
777 | } |
777 | } |
778 | } |
778 | else delay_neutral = 0; |
779 | else delay_neutral = 0; |
779 | } |
780 | } |
780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | // Gas ist unten |
782 | // Gas ist unten |
782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
783 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
783 | 784 | ||
784 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
785 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
785 | { |
786 | { |
786 | // Motoren Starten |
787 | // Motoren Starten |
787 | if(!MotorenEin) |
788 | if(!MotorenEin) |
788 | { |
789 | { |
789 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
790 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
790 | { |
791 | { |
791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | // Einschalten |
793 | // Einschalten |
793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
794 | if(++delay_einschalten > 200) |
795 | if(++delay_einschalten > 200) |
795 | { |
796 | { |
796 | delay_einschalten = 0; |
797 | delay_einschalten = 0; |
797 | if(!VersionInfo.HardwareError[0] && calibration_done) |
798 | if(!VersionInfo.HardwareError[0] && calibration_done) |
798 | { |
799 | { |
799 | modell_fliegt = 1; |
800 | modell_fliegt = 1; |
800 | MotorenEin = 1; |
801 | MotorenEin = 1; |
801 | sollGier = 0; |
802 | sollGier = 0; |
802 | Mess_Integral_Gier = 0; |
803 | Mess_Integral_Gier = 0; |
803 | Mess_Integral_Gier2 = 0; |
804 | Mess_Integral_Gier2 = 0; |
804 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
805 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
805 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
806 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
806 | Mess_IntegralNick2 = IntegralNick; |
807 | Mess_IntegralNick2 = IntegralNick; |
807 | Mess_IntegralRoll2 = IntegralRoll; |
808 | Mess_IntegralRoll2 = IntegralRoll; |
808 | SummeNick = 0; |
809 | SummeNick = 0; |
809 | SummeRoll = 0; |
810 | SummeRoll = 0; |
810 | FC_StatusFlags |= FC_STATUS_START; |
811 | FC_StatusFlags |= FC_STATUS_START; |
811 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
812 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
812 | } |
813 | } |
813 | else |
814 | else |
814 | { |
815 | { |
815 | beeptime = 1500; // indicate missing calibration |
816 | beeptime = 1500; // indicate missing calibration |
816 | } |
817 | } |
817 | } |
818 | } |
818 | } |
819 | } |
819 | else delay_einschalten = 0; |
820 | else delay_einschalten = 0; |
820 | } |
821 | } |
821 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
822 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
822 | // Auschalten |
823 | // Auschalten |
823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
824 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
824 | else // only if motors are running |
825 | else // only if motors are running |
825 | { |
826 | { |
826 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
827 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
827 | { |
828 | { |
828 | if(++delay_ausschalten > 200) // nicht sofort |
829 | if(++delay_ausschalten > 200) // nicht sofort |
829 | { |
830 | { |
830 | MotorenEin = 0; |
831 | MotorenEin = 0; |
831 | delay_ausschalten = 0; |
832 | delay_ausschalten = 0; |
832 | modell_fliegt = 0; |
833 | modell_fliegt = 0; |
833 | } |
834 | } |
834 | } |
835 | } |
835 | else delay_ausschalten = 0; |
836 | else delay_ausschalten = 0; |
836 | } |
837 | } |
837 | } |
838 | } |
838 | } |
839 | } |
839 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
840 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
840 | // neue Werte von der Funke |
841 | // neue Werte von der Funke |
841 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
842 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
842 | 843 | ||
843 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
844 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
844 | { |
845 | { |
845 | static int stick_nick,stick_roll; |
846 | static int stick_nick,stick_roll; |
846 | ParameterZuordnung(); |
847 | ParameterZuordnung(); |
847 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
848 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
848 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
849 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
849 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
850 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
850 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
851 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
851 | 852 | ||
852 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
853 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
853 | // CareFree und freie Wahl der vorderen Richtung |
854 | // CareFree und freie Wahl der vorderen Richtung |
854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | if(CareFree) |
856 | if(CareFree) |
856 | { |
857 | { |
857 | signed int nick, roll; |
858 | signed int nick, roll; |
858 | nick = stick_nick / 4; |
859 | nick = stick_nick / 4; |
859 | roll = stick_roll / 4; |
860 | roll = stick_roll / 4; |
860 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
861 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
861 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
862 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
862 | } |
863 | } |
863 | else |
864 | else |
864 | { |
865 | { |
865 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
866 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
866 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
867 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
867 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
868 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
868 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
869 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
869 | } |
870 | } |
870 | 871 | ||
871 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
872 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
872 | if(StickGier > 2) StickGier -= 2; else |
873 | if(StickGier > 2) StickGier -= 2; else |
873 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
874 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
874 | 875 | ||
875 | StickNick -= (GPS_Nick + GPS_Nick2); |
876 | StickNick -= (GPS_Nick + GPS_Nick2); |
876 | StickRoll -= (GPS_Roll + GPS_Roll2); |
877 | StickRoll -= (GPS_Roll + GPS_Roll2); |
877 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
878 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
878 | 879 | ||
879 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
880 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
880 | IntegralFaktor = Parameter_Gyro_I; |
881 | IntegralFaktor = Parameter_Gyro_I; |
881 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
882 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
882 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
883 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
883 | 884 | ||
884 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | //+ Analoge Steuerung per Seriell |
886 | //+ Analoge Steuerung per Seriell |
886 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
888 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
888 | { |
889 | { |
889 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
890 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
890 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
891 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
891 | StickGier += ExternControl.Gier; |
892 | StickGier += ExternControl.Gier; |
892 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
893 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
893 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
894 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
894 | } |
895 | } |
895 | if(StickGas < 0) StickGas = 0; |
896 | if(StickGas < 0) StickGas = 0; |
896 | 897 | ||
897 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
898 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
898 | 899 | ||
899 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
900 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
900 | { |
901 | { |
901 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
902 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
902 | if(MaxStickNick > 100) MaxStickNick = 100; |
903 | if(MaxStickNick > 100) MaxStickNick = 100; |
903 | } |
904 | } |
904 | else MaxStickNick--; |
905 | else MaxStickNick--; |
905 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
906 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
906 | { |
907 | { |
907 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
908 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
908 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
