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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 0,2° |
69 | unsigned char ControlHeading = 0;// in 0,2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | volatile long Mess_Integral_Hoch = 0; |
78 | volatile long Mess_Integral_Hoch = 0; |
79 | int KompassValue = 0; |
79 | int KompassValue = 0; |
80 | int KompassStartwert = 0; |
80 | int KompassStartwert = 0; |
81 | int KompassRichtung = 0; |
81 | int KompassRichtung = 0; |
82 | unsigned int KompassSignalSchlecht = 500; |
82 | unsigned int KompassSignalSchlecht = 500; |
83 | unsigned char MAX_GAS,MIN_GAS; |
83 | unsigned char MAX_GAS,MIN_GAS; |
84 | unsigned char HoehenReglerAktiv = 0; |
84 | unsigned char HoehenReglerAktiv = 0; |
85 | unsigned char TrichterFlug = 0; |
85 | unsigned char TrichterFlug = 0; |
86 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
86 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
87 | long ErsatzKompass; |
87 | long ErsatzKompass; |
88 | int ErsatzKompassInGrad; // Kompasswert in Grad |
88 | int ErsatzKompassInGrad; // Kompasswert in Grad |
89 | int GierGyroFehler = 0; |
89 | int GierGyroFehler = 0; |
90 | char GyroFaktor,GyroFaktorGier; |
90 | char GyroFaktor,GyroFaktorGier; |
91 | char IntegralFaktor,IntegralFaktorGier; |
91 | char IntegralFaktor,IntegralFaktorGier; |
92 | int DiffNick,DiffRoll; |
92 | int DiffNick,DiffRoll; |
93 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
93 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
94 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
94 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
95 | volatile unsigned char SenderOkay = 0; |
95 | volatile unsigned char SenderOkay = 0; |
96 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
96 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | char MotorenEin = 0; |
97 | char MotorenEin = 0; |
98 | long HoehenWert = 0; |
98 | long HoehenWert = 0; |
99 | long SollHoehe = 0; |
99 | long SollHoehe = 0; |
100 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
100 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
101 | //float Ki = FAKTOR_I; |
101 | //float Ki = FAKTOR_I; |
102 | int Ki = (10300/2) / 33; |
102 | int Ki = (10300/2) / 33; |
103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
104 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
105 | 105 | ||
106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
111 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
111 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
112 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
113 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
114 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
114 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
115 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
115 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
117 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
118 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
118 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
119 | unsigned char Parameter_UserParam1 = 0; |
119 | unsigned char Parameter_UserParam1 = 0; |
120 | unsigned char Parameter_UserParam2 = 0; |
120 | unsigned char Parameter_UserParam2 = 0; |
121 | unsigned char Parameter_UserParam3 = 0; |
121 | unsigned char Parameter_UserParam3 = 0; |
122 | unsigned char Parameter_UserParam4 = 0; |
122 | unsigned char Parameter_UserParam4 = 0; |
123 | unsigned char Parameter_UserParam5 = 0; |
123 | unsigned char Parameter_UserParam5 = 0; |
124 | unsigned char Parameter_UserParam6 = 0; |
124 | unsigned char Parameter_UserParam6 = 0; |
125 | unsigned char Parameter_UserParam7 = 0; |
125 | unsigned char Parameter_UserParam7 = 0; |
126 | unsigned char Parameter_UserParam8 = 0; |
126 | unsigned char Parameter_UserParam8 = 0; |
127 | unsigned char Parameter_ServoNickControl = 100; |
127 | unsigned char Parameter_ServoNickControl = 100; |
128 | unsigned char Parameter_ServoRollControl = 100; |
128 | unsigned char Parameter_ServoRollControl = 100; |
129 | unsigned char Parameter_LoopGasLimit = 70; |
129 | unsigned char Parameter_LoopGasLimit = 70; |
130 | unsigned char Parameter_AchsKopplung1 = 90; |
130 | unsigned char Parameter_AchsKopplung1 = 90; |
131 | unsigned char Parameter_AchsKopplung2 = 65; |
131 | unsigned char Parameter_AchsKopplung2 = 65; |
132 | unsigned char Parameter_CouplingYawCorrection = 64; |
132 | unsigned char Parameter_CouplingYawCorrection = 64; |
133 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
133 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
134 | unsigned char Parameter_DynamicStability = 100; |
134 | unsigned char Parameter_DynamicStability = 100; |
135 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
135 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
136 | unsigned char Parameter_J16Timing; // for the J16 Output |
136 | unsigned char Parameter_J16Timing; // for the J16 Output |
137 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
137 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
138 | unsigned char Parameter_J17Timing; // for the J17 Output |
138 | unsigned char Parameter_J17Timing; // for the J17 Output |
139 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
139 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
140 | unsigned char Parameter_NaviGpsGain; |
140 | unsigned char Parameter_NaviGpsGain; |
141 | unsigned char Parameter_NaviGpsP; |
141 | unsigned char Parameter_NaviGpsP; |
142 | unsigned char Parameter_NaviGpsI; |
142 | unsigned char Parameter_NaviGpsI; |
143 | unsigned char Parameter_NaviGpsD; |
143 | unsigned char Parameter_NaviGpsD; |
144 | unsigned char Parameter_NaviGpsACC; |
144 | unsigned char Parameter_NaviGpsACC; |
145 | unsigned char Parameter_NaviOperatingRadius; |
145 | unsigned char Parameter_NaviOperatingRadius; |
146 | unsigned char Parameter_NaviWindCorrection; |
146 | unsigned char Parameter_NaviWindCorrection; |
147 | unsigned char Parameter_NaviSpeedCompensation; |
147 | unsigned char Parameter_NaviSpeedCompensation; |
148 | unsigned char Parameter_ExternalControl; |
148 | unsigned char Parameter_ExternalControl; |
149 | unsigned char Parameter_OrientationModeControl; |
- | |
150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
149 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
151 | unsigned char CareFree = 0; |
150 | unsigned char CareFree = 0; |
152 | 151 | ||
153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
152 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
154 | int MaxStickNick = 0,MaxStickRoll = 0; |
153 | int MaxStickNick = 0,MaxStickRoll = 0; |
155 | unsigned int modell_fliegt = 0; |
154 | unsigned int modell_fliegt = 0; |
156 | volatile unsigned char FCFlags = 0; |
155 | volatile unsigned char FCFlags = 0; |
157 | long GIER_GRAD_FAKTOR = 1291; |
156 | long GIER_GRAD_FAKTOR = 1291; |
158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
157 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
159 | signed int tmp_motorwert[MAX_MOTORS]; |
158 | signed int tmp_motorwert[MAX_MOTORS]; |
160 | char VarioCharacter = ' '; |
159 | char VarioCharacter = ' '; |
161 | 160 | ||
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
161 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
162 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
163 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
165 | 164 | ||
166 | 165 | ||
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // Debugwerte zuordnen |
167 | // Debugwerte zuordnen |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | void CopyDebugValues(void) |
169 | void CopyDebugValues(void) |
171 | { |
170 | { |
172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
171 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
172 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
173 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
174 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
175 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
177 | DebugOut.Analog[5] = HoehenWert/5; |
176 | DebugOut.Analog[5] = HoehenWert/5; |
178 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
177 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
179 | DebugOut.Analog[8] = KompassValue; |
178 | DebugOut.Analog[8] = KompassValue; |
180 | DebugOut.Analog[9] = UBat; |
179 | DebugOut.Analog[9] = UBat; |
181 | DebugOut.Analog[10] = SenderOkay; |
180 | DebugOut.Analog[10] = SenderOkay; |
182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
181 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
183 | //DebugOut.Analog[16] = NeutralAccZ; |
182 | //DebugOut.Analog[16] = NeutralAccZ; |
184 | //DebugOut.Analog[16] = Motor[0].Temperature; |
183 | //DebugOut.Analog[16] = Motor[0].Temperature; |
185 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
184 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
186 | // DebugOut.Analog[18] = VarioMeter; |
185 | // DebugOut.Analog[18] = VarioMeter; |
187 | // DebugOut.Analog[19] = WinkelOut.CalcState; |
186 | // DebugOut.Analog[19] = WinkelOut.CalcState; |
188 | DebugOut.Analog[20] = ServoNickValue; |
187 | DebugOut.Analog[20] = ServoNickValue; |
189 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
188 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
190 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
189 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
191 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
190 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
192 | // DebugOut.Analog[24] = MesswertNick/2; |
191 | // DebugOut.Analog[24] = MesswertNick/2; |
193 | // DebugOut.Analog[25] = MesswertRoll/2; |
192 | // DebugOut.Analog[25] = MesswertRoll/2; |
194 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