909 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
909 | } |
910 | } |
910 | else MaxStickRoll--; |
911 | else MaxStickRoll--; |
911 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
912 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
912 | 913 | ||
913 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
914 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
914 | // Looping? |
915 | // Looping? |
915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
916 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
916 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
917 | else |
918 | else |
918 | { |
919 | { |
919 | { |
920 | { |
920 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
921 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
921 | } |
922 | } |
922 | } |
923 | } |
923 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
924 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
924 | else |
925 | else |
925 | { |
926 | { |
926 | if(Looping_Rechts) // Hysterese |
927 | if(Looping_Rechts) // Hysterese |
927 | { |
928 | { |
928 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
929 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
929 | } |
930 | } |
930 | } |
931 | } |
931 | 932 | ||
932 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
933 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
933 | else |
934 | else |
934 | { |
935 | { |
935 | if(Looping_Oben) // Hysterese |
936 | if(Looping_Oben) // Hysterese |
936 | { |
937 | { |
937 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
938 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
938 | } |
939 | } |
939 | } |
940 | } |
940 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
941 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
941 | else |
942 | else |
942 | { |
943 | { |
943 | if(Looping_Unten) // Hysterese |
944 | if(Looping_Unten) // Hysterese |
944 | { |
945 | { |
945 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
946 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
946 | } |
947 | } |
947 | } |
948 | } |
948 | 949 | ||
949 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
950 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
950 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
951 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
951 | } // Ende neue Funken-Werte |
952 | } // Ende neue Funken-Werte |
952 | 953 | ||
953 | if(Looping_Roll || Looping_Nick) |
954 | if(Looping_Roll || Looping_Nick) |
954 | { |
955 | { |
955 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
956 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
956 | TrichterFlug = 1; |
957 | TrichterFlug = 1; |
957 | } |
958 | } |
958 | 959 | ||
959 | 960 | ||
960 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
961 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
961 | // Bei Empfangsausfall im Flug |
962 | // Bei Empfangsausfall im Flug |
962 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
963 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
963 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
964 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
964 | { |
965 | { |
965 | StickGier = 0; |
966 | StickGier = 0; |
966 | StickNick = 0; |
967 | StickNick = 0; |
967 | StickRoll = 0; |
968 | StickRoll = 0; |
968 | GyroFaktor = 90; |
969 | GyroFaktor = 90; |
969 | IntegralFaktor = 120; |
970 | IntegralFaktor = 120; |
970 | GyroFaktorGier = 90; |
971 | GyroFaktorGier = 90; |
971 | IntegralFaktorGier = 120; |
972 | IntegralFaktorGier = 120; |
972 | Looping_Roll = 0; |
973 | Looping_Roll = 0; |
973 | Looping_Nick = 0; |
974 | Looping_Nick = 0; |
974 | } |
975 | } |
975 | 976 | ||
976 | 977 | ||
977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
978 | // Integrale auf ACC-Signal abgleichen |
979 | // Integrale auf ACC-Signal abgleichen |
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | #define ABGLEICH_ANZAHL 256L |
981 | #define ABGLEICH_ANZAHL 256L |
981 | 982 | ||
982 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
983 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
983 | MittelIntegralRoll += IntegralRoll; |
984 | MittelIntegralRoll += IntegralRoll; |
984 | MittelIntegralNick2 += IntegralNick2; |
985 | MittelIntegralNick2 += IntegralNick2; |
985 | MittelIntegralRoll2 += IntegralRoll2; |
986 | MittelIntegralRoll2 += IntegralRoll2; |
986 | 987 | ||
987 | if(Looping_Nick || Looping_Roll) |
988 | if(Looping_Nick || Looping_Roll) |
988 | { |
989 | { |
989 | IntegralAccNick = 0; |
990 | IntegralAccNick = 0; |
990 | IntegralAccRoll = 0; |
991 | IntegralAccRoll = 0; |
991 | MittelIntegralNick = 0; |
992 | MittelIntegralNick = 0; |
992 | MittelIntegralRoll = 0; |
993 | MittelIntegralRoll = 0; |
993 | MittelIntegralNick2 = 0; |
994 | MittelIntegralNick2 = 0; |
994 | MittelIntegralRoll2 = 0; |
995 | MittelIntegralRoll2 = 0; |
995 | Mess_IntegralNick2 = Mess_IntegralNick; |
996 | Mess_IntegralNick2 = Mess_IntegralNick; |
996 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
997 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
997 | ZaehlMessungen = 0; |
998 | ZaehlMessungen = 0; |
998 | LageKorrekturNick = 0; |
999 | LageKorrekturNick = 0; |
999 | LageKorrekturRoll = 0; |
1000 | LageKorrekturRoll = 0; |
1000 | } |
1001 | } |
1001 | 1002 | ||
1002 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1003 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1003 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1004 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1004 | { |
1005 | { |
1005 | long tmp_long, tmp_long2; |
1006 | long tmp_long, tmp_long2; |
1006 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
1007 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
1007 | { |
1008 | { |
1008 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1009 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1009 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1010 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1010 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1011 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1011 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1012 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1012 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1013 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1013 | { |
1014 | { |
1014 | tmp_long /= 2; |
1015 | tmp_long /= 2; |
1015 | tmp_long2 /= 2; |
1016 | tmp_long2 /= 2; |
1016 | } |
1017 | } |
1017 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1018 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1018 | { |
1019 | { |
1019 | tmp_long /= 3; |
1020 | tmp_long /= 3; |
1020 | tmp_long2 /= 3; |
1021 | tmp_long2 /= 3; |
1021 | } |
1022 | } |
1022 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1023 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1023 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1024 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1024 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1025 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1025 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1026 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1026 | } |
1027 | } |
1027 | else |
1028 | else |
1028 | { |
1029 | { |
1029 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1030 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1030 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1031 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1031 | tmp_long /= 16; |
1032 | tmp_long /= 16; |
1032 | tmp_long2 /= 16; |
1033 | tmp_long2 /= 16; |
1033 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1034 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1034 | { |
1035 | { |
1035 | tmp_long /= 3; |
1036 | tmp_long /= 3; |
1036 | tmp_long2 /= 3; |
1037 | tmp_long2 /= 3; |
1037 | } |
1038 | } |
1038 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1039 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1039 | { |
1040 | { |
1040 | tmp_long /= 3; |
1041 | tmp_long /= 3; |
1041 | tmp_long2 /= 3; |
1042 | tmp_long2 /= 3; |
1042 | } |
1043 | } |
1043 | 1044 | ||
1044 | #define AUSGLEICH 32 |
1045 | #define AUSGLEICH 32 |
1045 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1046 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1046 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1047 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1047 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1048 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1048 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1049 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1049 | } |
1050 | } |
1050 | 1051 | ||
1051 | Mess_IntegralNick -= tmp_long; |