193 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
195 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
194 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
196 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
195 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
197 | //DebugOut.Analog[28] = I2CError; |
196 | //DebugOut.Analog[28] = I2CError; |
198 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
197 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
199 | DebugOut.Analog[30] = GPS_Nick; |
198 | DebugOut.Analog[30] = GPS_Nick; |
200 | DebugOut.Analog[31] = GPS_Roll; |
199 | DebugOut.Analog[31] = GPS_Roll; |
201 | } |
200 | } |
202 | 201 | ||
203 | void Piep(unsigned char Anzahl, unsigned int dauer) |
202 | void Piep(unsigned char Anzahl, unsigned int dauer) |
204 | { |
203 | { |
205 | if(MotorenEin) return; //auf keinen Fall im Flug! |
204 | if(MotorenEin) return; //auf keinen Fall im Flug! |
206 | while(Anzahl--) |
205 | while(Anzahl--) |
207 | { |
206 | { |
208 | beeptime = dauer; |
207 | beeptime = dauer; |
209 | while(beeptime); |
208 | while(beeptime); |
210 | Delay_ms(dauer * 2); |
209 | Delay_ms(dauer * 2); |
211 | } |
210 | } |
212 | } |
211 | } |
213 | 212 | ||
214 | //############################################################################ |
213 | //############################################################################ |
215 | // Messwerte beim Ermitteln der Nullage |
214 | // Messwerte beim Ermitteln der Nullage |
216 | void CalibrierMittelwert(void) |
215 | void CalibrierMittelwert(void) |
217 | //############################################################################ |
216 | //############################################################################ |
218 | { |
217 | { |
219 | unsigned char i; |
218 | unsigned char i; |
220 | if(PlatinenVersion == 13) SucheGyroOffset(); |
219 | if(PlatinenVersion == 13) SucheGyroOffset(); |
221 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
220 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
222 | ANALOG_OFF; |
221 | ANALOG_OFF; |
223 | MesswertNick = AdWertNick; |
222 | MesswertNick = AdWertNick; |
224 | MesswertRoll = AdWertRoll; |
223 | MesswertRoll = AdWertRoll; |
225 | MesswertGier = AdWertGier; |
224 | MesswertGier = AdWertGier; |
226 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
225 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
227 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
226 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
228 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
227 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
229 | // ADC einschalten |
228 | // ADC einschalten |
230 | ANALOG_ON; |
229 | ANALOG_ON; |
231 | for(i=0;i<8;i++) |
230 | for(i=0;i<8;i++) |
232 | { |
231 | { |
233 | int tmp; |
232 | int tmp; |
234 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
233 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
235 | LIMIT_MIN_MAX(tmp, 0, 255); |
234 | LIMIT_MIN_MAX(tmp, 0, 255); |
236 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
235 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
237 | } |
236 | } |
238 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
237 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
239 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
238 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
240 | } |
239 | } |
241 | 240 | ||
242 | //############################################################################ |
241 | //############################################################################ |
243 | // Nullwerte ermitteln |
242 | // Nullwerte ermitteln |
244 | void SetNeutral(unsigned char AccAdjustment) |
243 | void SetNeutral(unsigned char AccAdjustment) |
245 | //############################################################################ |
244 | //############################################################################ |
246 | { |
245 | { |
247 | unsigned char i; |
246 | unsigned char i; |
248 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
247 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
249 | 248 | ||
250 | HEF4017R_ON; |
249 | HEF4017R_ON; |
251 | NeutralAccX = 0; |
250 | NeutralAccX = 0; |
252 | NeutralAccY = 0; |
251 | NeutralAccY = 0; |
253 | NeutralAccZ = 0; |
252 | NeutralAccZ = 0; |
254 | 253 | ||
255 | AdNeutralNick = 0; |
254 | AdNeutralNick = 0; |
256 | AdNeutralRoll = 0; |
255 | AdNeutralRoll = 0; |
257 | AdNeutralGier = 0; |
256 | AdNeutralGier = 0; |
258 | 257 | ||
259 | Parameter_AchsKopplung1 = 0; |
258 | Parameter_AchsKopplung1 = 0; |
260 | Parameter_AchsKopplung2 = 0; |
259 | Parameter_AchsKopplung2 = 0; |
261 | 260 | ||
262 | ExpandBaro = 0; |
261 | ExpandBaro = 0; |
263 | 262 | ||
264 | CalibrierMittelwert(); |
263 | CalibrierMittelwert(); |
265 | Delay_ms_Mess(100); |
264 | Delay_ms_Mess(100); |
266 | 265 | ||
267 | CalibrierMittelwert(); |
266 | CalibrierMittelwert(); |
268 | 267 | ||
269 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
268 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
270 | { |
269 | { |
271 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
270 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
272 | } |
271 | } |
273 | #define NEUTRAL_FILTER 32 |
272 | #define NEUTRAL_FILTER 32 |
274 | for(i=0; i<NEUTRAL_FILTER; i++) |
273 | for(i=0; i<NEUTRAL_FILTER; i++) |
275 | { |
274 | { |
276 | Delay_ms_Mess(10); |
275 | Delay_ms_Mess(10); |
277 | gier_neutral += AdWertGier; |
276 | gier_neutral += AdWertGier; |
278 | nick_neutral += AdWertNick; |
277 | nick_neutral += AdWertNick; |
279 | roll_neutral += AdWertRoll; |
278 | roll_neutral += AdWertRoll; |
280 | } |
279 | } |
281 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
280 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
282 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
281 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
283 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
282 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
284 | 283 | ||
285 | StartNeutralRoll = AdNeutralRoll; |
284 | StartNeutralRoll = AdNeutralRoll; |
286 | StartNeutralNick = AdNeutralNick; |
285 | StartNeutralNick = AdNeutralNick; |
287 | 286 | ||
288 | if(AccAdjustment) |
287 | if(AccAdjustment) |
289 | { |
288 | { |
290 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
289 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
291 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
290 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
292 | NeutralAccZ = Aktuell_az; |
291 | NeutralAccZ = Aktuell_az; |
293 | 292 | ||
294 | // Save ACC neutral settings to eeprom |
293 | // Save ACC neutral settings to eeprom |
295 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
294 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
296 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
295 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
297 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
296 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
298 | } |
297 | } |
299 | else |
298 | else |
300 | { |
299 | { |
301 | // restore from eeprom |
300 | // restore from eeprom |
302 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
301 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
303 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
302 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
304 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
303 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
305 | // strange settings? |
304 | // strange settings? |
306 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
305 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
307 | { |
306 | { |
308 | printf("\n\rACC not calibrated!\r\n"); |
307 | printf("\n\rACC not calibrated!\r\n"); |
309 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
308 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
310 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
309 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
311 | NeutralAccZ = Aktuell_az; |
310 | NeutralAccZ = Aktuell_az; |
312 | } |
311 | } |
313 | } |
312 | } |
314 | 313 | ||
315 | MesswertNick = 0; |
314 | MesswertNick = 0; |
316 | MesswertRoll = 0; |
315 | MesswertRoll = 0; |
317 | MesswertGier = 0; |
316 | MesswertGier = 0; |
318 | Delay_ms_Mess(100); |
317 | Delay_ms_Mess(100); |
319 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
318 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
320 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
319 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
321 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
320 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
322 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
321 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
323 | Mess_IntegralNick2 = IntegralNick; |
322 | Mess_IntegralNick2 = IntegralNick; |
324 | Mess_IntegralRoll2 = IntegralRoll; |
323 | Mess_IntegralRoll2 = IntegralRoll; |
325 | Mess_Integral_Gier = 0; |
324 | Mess_Integral_Gier = 0; |
326 | StartLuftdruck = Luftdruck; |
325 | StartLuftdruck = Luftdruck; |
327 | VarioMeter = 0; |
326 | VarioMeter = 0; |
328 | Mess_Integral_Hoch = 0; |
327 | Mess_Integral_Hoch = 0; |
329 | KompassStartwert = KompassValue; |
328 | KompassStartwert = KompassValue; |
330 | GPS_Neutral(); |
329 | GPS_Neutral(); |
331 | beeptime = 50; |
330 | beeptime = 50; |
332 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
331 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
333 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
332 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
334 | ExternHoehenValue = 0; |
333 | ExternHoehenValue = 0; |
335 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