1052 | Mess_IntegralNick -= tmp_long; |
1052 | Mess_IntegralRoll -= tmp_long2; |
1053 | Mess_IntegralRoll -= tmp_long2; |
1053 | } |
1054 | } |
1054 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1055 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1055 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1056 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1056 | { |
1057 | { |
1057 | static int cnt = 0; |
1058 | static int cnt = 0; |
1058 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1059 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1059 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1060 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1060 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1061 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1061 | { |
1062 | { |
1062 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1063 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1063 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1064 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1064 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1065 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1065 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1066 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1066 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1067 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1067 | #define MAX_I 0 |
1068 | #define MAX_I 0 |
1068 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1069 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1069 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1070 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1070 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1071 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1071 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1073 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1073 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1074 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1074 | 1075 | ||
1075 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1076 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1076 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1077 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1077 | 1078 | ||
1078 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1079 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1079 | { |
1080 | { |
1080 | LageKorrekturNick /= 2; |
1081 | LageKorrekturNick /= 2; |
1081 | LageKorrekturRoll /= 2; |
1082 | LageKorrekturRoll /= 2; |
1082 | } |
1083 | } |
1083 | 1084 | ||
1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1085 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1085 | // Gyro-Drift ermitteln |
1086 | // Gyro-Drift ermitteln |
1086 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1087 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1088 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1088 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1089 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1089 | tmp_long = IntegralNick2 - IntegralNick; |
1090 | tmp_long = IntegralNick2 - IntegralNick; |
1090 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1091 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1091 | 1092 | ||
1092 | IntegralFehlerNick = tmp_long; |
1093 | IntegralFehlerNick = tmp_long; |
1093 | IntegralFehlerRoll = tmp_long2; |
1094 | IntegralFehlerRoll = tmp_long2; |
1094 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1095 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1095 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1096 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1096 | 1097 | ||
1097 | if(EE_Parameter.Driftkomp) |
1098 | if(EE_Parameter.Driftkomp) |
1098 | { |
1099 | { |
1099 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1100 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1100 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1101 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1101 | } |
1102 | } |
1102 | GierGyroFehler = 0; |
1103 | GierGyroFehler = 0; |
1103 | 1104 | ||
1104 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1105 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1105 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1106 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1106 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1107 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1107 | #define BEWEGUNGS_LIMIT 20000 |
1108 | #define BEWEGUNGS_LIMIT 20000 |
1108 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1109 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1109 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1110 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1110 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1111 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1111 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1112 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1112 | { |
1113 | { |
1113 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1114 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1114 | { |
1115 | { |
1115 | if(last_n_p) |
1116 | if(last_n_p) |
1116 | { |
1117 | { |
1117 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1118 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1118 | ausgleichNick = IntegralFehlerNick / 8; |
1119 | ausgleichNick = IntegralFehlerNick / 8; |
1119 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1120 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1120 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1121 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1121 | } |
1122 | } |
1122 | else last_n_p = 1; |
1123 | else last_n_p = 1; |
1123 | } else last_n_p = 0; |
1124 | } else last_n_p = 0; |
1124 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1125 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1125 | { |
1126 | { |
1126 | if(last_n_n) |
1127 | if(last_n_n) |
1127 | { |
1128 | { |
1128 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1129 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1129 | ausgleichNick = IntegralFehlerNick / 8; |
1130 | ausgleichNick = IntegralFehlerNick / 8; |
1130 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1131 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1131 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1132 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1132 | } |
1133 | } |
1133 | else last_n_n = 1; |
1134 | else last_n_n = 1; |
1134 | } else last_n_n = 0; |
1135 | } else last_n_n = 0; |
1135 | } |
1136 | } |
1136 | else |
1137 | else |
1137 | { |
1138 | { |
1138 | cnt = 0; |
1139 | cnt = 0; |
1139 | KompassSignalSchlecht = 1000; |
1140 | KompassSignalSchlecht = 1000; |
1140 | } |
1141 | } |
1141 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1142 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1142 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1143 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1143 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1144 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1144 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1145 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1145 | 1146 | ||
1146 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1147 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1147 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1148 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1148 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1149 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1149 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1150 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1150 | { |
1151 | { |
1151 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1152 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1152 | { |
1153 | { |
1153 | if(last_r_p) |
1154 | if(last_r_p) |
1154 | { |
1155 | { |
1155 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1156 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1156 | ausgleichRoll = IntegralFehlerRoll / 8; |
1157 | ausgleichRoll = IntegralFehlerRoll / 8; |
1157 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1158 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1158 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1159 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1159 | } |
1160 | } |
1160 | else last_r_p = 1; |
1161 | else last_r_p = 1; |
1161 | } else last_r_p = 0; |
1162 | } else last_r_p = 0; |
1162 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1163 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1163 | { |
1164 | { |
1164 | if(last_r_n) |
1165 | if(last_r_n) |
1165 | { |
1166 | { |
1166 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1167 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1167 | ausgleichRoll = IntegralFehlerRoll / 8; |
1168 | ausgleichRoll = IntegralFehlerRoll / 8; |
1168 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1169 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1169 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1170 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1170 | } |
1171 | } |
1171 | else last_r_n = 1; |
1172 | else last_r_n = 1; |
1172 | } else last_r_n = 0; |
1173 | } else last_r_n = 0; |
1173 | } else |
1174 | } else |
1174 | { |
1175 | { |
1175 | cnt = 0; |
1176 | cnt = 0; |
1176 | KompassSignalSchlecht = 1000; |
1177 | KompassSignalSchlecht = 1000; |
1177 | } |
1178 | } |
1178 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1179 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1179 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1180 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1180 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1181 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1181 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1182 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1182 | } |
1183 | } |
1183 | else |
1184 | else |
1184 | { |
1185 | { |
1185 | LageKorrekturRoll = 0; |
1186 | LageKorrekturRoll = 0; |
1186 | LageKorrekturNick = 0; |
1187 | LageKorrekturNick = 0; |
1187 | TrichterFlug = 0; |
1188 | TrichterFlug = 0; |
1188 | } |
1189 | } |
1189 | 1190 | ||
1190 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1191 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1191 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1192 | MittelIntegralNick_Alt = MittelIntegralNick; |
1193 | MittelIntegralNick_Alt = MittelIntegralNick; |
1193 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1194 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | IntegralAccNick = 0; |
1196 | IntegralAccNick = 0; |
1196 | IntegralAccRoll = 0; |
1197 | IntegralAccRoll = 0; |
1197 | IntegralAccZ = 0; |
1198 | IntegralAccZ = 0; |
1198 | MittelIntegralNick = 0; |
1199 | MittelIntegralNick = 0; |
1199 | MittelIntegralRoll = 0; |
1200 | MittelIntegralRoll = 0; |
1200 | MittelIntegralNick2 = 0; |
1201 | MittelIntegralNick2 = 0; |
1201 | MittelIntegralRoll2 = 0; |
1202 | MittelIntegralRoll2 = 0; |
1202 | ZaehlMessungen = 0; |
1203 | ZaehlMessungen = 0; |
1203 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1204 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1204 | 1205 | ||
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | // Gieren |
1207 | // Gieren |
1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | if(abs(StickGier) > 15) // war 35 |
1209 | if(abs(StickGier) > 15) // war 35 |
1209 | { |
1210 | { |
1210 | KompassSignalSchlecht = 1000; |
1211 | KompassSignalSchlecht = 1000; |
1211 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1212 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1212 | { |
1213 | { |
1213 | NeueKompassRichtungMerken = 1; |
1214 | NeueKompassRichtungMerken = 1; |
1214 | }; |
1215 | }; |
1215 | } |
1216 | } |
1216 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1217 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1217 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1218 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1218 | sollGier = tmp_int; |
1219 | sollGier = tmp_int; |
1219 | Mess_Integral_Gier -= tmp_int; |
1220 | Mess_Integral_Gier -= tmp_int; |
1220 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1221 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1221 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1222 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1222 | 1223 | ||
1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | // Kompass |
1225 | // Kompass |
1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1226 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1227 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1227 | { |
1228 | { |
1228 | int w,v,r,fehler,korrektur; |
1229 | int w,v,r,fehler,korrektur; |
1229 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1230 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1230 | v = abs(IntegralRoll /512); |
1231 | v = abs(IntegralRoll /512); |
1231 | if(v > w) w = v; // grösste Neigung ermitteln |
1232 | if(v > w) w = v; // grösste Neigung ermitteln |
1232 | korrektur = w / 8 + 2; |
1233 | korrektur = w / 8 + 2; |
1233 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1234 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1234 | //fehler += MesswertGier / 12; |
1235 | //fehler += MesswertGier / 12; |
1235 | 1236 | ||
1236 | if(!KompassSignalSchlecht && w < 25) |
1237 | if(!KompassSignalSchlecht && w < 25) |
1237 | { |
1238 | { |
1238 | GierGyroFehler += fehler; |
1239 | GierGyroFehler += fehler; |
1239 | if(NeueKompassRichtungMerken) |
1240 | if(NeueKompassRichtungMerken) |
1240 | { |
1241 | { |
1241 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1242 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1242 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1243 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1243 | NeueKompassRichtungMerken = 0; |
1244 | NeueKompassRichtungMerken = 0; |
1244 | } |
1245 | } |
1245 | } |
1246 | } |
1246 | ErsatzKompass += (fehler * 16) / korrektur; |
1247 | ErsatzKompass += (fehler * 16) / korrektur; |
1247 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1248 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1248 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1249 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1249 | if(w >= 0) |
1250 | if(w >= 0) |
1250 | { |
1251 | { |
1251 | if(!KompassSignalSchlecht) |
1252 | if(!KompassSignalSchlecht) |
1252 | { |
1253 | { |
1253 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1254 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1254 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1255 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1255 | v = (r * w) / v; // nach Kompass ausrichten |
1256 | v = (r * w) / v; // nach Kompass ausrichten |
1256 | w = 3 * Parameter_KompassWirkung; |
1257 | w = 3 * Parameter_KompassWirkung; |
1257 | if(v > w) v = w; // Begrenzen |
1258 | if(v > w) v = w; // Begrenzen |
1258 | else |
1259 | else |
1259 | if(v < -w) v = -w; |
1260 | if(v < -w) v = -w; |
1260 | Mess_Integral_Gier += v; |
1261 | Mess_Integral_Gier += v; |
1261 | } |
1262 | } |
1262 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1263 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1263 | } |
1264 | } |
1264 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1265 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1265 | } |
1266 | } |
1266 | 1267 | ||
1267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1268 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1268 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1269 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1269 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1270 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1270 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1271 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1271 | 1272 | ||
1272 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1273 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1273 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1274 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1274 | 1275 | ||
1275 | #define TRIM_MAX 200 |
1276 | #define TRIM_MAX 200 |
1276 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1277 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1277 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1278 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1278 | 1279 | ||
1279 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1280 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1280 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1281 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1281 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1282 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1282 | 1283 | ||
1283 | // Maximalwerte abfangen |
1284 | // Maximalwerte abfangen |
1284 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1285 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1285 | #define MAX_SENSOR (4096) |
1286 | #define MAX_SENSOR (4096) |