334 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
336 | GierGyroFehler = 0; |
335 | GierGyroFehler = 0; |
337 | SendVersionToNavi = 1; |
336 | SendVersionToNavi = 1; |
338 | LED_Init(); |
337 | LED_Init(); |
339 | FCFlags |= FCFLAG_CALIBRATE; |
338 | FCFlags |= FCFLAG_CALIBRATE; |
340 | FromNaviCtrl_Value.Kalman_K = -1; |
339 | FromNaviCtrl_Value.Kalman_K = -1; |
341 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
340 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
342 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
341 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
343 | 342 | ||
344 | for(i=0;i<8;i++) |
343 | for(i=0;i<8;i++) |
345 | { |
344 | { |
346 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
345 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
347 | } |
346 | } |
348 | SenderOkay = 100; |
347 | SenderOkay = 100; |
349 | if(ServoActive) |
348 | if(ServoActive) |
350 | { |
349 | { |
351 | HEF4017R_ON; |
350 | HEF4017R_ON; |
352 | DDRD |=0x80; // enable J7 -> Servo signal |
351 | DDRD |=0x80; // enable J7 -> Servo signal |
353 | } |
352 | } |
354 | } |
353 | } |
355 | 354 | ||
356 | //############################################################################ |
355 | //############################################################################ |
357 | // Bearbeitet die Messwerte |
356 | // Bearbeitet die Messwerte |
358 | void Mittelwert(void) |
357 | void Mittelwert(void) |
359 | //############################################################################ |
358 | //############################################################################ |
360 | { |
359 | { |
361 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
360 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
362 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
361 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
363 | signed long winkel_nick, winkel_roll; |
362 | signed long winkel_nick, winkel_roll; |
364 | unsigned char i; |
363 | unsigned char i; |
365 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
364 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
366 | MesswertNick = (signed int) AdWertNickFilter / 8; |
365 | MesswertNick = (signed int) AdWertNickFilter / 8; |
367 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
366 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
368 | RohMesswertNick = MesswertNick; |
367 | RohMesswertNick = MesswertNick; |
369 | RohMesswertRoll = MesswertRoll; |
368 | RohMesswertRoll = MesswertRoll; |
370 | 369 | ||
371 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
370 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
372 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
371 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
373 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
372 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
374 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
373 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
375 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
374 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
376 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
375 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
377 | NaviAccNick += AdWertAccNick; |
376 | NaviAccNick += AdWertAccNick; |
378 | NaviAccRoll += AdWertAccRoll; |
377 | NaviAccRoll += AdWertAccRoll; |
379 | NaviCntAcc++; |
378 | NaviCntAcc++; |
380 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
379 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
381 | 380 | ||
382 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
381 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
383 | // ADC einschalten |
382 | // ADC einschalten |
384 | ANALOG_ON; |
383 | ANALOG_ON; |
385 | AdReady = 0; |
384 | AdReady = 0; |
386 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
385 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
387 | 386 | ||
388 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
387 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
389 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
388 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
390 | else winkel_roll = Mess_IntegralRoll; |
389 | else winkel_roll = Mess_IntegralRoll; |
391 | 390 | ||
392 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
391 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
393 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
392 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
394 | else winkel_nick = Mess_IntegralNick; |
393 | else winkel_nick = Mess_IntegralNick; |
395 | 394 | ||
396 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | Mess_Integral_Gier += MesswertGier; |
396 | Mess_Integral_Gier += MesswertGier; |
398 | ErsatzKompass += MesswertGier; |
397 | ErsatzKompass += MesswertGier; |
399 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
398 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
400 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
399 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
401 | { |
400 | { |
402 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
401 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
403 | tmpl3 *= Parameter_AchsKopplung2; //65 |
402 | tmpl3 *= Parameter_AchsKopplung2; //65 |
404 | tmpl3 /= 4096L; |
403 | tmpl3 /= 4096L; |
405 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
404 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
406 | tmpl4 *= Parameter_AchsKopplung2; //65 |
405 | tmpl4 *= Parameter_AchsKopplung2; //65 |
407 | tmpl4 /= 4096L; |
406 | tmpl4 /= 4096L; |
408 | KopplungsteilNickRoll = tmpl3; |
407 | KopplungsteilNickRoll = tmpl3; |
409 | KopplungsteilRollNick = tmpl4; |
408 | KopplungsteilRollNick = tmpl4; |
410 | tmpl4 -= tmpl3; |
409 | tmpl4 -= tmpl3; |
411 | ErsatzKompass += tmpl4; |
410 | ErsatzKompass += tmpl4; |
412 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
411 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
413 | 412 | ||
414 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
413 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
415 | tmpl *= Parameter_AchsKopplung1; // 90 |
414 | tmpl *= Parameter_AchsKopplung1; // 90 |
416 | tmpl /= 4096L; |
415 | tmpl /= 4096L; |
417 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
416 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
418 | tmpl2 *= Parameter_AchsKopplung1; |
417 | tmpl2 *= Parameter_AchsKopplung1; |
419 | tmpl2 /= 4096L; |
418 | tmpl2 /= 4096L; |
420 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
419 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
421 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
420 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
422 | } |
421 | } |
423 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
422 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
424 | TrimRoll = tmpl - tmpl2 / 100L; |
423 | TrimRoll = tmpl - tmpl2 / 100L; |
425 | TrimNick = -tmpl2 + tmpl / 100L; |
424 | TrimNick = -tmpl2 + tmpl / 100L; |
426 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
425 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
427 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
426 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
428 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
427 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
429 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
428 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
430 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
429 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
431 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
430 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
432 | if(Mess_IntegralRoll > Umschlag180Roll) |
431 | if(Mess_IntegralRoll > Umschlag180Roll) |
433 | { |
432 | { |
434 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
433 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
435 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
434 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
436 | } |
435 | } |
437 | if(Mess_IntegralRoll <-Umschlag180Roll) |
436 | if(Mess_IntegralRoll <-Umschlag180Roll) |
438 | { |
437 | { |
439 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
438 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
440 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
439 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
441 | } |
440 | } |
442 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
441 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
443 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
442 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
444 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
443 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
445 | if(Mess_IntegralNick > Umschlag180Nick) |
444 | if(Mess_IntegralNick > Umschlag180Nick) |
446 | { |
445 | { |
447 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
446 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
448 | Mess_IntegralNick2 = Mess_IntegralNick; |
447 | Mess_IntegralNick2 = Mess_IntegralNick; |
449 | } |
448 | } |
450 | if(Mess_IntegralNick <-Umschlag180Nick) |
449 | if(Mess_IntegralNick <-Umschlag180Nick) |
451 | { |
450 | { |
452 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
451 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
453 | Mess_IntegralNick2 = Mess_IntegralNick; |
452 | Mess_IntegralNick2 = Mess_IntegralNick; |
454 | } |
453 | } |
455 | 454 | ||
456 | Integral_Gier = Mess_Integral_Gier; |
455 | Integral_Gier = Mess_Integral_Gier; |
457 | IntegralNick = Mess_IntegralNick; |
456 | IntegralNick = Mess_IntegralNick; |
458 | IntegralRoll = Mess_IntegralRoll; |
457 | IntegralRoll = Mess_IntegralRoll; |
459 | IntegralNick2 = Mess_IntegralNick2; |