1286 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1287 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1287 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1288 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1288 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1289 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1289 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1290 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1290 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1291 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1291 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1292 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1292 | 1293 | ||
1293 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1294 | // Höhenregelung |
1295 | // Höhenregelung |
1295 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1296 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1297 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1297 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1298 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1298 | GasMischanteil *= STICK_GAIN; |
1299 | GasMischanteil *= STICK_GAIN; |
1299 | // if height control is activated |
1300 | // if height control is activated |
1300 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1301 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1301 | { |
1302 | { |
1302 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1303 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1303 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1304 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1304 | 1305 | ||
1305 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1306 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1306 | #define OPA_OFFSET_STEP 15 |
1307 | #define OPA_OFFSET_STEP 15 |
1307 | #else |
1308 | #else |
1308 | #define OPA_OFFSET_STEP 10 |
1309 | #define OPA_OFFSET_STEP 10 |
1309 | #endif |
1310 | #endif |
1310 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1311 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1311 | static int HeightTrimming = 0; // rate for change of height setpoint |
1312 | static int HeightTrimming = 0; // rate for change of height setpoint |
1312 | static int FilterHCGas = 0; |
1313 | static int FilterHCGas = 0; |
1313 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1314 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1314 | static unsigned long HoverGasFilter = 0; |
1315 | static unsigned long HoverGasFilter = 0; |
1315 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1316 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1316 | int CosAttitude; // for projection of hoover gas |
1317 | int CosAttitude; // for projection of hoover gas |
1317 | 1318 | ||
1318 | // get the current hooverpoint |
1319 | // get the current hooverpoint |
1319 | DebugOut.Analog[21] = HoverGas; |
1320 | DebugOut.Analog[21] = HoverGas; |
1320 | 1321 | ||
1321 | // Expand the measurement |
1322 | // Expand the measurement |
1322 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1323 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1323 | if(!BaroExpandActive) |
1324 | if(!BaroExpandActive) |
1324 | { |
1325 | { |
1325 | if(MessLuftdruck > 920) |
1326 | if(MessLuftdruck > 920) |
1326 | { // increase offset |
1327 | { // increase offset |
1327 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1328 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1328 | { |
1329 | { |
1329 | ExpandBaro -= 1; |
1330 | ExpandBaro -= 1; |
1330 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1331 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1331 | beeptime = 300; |
1332 | beeptime = 300; |
1332 | BaroExpandActive = 350; |
1333 | BaroExpandActive = 350; |
1333 | } |
1334 | } |
1334 | else |
1335 | else |
1335 | { |
1336 | { |
1336 | BaroAtLowerLimit = 1; |
1337 | BaroAtLowerLimit = 1; |
1337 | } |
1338 | } |
1338 | } |
1339 | } |
1339 | // measurement of air pressure close to lower limit and |
1340 | // measurement of air pressure close to lower limit and |
1340 | else |
1341 | else |
1341 | if(MessLuftdruck < 100) |
1342 | if(MessLuftdruck < 100) |
1342 | { // decrease offset |
1343 | { // decrease offset |
1343 | if(OCR0A > OPA_OFFSET_STEP) |
1344 | if(OCR0A > OPA_OFFSET_STEP) |
1344 | { |
1345 | { |
1345 | ExpandBaro += 1; |
1346 | ExpandBaro += 1; |
1346 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1347 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1347 | beeptime = 300; |
1348 | beeptime = 300; |
1348 | BaroExpandActive = 350; |
1349 | BaroExpandActive = 350; |
1349 | } |
1350 | } |
1350 | else |
1351 | else |
1351 | { |
1352 | { |
1352 | BaroAtUpperLimit = 1; |
1353 | BaroAtUpperLimit = 1; |
1353 | } |
1354 | } |
1354 | } |
1355 | } |
1355 | else |
1356 | else |
1356 | { |
1357 | { |
1357 | BaroAtUpperLimit = 0; |
1358 | BaroAtUpperLimit = 0; |
1358 | BaroAtLowerLimit = 0; |
1359 | BaroAtLowerLimit = 0; |
1359 | } |
1360 | } |
1360 | } |
1361 | } |
1361 | else // delay, because of expanding the Baro-Range |
1362 | else // delay, because of expanding the Baro-Range |
1362 | { |
1363 | { |
1363 | // now clear the D-values |
1364 | // now clear the D-values |
1364 | SummenHoehe = HoehenWert * SM_FILTER; |
1365 | SummenHoehe = HoehenWert * SM_FILTER; |
1365 | VarioMeter = 0; |
1366 | VarioMeter = 0; |
1366 | BaroExpandActive--; |
1367 | BaroExpandActive--; |
1367 | } |
1368 | } |
1368 | 1369 | ||
1369 | // if height control is activated by an rc channel |
1370 | // if height control is activated by an rc channel |
1370 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1371 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1371 | { // check if parameter is less than activation threshold |
1372 | { // check if parameter is less than activation threshold |
1372 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1373 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1373 | { //height control not active |
1374 | { //height control not active |
1374 | if(!delay--) |
1375 | if(!delay--) |
1375 | { |
1376 | { |
1376 | HoehenReglerAktiv = 0; // disable height control |
1377 | HoehenReglerAktiv = 0; // disable height control |
1377 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1378 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1378 | delay = 1; |
1379 | delay = 1; |
1379 | } |
1380 | } |
1380 | } |
1381 | } |
1381 | else |
1382 | else |
1382 | { //height control is activated |
1383 | { //height control is activated |
1383 | HoehenReglerAktiv = 1; // enable height control |
1384 | HoehenReglerAktiv = 1; // enable height control |
1384 | delay = 200; |
1385 | delay = 200; |
1385 | } |
1386 | } |
1386 | } |
1387 | } |
1387 | else // no switchable height control |
1388 | else // no switchable height control |
1388 | { |
1389 | { |
1389 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1390 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1390 | HoehenReglerAktiv = 1; |
1391 | HoehenReglerAktiv = 1; |
1391 | } |
1392 | } |
1392 | 1393 | ||
1393 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1394 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1394 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1395 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1395 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1396 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1396 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1397 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1397 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1398 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1398 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1399 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1399 | VarioCharacter = ' '; |
1400 | VarioCharacter = ' '; |
1400 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1401 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1401 | { |
1402 | { |
1402 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1403 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1403 | // Holger original version |
1404 | // Holger original version |
1404 | // start of height control algorithm |
1405 | // start of height control algorithm |
1405 | // the height control is only an attenuation of the actual gas stick. |
1406 | // the height control is only an attenuation of the actual gas stick. |
1406 | // I.e. it will work only if the gas stick is higher than the hover gas |
1407 | // I.e. it will work only if the gas stick is higher than the hover gas |
1407 | // and the hover height will be allways larger than height setpoint. |
1408 | // and the hover height will be allways larger than height setpoint. |
1408 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1409 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1409 | { // old version |
1410 | { // old version |
1410 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1411 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1411 | HeightTrimming = 0; |
1412 | HeightTrimming = 0; |
1412 | // set both flags to indicate no vario mode |
1413 | // set both flags to indicate no vario mode |
1413 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1414 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1414 | } |
1415 | } |
1415 | else |
1416 | else |
1416 | { |
1417 | { |
1417 | // alternative height control |
1418 | // alternative height control |
1418 | // PD-Control with respect to hoover point |
1419 | // PD-Control with respect to hoover point |
1419 | // the thrust loss out of horizontal attitude is compensated |
1420 | // the thrust loss out of horizontal attitude is compensated |
1420 | // the setpoint will be fine adjusted with the gas stick position |
1421 | // the setpoint will be fine adjusted with the gas stick position |
1421 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1422 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1422 | { // gas stick is above hoover point |
1423 | { // gas stick is above hoover point |
1423 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1424 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1424 | { |
1425 | { |
1425 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1426 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1426 | { |
1427 | { |
1427 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1428 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1428 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1429 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1429 | } |
1430 | } |
1430 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1431 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1431 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1432 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1432 | VarioCharacter = '+'; |
1433 | VarioCharacter = '+'; |
1433 | } // gas stick is below hoover point |
1434 | } // gas stick is below hoover point |
1434 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1435 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1435 | { |
1436 | { |
1436 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1437 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1437 | { |
1438 | { |
1438 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1439 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1439 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1440 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1440 | } |
1441 | } |
1441 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1442 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1442 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1443 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1443 | VarioCharacter = '-'; |
1444 | VarioCharacter = '-'; |
1444 | } |
1445 | } |
1445 | else // Gas Stick in Hover Range |
1446 | else // Gas Stick in Hover Range |
1446 | { |
1447 | { |
1447 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1448 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1448 | { |
1449 | { |
1449 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1450 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1450 | HeightTrimming = 0; |
1451 | HeightTrimming = 0; |
1451 | SollHoehe = HoehenWert; // update setpoint to current height |
1452 | SollHoehe = HoehenWert; // update setpoint to current height |
1452 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1453 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1453 | if(!StartTrigger && HoehenWert > 50) |
1454 | if(!StartTrigger && HoehenWert > 50) |
1454 | { |
1455 | { |
1455 | StartTrigger = 1; |
1456 | StartTrigger = 1; |
1456 | } |
1457 | } |
1457 | } |
1458 | } |
1458 | VarioCharacter = '='; |
1459 | VarioCharacter = '='; |
1459 | } |
1460 | } |
1460 | // Trim height set point |
1461 | // Trim height set point |
1461 | if(abs(HeightTrimming) > 512) |
1462 | if(abs(HeightTrimming) > 512) |
1462 | { |
1463 | { |
1463 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1464 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1464 | HeightTrimming = 0; |
1465 | HeightTrimming = 0; |
1465 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1466 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1466 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1467 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1467 | //update hoover gas stick value when setpoint is shifted |
1468 | //update hoover gas stick value when setpoint is shifted |
1468 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1469 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1469 | { |
1470 | { |
1470 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1471 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1471 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1472 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1472 | if(StickGasHover < 70) StickGasHover = 70; |
1473 | if(StickGasHover < 70) StickGasHover = 70; |
1473 | else if(StickGasHover > 150) StickGasHover = 150; |
1474 | else if(StickGasHover > 150) StickGasHover = 150; |
1474 | } |
1475 | } |
1475 | } |
1476 | } |
1476 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1477 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1477 | } //if FCFlags & MKFCFLAG_FLY |
1478 | } //if FCFlags & MKFCFLAG_FLY |
1478 | else |
1479 | else |
1479 | { |
1480 | { |
1480 | SollHoehe = HoehenWert - 400; |
1481 | SollHoehe = HoehenWert - 400; |
1481 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1482 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1482 | else StickGasHover = 120; |
1483 | else StickGasHover = 120; |
1483 | HoverGas = GasMischanteil; |
1484 | HoverGas = GasMischanteil; |
1484 | } |
1485 | } |
1485 | HCGas = HoverGas; // take hover gas (neutral point) |
1486 | HCGas = HoverGas; // take hover gas (neutral point) |
1486 | } |
1487 | } |
1487 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1488 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1488 | { |
1489 | { |
1489 | // from this point the Heigth Control Algorithm is identical for both versions |
1490 | // from this point the Heigth Control Algorithm is identical for both versions |
1490 | if(BaroExpandActive) // baro range expanding active |
1491 | if(BaroExpandActive) // baro range expanding active |
1491 | { |
1492 | { |
1492 | HCGas = HoverGas; // hover while expanding baro adc range |
1493 | HCGas = HoverGas; // hover while expanding baro adc range |
1493 | HeightDeviation = 0; |
1494 | HeightDeviation = 0; |
1494 | } // EOF // baro range expanding active |
1495 | } // EOF // baro range expanding active |
1495 | else // valid data from air pressure sensor |
1496 | else // valid data from air pressure sensor |
1496 | { |
1497 | { |
1497 | // ------------------------- P-Part ---------------------------- |
1498 | // ------------------------- P-Part ---------------------------- |
1498 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1499 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1499 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1500 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1500 | HeightDeviation = (int)(tmp_long); // positive when too high |
1501 | HeightDeviation = (int)(tmp_long); // positive when too high |
1501 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1502 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1502 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1503 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1503 | GasReduction = tmp_long; |
1504 | GasReduction = tmp_long; |
1504 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1505 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1505 | tmp_int = VarioMeter / 8; |
1506 | tmp_int = VarioMeter / 8; |
1506 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1507 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1507 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1508 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1508 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1509 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1509 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1510 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1510 | else |
1511 | else |
1511 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1512 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1512 | GasReduction += tmp_int; |
1513 | GasReduction += tmp_int; |
1513 | } // EOF no baro range expanding |
1514 | } // EOF no baro range expanding |
1514 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1515 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1515 | if(Parameter_Hoehe_ACC_Wirkung) |
1516 | if(Parameter_Hoehe_ACC_Wirkung) |
1516 | { |
1517 | { |
1517 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1518 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1518 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1519 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1519 | GasReduction += tmp_long; |