458 | IntegralNick2 = Mess_IntegralNick2; |
460 | IntegralRoll2 = Mess_IntegralRoll2; |
459 | IntegralRoll2 = Mess_IntegralRoll2; |
461 | 460 | ||
462 | #define D_LIMIT 128 |
461 | #define D_LIMIT 128 |
463 | 462 | ||
464 | MesswertNick = HiResNick / 8; |
463 | MesswertNick = HiResNick / 8; |
465 | MesswertRoll = HiResRoll / 8; |
464 | MesswertRoll = HiResRoll / 8; |
466 | 465 | ||
467 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
466 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
468 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
467 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
469 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
468 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
470 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
469 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
471 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
470 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
472 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
471 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
473 | 472 | ||
474 | if(Parameter_Gyro_D) |
473 | if(Parameter_Gyro_D) |
475 | { |
474 | { |
476 | d2Nick = HiResNick - oldNick; |
475 | d2Nick = HiResNick - oldNick; |
477 | oldNick = (oldNick + HiResNick)/2; |
476 | oldNick = (oldNick + HiResNick)/2; |
478 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
477 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
479 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
478 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
480 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
479 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
481 | d2Roll = HiResRoll - oldRoll; |
480 | d2Roll = HiResRoll - oldRoll; |
482 | oldRoll = (oldRoll + HiResRoll)/2; |
481 | oldRoll = (oldRoll + HiResRoll)/2; |
483 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
482 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
484 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
483 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
485 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
484 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
486 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
485 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
487 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
486 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
488 | } |
487 | } |
489 | 488 | ||
490 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
489 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
491 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
490 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
492 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
491 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
493 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
492 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
494 | 493 | ||
495 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
494 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
496 | { |
495 | { |
497 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
496 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
498 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
497 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
499 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
498 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
500 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
499 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
501 | } |
500 | } |
502 | for(i=0;i<8;i++) |
501 | for(i=0;i<8;i++) |
503 | { |
502 | { |
504 | int tmp; |
503 | int tmp; |
505 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
504 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
506 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
505 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
507 | if(tmp != Poti[i]) |
506 | if(tmp != Poti[i]) |
508 | { |
507 | { |
509 | Poti[i] += (tmp - Poti[i]) / 8; |
508 | Poti[i] += (tmp - Poti[i]) / 8; |
510 | if(Poti[i] > tmp) Poti[i]--; |
509 | if(Poti[i] > tmp) Poti[i]--; |
511 | else Poti[i]++; |
510 | else Poti[i]++; |
512 | } |
511 | } |
513 | } |
512 | } |
514 | } |
513 | } |
515 | 514 | ||
516 | //############################################################################ |
515 | //############################################################################ |
517 | // Senden der Motorwerte per I2C-Bus |
516 | // Senden der Motorwerte per I2C-Bus |
518 | void SendMotorData(void) |
517 | void SendMotorData(void) |
519 | //############################################################################ |
518 | //############################################################################ |
520 | { |
519 | { |
521 | unsigned char i; |
520 | unsigned char i; |
522 | if(!MotorenEin) |
521 | if(!MotorenEin) |
523 | { |
522 | { |
524 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
523 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
525 | for(i=0;i<MAX_MOTORS;i++) |
524 | for(i=0;i<MAX_MOTORS;i++) |
526 | { |
525 | { |
527 | if(!PC_MotortestActive) MotorTest[i] = 0; |
526 | if(!PC_MotortestActive) MotorTest[i] = 0; |
528 | Motor[i].SetPoint = MotorTest[i]; |
527 | Motor[i].SetPoint = MotorTest[i]; |
529 | Motor[i].SetPointLowerBits = 0; |
528 | Motor[i].SetPointLowerBits = 0; |
530 | /* |
529 | /* |
531 | Motor[i].SetPoint = MotorTest[i] / 4; |
530 | Motor[i].SetPoint = MotorTest[i] / 4; |
532 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
531 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
533 | */ |
532 | */ |
534 | } |
533 | } |
535 | if(PC_MotortestActive) PC_MotortestActive--; |
534 | if(PC_MotortestActive) PC_MotortestActive--; |
536 | } |
535 | } |
537 | else FCFlags |= FCFLAG_MOTOR_RUN; |
536 | else FCFlags |= FCFLAG_MOTOR_RUN; |
538 | 537 | ||
539 | DebugOut.Analog[12] = Motor[0].SetPoint; |
538 | DebugOut.Analog[12] = Motor[0].SetPoint; |
540 | DebugOut.Analog[13] = Motor[1].SetPoint; |
539 | DebugOut.Analog[13] = Motor[1].SetPoint; |
541 | DebugOut.Analog[14] = Motor[2].SetPoint; |
540 | DebugOut.Analog[14] = Motor[2].SetPoint; |
542 | DebugOut.Analog[15] = Motor[3].SetPoint; |
541 | DebugOut.Analog[15] = Motor[3].SetPoint; |
543 | 542 | ||
544 | //Start I2C Interrupt Mode |
543 | //Start I2C Interrupt Mode |
545 | motor_write = 0; |
544 | motor_write = 0; |
546 | I2C_Start(TWI_STATE_MOTOR_TX); |
545 | I2C_Start(TWI_STATE_MOTOR_TX); |
547 | } |
546 | } |
548 | 547 | ||
549 | 548 | ||
550 | 549 | ||
551 | //############################################################################ |
550 | //############################################################################ |
552 | // Trägt ggf. das Poti als Parameter ein |
551 | // Trägt ggf. das Poti als Parameter ein |
553 | void ParameterZuordnung(void) |
552 | void ParameterZuordnung(void) |
554 | //############################################################################ |
553 | //############################################################################ |
555 | { |
554 | { |
556 | unsigned char tmp; |
555 | unsigned char tmp; |
557 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
556 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
558 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
557 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
559 | 558 | ||
560 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
559 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
561 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
560 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
562 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
561 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
563 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
562 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
564 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
563 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
565 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
564 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
566 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
565 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
567 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
566 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
568 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
567 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
569 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
568 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
570 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
569 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
571 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
570 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
572 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
571 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
573 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
572 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
574 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
573 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
575 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
574 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
576 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
575 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
577 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
576 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
578 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
577 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
579 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
578 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
580 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
579 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
581 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
580 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
582 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
581 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
583 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
582 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
584 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
583 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
585 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
584 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
586 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
585 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
587 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
586 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
588 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
587 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
589 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
588 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
590 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
589 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
591 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
590 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
592 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
591 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
593 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
592 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
594 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
593 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
595 | Ki = (10300 / 2) / (Parameter_I_Faktor + 1); |
594 | Ki = (10300 / 2) / (Parameter_I_Faktor + 1); |
596 | MAX_GAS = EE_Parameter.Gas_Max; |
595 | MAX_GAS = EE_Parameter.Gas_Max; |
597 | MIN_GAS = EE_Parameter.Gas_Min; |
596 | MIN_GAS = EE_Parameter.Gas_Min; |
598 | 597 | ||
599 | tmp = EE_Parameter.OrientationModeControl; |
598 | tmp = EE_Parameter.OrientationModeControl; |
600 | if(tmp > 50 && NaviDataOkay > 200) |
599 | if(tmp > 50 && NaviDataOkay > 200) |
601 | { |
600 | { |
602 | CareFree = 1; |
601 | CareFree = 1; |
603 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
602 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
604 | } |
603 | } |
605 | else CareFree = 0; |
604 | else CareFree = 0; |
606 | 605 | ||
607 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
606 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
608 | } |
607 | } |
609 | 608 | ||
610 | //############################################################################ |
609 | //############################################################################ |
611 | // |
610 | // |
612 | void MotorRegler(void) |
611 | void MotorRegler(void) |
613 | //############################################################################ |
612 | //############################################################################ |
614 | { |
613 | { |
615 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
614 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
616 | int GierMischanteil,GasMischanteil; |
615 | int GierMischanteil,GasMischanteil; |
617 | static long SummeNick=0,SummeRoll=0; |
616 | static long SummeNick=0,SummeRoll=0; |
618 | static long sollGier = 0,tmp_long,tmp_long2; |
617 | static long sollGier = 0,tmp_long,tmp_long2; |
619 | static long IntegralFehlerNick = 0; |
618 | static long IntegralFehlerNick = 0; |
620 | static long IntegralFehlerRoll = 0; |
619 | static long IntegralFehlerRoll = 0; |
621 | static unsigned int RcLostTimer; |
620 | static unsigned int RcLostTimer; |
622 | static unsigned char delay_neutral = 0; |
621 | static unsigned char delay_neutral = 0; |
623 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
622 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
624 | static unsigned char calibration_done = 0; |
623 | static unsigned char calibration_done = 0; |
625 | static char NeueKompassRichtungMerken = 0; |
624 | static char NeueKompassRichtungMerken = 0; |
626 | static long ausgleichNick, ausgleichRoll; |
625 | static long ausgleichNick, ausgleichRoll; |
627 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
626 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
628 | unsigned char i; |
627 | unsigned char i; |
629 | Mittelwert(); |
628 | Mittelwert(); |
630 | GRN_ON; |
629 | GRN_ON; |
631 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
630 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
632 | // Gaswert ermitteln |
631 | // Gaswert ermitteln |
633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
632 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
634 | GasMischanteil = StickGas; |
633 | GasMischanteil = StickGas; |
635 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
634 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
636 | 635 | ||
637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
636 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | // Empfang schlecht |
637 | // Empfang schlecht |
639 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
640 | if(SenderOkay < 100) |
639 | if(SenderOkay < 100) |
641 | { |
640 | { |
642 | if(RcLostTimer) RcLostTimer--; |
641 | if(RcLostTimer) RcLostTimer--; |
643 | else |
642 | else |
644 | { |
643 | { |
645 | MotorenEin = 0; |
644 | MotorenEin = 0; |
646 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
645 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
647 | } |
646 | } |
648 | ROT_ON; |
647 | ROT_ON; |
649 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
648 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
650 | { |
649 | { |
651 | GasMischanteil = EE_Parameter.NotGas; |
650 | GasMischanteil = EE_Parameter.NotGas; |
652 | FCFlags |= FCFLAG_NOTLANDUNG; |
651 | FCFlags |= FCFLAG_NOTLANDUNG; |
653 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
652 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
654 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
653 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
655 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
654 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
656 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
655 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
657 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
656 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
658 | } |
657 | } |
659 | else MotorenEin = 0; |
658 | else MotorenEin = 0; |
660 | } |
659 | } |
661 | else |
660 | else |
662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | // Emfang gut |
662 | // Emfang gut |
664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | if(SenderOkay > 140) |
664 | if(SenderOkay > 140) |
666 | { |
665 | { |
667 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
666 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
668 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
667 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
669 | if(GasMischanteil > 40 && MotorenEin) |
668 | if(GasMischanteil > 40 && MotorenEin) |
670 | { |
669 | { |
671 | if(modell_fliegt < 0xffff) modell_fliegt++; |
670 | if(modell_fliegt < 0xffff) modell_fliegt++; |
672 | } |
671 | } |
673 | if((modell_fliegt < 256)) |
672 | if((modell_fliegt < 256)) |
674 | { |
673 | { |
675 | SummeNick = 0; |
674 | SummeNick = 0; |
676 | SummeRoll = 0; |
675 | SummeRoll = 0; |
677 | if(modell_fliegt == 250) |
676 | if(modell_fliegt == 250) |
678 | { |
677 | { |
679 | NeueKompassRichtungMerken = 1; |
678 | NeueKompassRichtungMerken = 1; |
680 | sollGier = 0; |
679 | sollGier = 0; |
681 | Mess_Integral_Gier = 0; |
680 | Mess_Integral_Gier = 0; |
682 | // Mess_Integral_Gier2 = 0; |
681 | // Mess_Integral_Gier2 = 0; |
683 | } |
682 | } |
684 | } else FCFlags |= FCFLAG_FLY; |
683 | } else FCFlags |= FCFLAG_FLY; |
685 | 684 | ||
686 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
685 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
687 | { |
686 | { |
688 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
687 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | // auf Nullwerte kalibrieren |
688 | // auf Nullwerte kalibrieren |
690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
689 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
691 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
690 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
692 | { |
691 | { |
693 | if(++delay_neutral > 200) // nicht sofort |
692 | if(++delay_neutral > 200) // nicht sofort |
694 | { |
693 | { |
695 | GRN_OFF; |
694 | GRN_OFF; |
696 | MotorenEin = 0; |
695 | MotorenEin = 0; |
697 | delay_neutral = 0; |
696 | delay_neutral = 0; |
698 | modell_fliegt = 0; |
697 | modell_fliegt = 0; |
699 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
698 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
700 | { |
699 | { |
701 | unsigned char setting=1; |
700 | unsigned char setting=1; |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
701 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
705 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
706 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
705 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
707 | SetActiveParamSet(setting); // aktiven Datensatz merken |
706 | SetActiveParamSet(setting); // aktiven Datensatz merken |
708 | } |
707 | } |
709 | // else |
708 | // else |
710 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
709 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
711 | { |
710 | { |
712 | WinkelOut.CalcState = 1; |
711 | WinkelOut.CalcState = 1; |
713 | beeptime = 1000; |
712 | beeptime = 1000; |
714 | } |
713 | } |
715 | else |
714 | else |
716 | { |
715 | { |
717 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
716 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