1520 | GasReduction += tmp_long; |
1520 | } |
1521 | } |
1521 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1522 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1522 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1523 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1523 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1524 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1524 | GasReduction += tmp_int; |
1525 | GasReduction += tmp_int; |
1525 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1526 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1526 | // ------------------------ ---------------------------------- |
1527 | // ------------------------ ---------------------------------- |
1527 | HCGas -= GasReduction; |
1528 | HCGas -= GasReduction; |
1528 | // limit deviation from hoover point within the target region |
1529 | // limit deviation from hoover point within the target region |
1529 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1530 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1530 | { |
1531 | { |
1531 | unsigned int tmp; |
1532 | unsigned int tmp; |
1532 | tmp = abs(HeightDeviation); |
1533 | tmp = abs(HeightDeviation); |
1533 | if(tmp <= 60) |
1534 | if(tmp <= 60) |
1534 | { |
1535 | { |
1535 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1536 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1536 | } |
1537 | } |
1537 | else |
1538 | else |
1538 | { |
1539 | { |
1539 | tmp = (tmp - 60) / 32; |
1540 | tmp = (tmp - 60) / 32; |
1540 | if(tmp > 15) tmp = 15; |
1541 | if(tmp > 15) tmp = 15; |
1541 | if(HeightDeviation > 0) |
1542 | if(HeightDeviation > 0) |
1542 | { |
1543 | { |
1543 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1544 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1544 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1545 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1545 | } |
1546 | } |
1546 | else |
1547 | else |
1547 | { |
1548 | { |
1548 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1549 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1549 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1550 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1550 | } |
1551 | } |
1551 | } |
1552 | } |
1552 | } |
1553 | } |
1553 | // strech control output by inverse attitude projection 1/cos |
1554 | // strech control output by inverse attitude projection 1/cos |
1554 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1555 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1555 | tmp_long2 = (int32_t)HCGas; |
1556 | tmp_long2 = (int32_t)HCGas; |
1556 | tmp_long2 *= 8192L; |
1557 | tmp_long2 *= 8192L; |
1557 | tmp_long2 /= CosAttitude; |
1558 | tmp_long2 /= CosAttitude; |
1558 | HCGas = (int16_t)tmp_long2; |
1559 | HCGas = (int16_t)tmp_long2; |
1559 | // update height control gas averaging |
1560 | // update height control gas averaging |
1560 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1561 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1561 | // limit height control gas pd-control output |
1562 | // limit height control gas pd-control output |
1562 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1563 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1563 | // set GasMischanteil to HeightControlGasFilter |
1564 | // set GasMischanteil to HeightControlGasFilter |
1564 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1565 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1565 | { // old version |
1566 | { // old version |
1566 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1567 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1567 | GasMischanteil = FilterHCGas; |
1568 | GasMischanteil = FilterHCGas; |
1568 | } |
1569 | } |
1569 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1570 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1570 | } |
1571 | } |
1571 | }// EOF height control active |
1572 | }// EOF height control active |
1572 | else // HC not active |
1573 | else // HC not active |
1573 | { |
1574 | { |
1574 | //update hoover gas stick value when HC is not active |
1575 | //update hoover gas stick value when HC is not active |
1575 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1576 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1576 | { |
1577 | { |
1577 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1578 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1578 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1579 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1579 | } |
1580 | } |
1580 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1581 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1581 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1582 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1582 | FilterHCGas = GasMischanteil; |
1583 | FilterHCGas = GasMischanteil; |
1583 | // set both flags to indicate no vario mode |
1584 | // set both flags to indicate no vario mode |
1584 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1585 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1585 | } |
1586 | } |
1586 | 1587 | ||
1587 | // Hover gas estimation by averaging gas control output on small z-velocities |
1588 | // Hover gas estimation by averaging gas control output on small z-velocities |
1588 | // this is done only if height contol option is selected in global config and aircraft is flying |
1589 | // this is done only if height contol option is selected in global config and aircraft is flying |
1589 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1590 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1590 | { |
1591 | { |
1591 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1592 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1592 | if(StartTrigger == 1) StartTrigger = 2; |
1593 | if(StartTrigger == 1) StartTrigger = 2; |
1593 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1594 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1594 | tmp_long2 *= CosAttitude; // apply attitude projection |
1595 | tmp_long2 *= CosAttitude; // apply attitude projection |
1595 | tmp_long2 /= 8192; |
1596 | tmp_long2 /= 8192; |
1596 | // average vertical projected thrust |
1597 | // average vertical projected thrust |
1597 | if(modell_fliegt < 4000) // the first 8 seconds |
1598 | if(modell_fliegt < 4000) // the first 8 seconds |
1598 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1599 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1599 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1600 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1600 | HoverGasFilter += 16L * tmp_long2; |
1601 | HoverGasFilter += 16L * tmp_long2; |
1601 | } |
1602 | } |
1602 | if(modell_fliegt < 8000) // the first 16 seconds |
1603 | if(modell_fliegt < 8000) // the first 16 seconds |
1603 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1604 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1604 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1605 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1605 | HoverGasFilter += 4L * tmp_long2; |
1606 | HoverGasFilter += 4L * tmp_long2; |
1606 | } |
1607 | } |
1607 | else //later |
1608 | else //later |
1608 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1609 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1609 | { |
1610 | { |
1610 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1611 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1611 | HoverGasFilter += tmp_long2; |
1612 | HoverGasFilter += tmp_long2; |
1612 | } |
1613 | } |
1613 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1614 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1614 | if(EE_Parameter.Hoehe_HoverBand) |
1615 | if(EE_Parameter.Hoehe_HoverBand) |
1615 | { |
1616 | { |
1616 | int16_t band; |
1617 | int16_t band; |
1617 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1618 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1618 | HoverGasMin = HoverGas - band; |
1619 | HoverGasMin = HoverGas - band; |
1619 | HoverGasMax = HoverGas + band; |
1620 | HoverGasMax = HoverGas + band; |
1620 | } |
1621 | } |
1621 | else |
1622 | else |
1622 | { // no limit |
1623 | { // no limit |
1623 | HoverGasMin = 0; |
1624 | HoverGasMin = 0; |
1624 | HoverGasMax = 1023; |
1625 | HoverGasMax = 1023; |
1625 | } |
1626 | } |
1626 | } |
1627 | } |
1627 | else |
1628 | else |
1628 | { |
1629 | { |
1629 | StartTrigger = 0; |
1630 | StartTrigger = 0; |
1630 | HoverGasFilter = 0; |
1631 | HoverGasFilter = 0; |
1631 | HoverGas = 0; |
1632 | HoverGas = 0; |
1632 | } |
1633 | } |
1633 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1634 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1634 | else |