718 | LipoDetection(0); |
717 | LipoDetection(0); |
719 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
718 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
720 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
719 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
721 | { |
720 | { |
722 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
721 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
723 | } |
722 | } |
724 | ServoActive = 0; |
723 | ServoActive = 0; |
725 | SetNeutral(0); |
724 | SetNeutral(0); |
726 | calibration_done = 1; |
725 | calibration_done = 1; |
727 | ServoActive = 1; |
726 | ServoActive = 1; |
728 | DDRD |=0x80; // enable J7 -> Servo signal |
727 | DDRD |=0x80; // enable J7 -> Servo signal |
729 | Piep(GetActiveParamSet(),120); |
728 | Piep(GetActiveParamSet(),120); |
730 | } |
729 | } |
731 | } |
730 | } |
732 | } |
731 | } |
733 | else |
732 | else |
734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
733 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
735 | { |
734 | { |
736 | if(++delay_neutral > 200) // nicht sofort |
735 | if(++delay_neutral > 200) // nicht sofort |
737 | { |
736 | { |
738 | GRN_OFF; |
737 | GRN_OFF; |
739 | MotorenEin = 0; |
738 | MotorenEin = 0; |
740 | delay_neutral = 0; |
739 | delay_neutral = 0; |
741 | modell_fliegt = 0; |
740 | modell_fliegt = 0; |
742 | SetNeutral(1); |
741 | SetNeutral(1); |
743 | calibration_done = 1; |
742 | calibration_done = 1; |
744 | Piep(GetActiveParamSet(),120); |
743 | Piep(GetActiveParamSet(),120); |
745 | } |
744 | } |
746 | } |
745 | } |
747 | else delay_neutral = 0; |
746 | else delay_neutral = 0; |
748 | } |
747 | } |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
748 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | // Gas ist unten |
749 | // Gas ist unten |
751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
752 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
751 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
753 | { |
752 | { |
754 | // Motoren Starten |
753 | // Motoren Starten |
755 | if(!MotorenEin) |
754 | if(!MotorenEin) |
756 | { |
755 | { |
757 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
756 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
758 | { |
757 | { |
759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
760 | // Einschalten |
759 | // Einschalten |
761 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
760 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | if(++delay_einschalten > 200) |
761 | if(++delay_einschalten > 200) |
763 | { |
762 | { |
764 | delay_einschalten = 0; |
763 | delay_einschalten = 0; |
765 | if(calibration_done) |
764 | if(calibration_done) |
766 | { |
765 | { |
767 | modell_fliegt = 1; |
766 | modell_fliegt = 1; |
768 | MotorenEin = 1; |
767 | MotorenEin = 1; |
769 | sollGier = 0; |
768 | sollGier = 0; |
770 | Mess_Integral_Gier = 0; |
769 | Mess_Integral_Gier = 0; |
771 | Mess_Integral_Gier2 = 0; |
770 | Mess_Integral_Gier2 = 0; |
772 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
771 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
773 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
772 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
774 | Mess_IntegralNick2 = IntegralNick; |
773 | Mess_IntegralNick2 = IntegralNick; |
775 | Mess_IntegralRoll2 = IntegralRoll; |
774 | Mess_IntegralRoll2 = IntegralRoll; |
776 | SummeNick = 0; |
775 | SummeNick = 0; |
777 | SummeRoll = 0; |
776 | SummeRoll = 0; |
778 | FCFlags |= FCFLAG_START; |
777 | FCFlags |= FCFLAG_START; |
779 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
778 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
780 | } |
779 | } |
781 | else |
780 | else |
782 | { |
781 | { |
783 | beeptime = 1500; // indicate missing calibration |
782 | beeptime = 1500; // indicate missing calibration |
784 | } |
783 | } |
785 | } |
784 | } |
786 | } |
785 | } |
787 | else delay_einschalten = 0; |
786 | else delay_einschalten = 0; |
788 | } |
787 | } |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
788 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | // Auschalten |
789 | // Auschalten |
791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | else // only if motors are running |
791 | else // only if motors are running |
793 | { |
792 | { |
794 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
793 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
795 | { |
794 | { |
796 | if(++delay_ausschalten > 200) // nicht sofort |
795 | if(++delay_ausschalten > 200) // nicht sofort |
797 | { |
796 | { |
798 | MotorenEin = 0; |
797 | MotorenEin = 0; |
799 | delay_ausschalten = 0; |
798 | delay_ausschalten = 0; |
800 | modell_fliegt = 0; |
799 | modell_fliegt = 0; |
801 | } |
800 | } |
802 | } |
801 | } |
803 | else delay_ausschalten = 0; |
802 | else delay_ausschalten = 0; |
804 | } |
803 | } |
805 | } |
804 | } |
806 | } |
805 | } |
807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
806 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
808 | // neue Werte von der Funke |
807 | // neue Werte von der Funke |
809 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
808 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
810 | 809 | ||
811 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
810 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
812 | { |
811 | { |
813 | static int stick_nick,stick_roll; |
812 | static int stick_nick,stick_roll; |
814 | ParameterZuordnung(); |
813 | ParameterZuordnung(); |
815 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
814 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
816 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
815 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
817 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
816 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
818 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
817 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
819 | 818 | ||
820 | 819 | ||
821 | signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
820 | 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}; |
822 | 821 | ||
823 | if(CareFree) |
822 | if(CareFree) |
824 | { |
823 | { |
825 | signed int nick, roll; |
824 | signed int nick, roll; |
826 | nick = stick_nick / 4; |
825 | nick = stick_nick / 4; |
827 | roll = stick_roll / 4; |
826 | roll = stick_roll / 4; |
828 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
827 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
829 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
828 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
830 | } |
829 | } |
831 | else |
830 | else |
832 | { |
831 | { |
833 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
832 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
834 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
833 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
835 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
834 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
836 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
835 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
837 | } |
836 | } |
838 | 837 | ||
839 | 838 | ||
840 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
839 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
841 | if(StickGier > 2) StickGier -= 2; else |
840 | if(StickGier > 2) StickGier -= 2; else |
842 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
841 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
843 | 842 | ||
844 | StickNick -= (GPS_Nick + GPS_Nick2); |
843 | StickNick -= (GPS_Nick + GPS_Nick2); |
845 | StickRoll -= (GPS_Roll + GPS_Roll2); |
844 | StickRoll -= (GPS_Roll + GPS_Roll2); |
846 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
845 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
847 | 846 | ||
848 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
847 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
849 | IntegralFaktor = Parameter_Gyro_I; |
848 | IntegralFaktor = Parameter_Gyro_I; |
850 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
849 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
851 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
850 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
852 | 851 | ||
853 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
852 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | //+ Analoge Steuerung per Seriell |
853 | //+ Analoge Steuerung per Seriell |
855 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
856 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
855 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
857 | { |
856 | { |
858 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
857 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
859 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
858 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
860 | StickGier += ExternControl.Gier; |
859 | StickGier += ExternControl.Gier; |
861 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
860 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
862 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
861 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
863 | } |
862 | } |
864 | if(StickGas < 0) StickGas = 0; |
863 | if(StickGas < 0) StickGas = 0; |
865 | 864 | ||
866 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
865 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
867 | //if(GyroFaktor < 0) GyroFaktor = 0; |
866 | //if(GyroFaktor < 0) GyroFaktor = 0; |
868 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
867 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
869 | 868 | ||
870 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
869 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
871 | { |
870 | { |
872 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
871 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
873 | if(MaxStickNick > 100) MaxStickNick = 100; |
872 | if(MaxStickNick > 100) MaxStickNick = 100; |
874 | } |
873 | } |
875 | else MaxStickNick--; |
874 | else MaxStickNick--; |
876 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
875 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
877 | { |
876 | { |
878 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
877 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
879 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
878 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
880 | } |
879 | } |
881 | else MaxStickRoll--; |
880 | else MaxStickRoll--; |
882 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
881 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
883 | 882 | ||
884 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
883 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | // Looping? |
884 | // Looping? |
886 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
885 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
886 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
888 | else |
887 | else |
889 | { |
888 | { |
890 | { |
889 | { |
891 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
890 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
892 | } |
891 | } |
893 | } |
892 | } |
894 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
893 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
895 | else |
894 | else |
896 | { |
895 | { |
897 | if(Looping_Rechts) // Hysterese |
896 | if(Looping_Rechts) // Hysterese |
898 | { |
897 | { |
899 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
898 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
900 | } |
899 | } |
901 | } |
900 | } |
902 | 901 | ||
903 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
902 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
904 | else |
903 | else |
905 | { |
904 | { |
906 | if(Looping_Oben) // Hysterese |
905 | if(Looping_Oben) // Hysterese |
907 | { |
906 | { |
908 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
907 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
909 | } |
908 | } |
910 | } |
909 | } |
911 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
910 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
912 | else |
911 | else |
913 | { |
912 | { |
914 | if(Looping_Unten) // Hysterese |
913 | if(Looping_Unten) // Hysterese |
915 | { |
914 | { |
916 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
915 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
917 | } |
916 | } |
918 | } |
917 | } |
919 | 918 | ||
920 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
919 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
921 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
920 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
922 | } // Ende neue Funken-Werte |
921 | } // Ende neue Funken-Werte |
923 | 922 | ||
924 | if(Looping_Roll || Looping_Nick) |
923 | if(Looping_Roll || Looping_Nick) |
925 | { |
924 | { |
926 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
925 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
927 | TrichterFlug = 1; |
926 | TrichterFlug = 1; |
928 | } |
927 | } |
929 | 928 | ||
930 | 929 | ||
931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
930 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
932 | // Bei Empfangsausfall im Flug |
931 | // Bei Empfangsausfall im Flug |
933 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
932 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | if(FCFlags & FCFLAG_NOTLANDUNG) |
933 | if(FCFlags & FCFLAG_NOTLANDUNG) |
935 | { |
934 | { |
936 | StickGier = 0; |
935 | StickGier = 0; |
937 | StickNick = 0; |
936 | StickNick = 0; |
938 | StickRoll = 0; |
937 | StickRoll = 0; |
939 | GyroFaktor = 90; |
938 | GyroFaktor = 90; |
940 | IntegralFaktor = 120; |
939 | IntegralFaktor = 120; |
941 | GyroFaktorGier = 90; |
940 | GyroFaktorGier = 90; |
942 | IntegralFaktorGier = 120; |
941 | IntegralFaktorGier = 120; |
943 | Looping_Roll = 0; |
942 | Looping_Roll = 0; |
944 | Looping_Nick = 0; |
943 | Looping_Nick = 0; |
945 | } |
944 | } |
946 | 945 | ||
947 | 946 | ||
948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
947 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | // Integrale auf ACC-Signal abgleichen |
948 | // Integrale auf ACC-Signal abgleichen |
950 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
951 | #define ABGLEICH_ANZAHL 256L |
950 | #define ABGLEICH_ANZAHL 256L |
952 | 951 | ||
953 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
952 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
954 | MittelIntegralRoll += IntegralRoll; |
953 | MittelIntegralRoll += IntegralRoll; |
955 | MittelIntegralNick2 += IntegralNick2; |
954 | MittelIntegralNick2 += IntegralNick2; |
956 | MittelIntegralRoll2 += IntegralRoll2; |
955 | MittelIntegralRoll2 += IntegralRoll2; |
957 | 956 | ||
958 | if(Looping_Nick || Looping_Roll) |
957 | if(Looping_Nick || Looping_Roll) |
959 | { |
958 | { |
960 | IntegralAccNick = 0; |
959 | IntegralAccNick = 0; |
961 | IntegralAccRoll = 0; |
960 | IntegralAccRoll = 0; |
962 | MittelIntegralNick = 0; |
961 | MittelIntegralNick = 0; |
963 | MittelIntegralRoll = 0; |
962 | MittelIntegralRoll = 0; |
964 | MittelIntegralNick2 = 0; |
963 | MittelIntegralNick2 = 0; |
965 | MittelIntegralRoll2 = 0; |
964 | MittelIntegralRoll2 = 0; |
966 | Mess_IntegralNick2 = Mess_IntegralNick; |
965 | Mess_IntegralNick2 = Mess_IntegralNick; |
967 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
966 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
968 | ZaehlMessungen = 0; |
967 | ZaehlMessungen = 0; |
969 | LageKorrekturNick = 0; |
968 | LageKorrekturNick = 0; |
970 | LageKorrekturRoll = 0; |
969 | LageKorrekturRoll = 0; |
971 | } |
970 | } |
972 | 971 | ||
973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
974 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
973 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
975 | { |
974 | { |
976 | long tmp_long, tmp_long2; |
975 | long tmp_long, tmp_long2; |
977 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
976 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
978 | { |
977 | { |
979 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
978 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
980 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
979 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
981 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
980 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
982 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
981 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
983 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
982 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
984 | { |
983 | { |
985 | tmp_long /= 2; |
984 | tmp_long /= 2; |
986 | tmp_long2 /= 2; |
985 | tmp_long2 /= 2; |
987 | } |
986 | } |
988 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
987 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
989 | { |
988 | { |
990 | tmp_long /= 3; |
989 | tmp_long /= 3; |
991 | tmp_long2 /= 3; |
990 | tmp_long2 /= 3; |
992 | } |
991 | } |
993 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
992 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
994 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
993 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
995 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
994 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
996 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
995 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
997 | } |
996 | } |
998 | else |
997 | else |
999 | { |
998 | { |
1000 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
999 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1001 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1000 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1002 | tmp_long /= 16; |
1001 | tmp_long /= 16; |
1003 | tmp_long2 /= 16; |
1002 | tmp_long2 /= 16; |
1004 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1003 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1005 | { |
1004 | { |
1006 | tmp_long /= 3; |
1005 | tmp_long /= 3; |
1007 | tmp_long2 /= 3; |
1006 | tmp_long2 /= 3; |
1008 | } |
1007 | } |
1009 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1008 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1010 | { |
1009 | { |
1011 | tmp_long /= 3; |
1010 | tmp_long /= 3; |
1012 | tmp_long2 /= 3; |
1011 | tmp_long2 /= 3; |
1013 | } |
1012 | } |
1014 | 1013 | ||
1015 | #define AUSGLEICH 32 |
1014 | #define AUSGLEICH 32 |
1016 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1015 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1017 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1016 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1018 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1017 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1019 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1018 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1020 | } |
1019 | } |
1021 | 1020 | ||
1022 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
1021 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
1023 | Mess_IntegralNick -= tmp_long; |
1022 | Mess_IntegralNick -= tmp_long; |
1024 | Mess_IntegralRoll -= tmp_long2; |
1023 | Mess_IntegralRoll -= tmp_long2; |
1025 | } |
1024 | } |
1026 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1025 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1027 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1026 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1028 | { |