1635 | else |
1635 | { |
1636 | { |
1636 | // set undefined state to indicate vario off |
1637 | // set undefined state to indicate vario off |
1637 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1638 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1638 | } // EOF no height control |
1639 | } // EOF no height control |
1639 | 1640 | ||
1640 | // limit gas to parameter setting |
1641 | // limit gas to parameter setting |
1641 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1642 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1642 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1643 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1643 | 1644 | ||
1644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | // all BL-Ctrl connected? |
1646 | // all BL-Ctrl connected? |
1646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1647 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1648 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1648 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1649 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1649 | { |
1650 | { |
1650 | modell_fliegt = 1; |
1651 | modell_fliegt = 1; |
1651 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1652 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1652 | } |
1653 | } |
1653 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1654 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1654 | // + Mischer und PI-Regler |
1655 | // + Mischer und PI-Regler |
1655 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1656 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1656 | DebugOut.Analog[7] = GasMischanteil; |
1657 | DebugOut.Analog[7] = GasMischanteil; |
1657 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1658 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1658 | // Gier-Anteil |
1659 | // Gier-Anteil |
1659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1660 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1661 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1661 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1662 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1662 | if(GasMischanteil > MIN_GIERGAS) |
1663 | if(GasMischanteil > MIN_GIERGAS) |
1663 | { |
1664 | { |
1664 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1665 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1665 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1666 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1666 | } |
1667 | } |
1667 | else |
1668 | else |
1668 | { |
1669 | { |
1669 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1670 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1670 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1671 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1671 | } |
1672 | } |
1672 | tmp_int = MAX_GAS*STICK_GAIN; |
1673 | tmp_int = MAX_GAS*STICK_GAIN; |
1673 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1674 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1674 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1675 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1675 | 1676 | ||
1676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1677 | // Nick-Achse |
1678 | // Nick-Achse |
1678 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1679 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1680 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1680 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1681 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1681 | else SummeNick += DiffNick; // I-Anteil bei HH |
1682 | else SummeNick += DiffNick; // I-Anteil bei HH |
1682 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1683 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1683 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1684 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1684 | 1685 | ||
1685 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1686 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1686 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1687 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1687 | pd_ergebnis_nick += SummeNick / Ki; |
1688 | pd_ergebnis_nick += SummeNick / Ki; |
1688 | 1689 | ||
1689 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1690 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1690 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1691 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1691 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1692 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1692 | 1693 | ||
1693 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1694 | // Roll-Achse |
1695 | // Roll-Achse |
1695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1696 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1697 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1697 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1698 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1698 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1699 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1699 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1700 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1700 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1701 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1701 | 1702 | ||
1702 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1703 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1703 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1704 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1704 | pd_ergebnis_roll += SummeRoll / Ki; |
1705 | pd_ergebnis_roll += SummeRoll / Ki; |
1705 | 1706 | ||
1706 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1707 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1707 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1708 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1708 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1709 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1709 | 1710 | ||
1710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1711 | // Universal Mixer |
1712 | // Universal Mixer |
1712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1713 | for(i=0; i<MAX_MOTORS; i++) |
1714 | for(i=0; i<MAX_MOTORS; i++) |
1714 | { |
1715 | { |
1715 | signed int tmp_int; |
1716 | signed int tmp_int; |
1716 | if(Mixer.Motor[i][0] > 0) |
1717 | if(Mixer.Motor[i][0] > 0) |
1717 | { |
1718 | { |
1718 | // Gas |
1719 | // Gas |
1719 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1720 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1720 | // Nick |
1721 | // Nick |
1721 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1722 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1722 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1723 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1723 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1724 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1724 | // Roll |
1725 | // Roll |
1725 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1726 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1726 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1727 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1727 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1728 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1728 | // Gier |
1729 | // Gier |
1729 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1730 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1730 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1731 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1731 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1732 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1732 | 1733 | ||
1733 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1734 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1734 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1735 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1735 | 1736 | ||
1736 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1737 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1737 | Motor[i].SetPoint = tmp_int / 4; |
1738 | Motor[i].SetPoint = tmp_int / 4; |
1738 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1739 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1739 | tmp_motorwert[i] = tmp_int; |
1740 | tmp_motorwert[i] = tmp_int; |
1740 | } |
1741 | } |
1741 | else |
1742 | else |
1742 | { |
1743 | { |
1743 | Motor[i].SetPoint = 0; |
1744 | Motor[i].SetPoint = 0; |
1744 | Motor[i].SetPointLowerBits = 0; |
1745 | Motor[i].SetPointLowerBits = 0; |
1745 | } |
1746 | } |
1746 | } |
1747 | } |
1747 | } |
1748 | } |
1748 | 1749 |