1027 | { |
1029 | static int cnt = 0; |
1028 | static int cnt = 0; |
1030 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1029 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1031 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1030 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1032 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1031 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1033 | { |
1032 | { |
1034 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1033 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1035 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1034 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1036 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1035 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1037 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1036 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1038 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1037 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1039 | #define MAX_I 0//(Poti2/10) |
1038 | #define MAX_I 0//(Poti2/10) |
1040 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1039 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1041 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1040 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1042 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1041 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1043 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1042 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1044 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1043 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1045 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1044 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1046 | 1045 | ||
1047 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1046 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1048 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1047 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1049 | 1048 | ||
1050 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1049 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1051 | { |
1050 | { |
1052 | LageKorrekturNick /= 2; |
1051 | LageKorrekturNick /= 2; |
1053 | LageKorrekturRoll /= 2; |
1052 | LageKorrekturRoll /= 2; |
1054 | } |
1053 | } |
1055 | 1054 | ||
1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1055 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1057 | // Gyro-Drift ermitteln |
1056 | // Gyro-Drift ermitteln |
1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1057 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1059 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1058 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1060 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1059 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1061 | tmp_long = IntegralNick2 - IntegralNick; |
1060 | tmp_long = IntegralNick2 - IntegralNick; |
1062 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1061 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1063 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1062 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
1064 | 1063 | ||
1065 | IntegralFehlerNick = tmp_long; |
1064 | IntegralFehlerNick = tmp_long; |
1066 | IntegralFehlerRoll = tmp_long2; |
1065 | IntegralFehlerRoll = tmp_long2; |
1067 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1066 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1068 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1067 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1069 | 1068 | ||
1070 | if(EE_Parameter.Driftkomp) |
1069 | if(EE_Parameter.Driftkomp) |
1071 | { |
1070 | { |
1072 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1071 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1073 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1072 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1074 | } |
1073 | } |
1075 | GierGyroFehler = 0; |
1074 | GierGyroFehler = 0; |
1076 | 1075 | ||
1077 | 1076 | ||
1078 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1077 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1079 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1078 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1080 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1079 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1081 | #define BEWEGUNGS_LIMIT 20000 |
1080 | #define BEWEGUNGS_LIMIT 20000 |
1082 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1081 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1083 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1082 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1084 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1083 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1085 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1084 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1086 | { |
1085 | { |
1087 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1086 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1088 | { |
1087 | { |
1089 | if(last_n_p) |
1088 | if(last_n_p) |
1090 | { |
1089 | { |
1091 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1090 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1092 | ausgleichNick = IntegralFehlerNick / 8; |
1091 | ausgleichNick = IntegralFehlerNick / 8; |
1093 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1092 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1094 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1093 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1095 | } |
1094 | } |
1096 | else last_n_p = 1; |
1095 | else last_n_p = 1; |
1097 | } else last_n_p = 0; |
1096 | } else last_n_p = 0; |
1098 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1097 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1099 | { |
1098 | { |
1100 | if(last_n_n) |
1099 | if(last_n_n) |
1101 | { |
1100 | { |
1102 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1101 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1103 | ausgleichNick = IntegralFehlerNick / 8; |
1102 | ausgleichNick = IntegralFehlerNick / 8; |
1104 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1103 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1105 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1104 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1106 | } |
1105 | } |
1107 | else last_n_n = 1; |
1106 | else last_n_n = 1; |
1108 | } else last_n_n = 0; |
1107 | } else last_n_n = 0; |
1109 | } |
1108 | } |
1110 | else |
1109 | else |
1111 | { |
1110 | { |
1112 | cnt = 0; |
1111 | cnt = 0; |
1113 | KompassSignalSchlecht = 1000; |
1112 | KompassSignalSchlecht = 1000; |
1114 | } |
1113 | } |
1115 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1114 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1116 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1115 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1117 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1116 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1118 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1117 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1119 | 1118 | ||
1120 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1119 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1121 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1120 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1122 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1121 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1123 | ausgleichRoll = 0; |
1122 | ausgleichRoll = 0; |
1124 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1123 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1125 | { |
1124 | { |
1126 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1125 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1127 | { |
1126 | { |
1128 | if(last_r_p) |
1127 | if(last_r_p) |
1129 | { |
1128 | { |
1130 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1129 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1131 | ausgleichRoll = IntegralFehlerRoll / 8; |
1130 | ausgleichRoll = IntegralFehlerRoll / 8; |
1132 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1131 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1133 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1132 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1134 | } |
1133 | } |
1135 | else last_r_p = 1; |
1134 | else last_r_p = 1; |
1136 | } else last_r_p = 0; |
1135 | } else last_r_p = 0; |
1137 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1136 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1138 | { |
1137 | { |
1139 | if(last_r_n) |
1138 | if(last_r_n) |
1140 | { |
1139 | { |
1141 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1140 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1142 | ausgleichRoll = IntegralFehlerRoll / 8; |
1141 | ausgleichRoll = IntegralFehlerRoll / 8; |
1143 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1142 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1144 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1143 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1145 | } |
1144 | } |
1146 | else last_r_n = 1; |
1145 | else last_r_n = 1; |
1147 | } else last_r_n = 0; |
1146 | } else last_r_n = 0; |
1148 | } else |
1147 | } else |
1149 | { |
1148 | { |
1150 | cnt = 0; |
1149 | cnt = 0; |
1151 | KompassSignalSchlecht = 1000; |
1150 | KompassSignalSchlecht = 1000; |
1152 | } |
1151 | } |
1153 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1152 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1154 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1153 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1155 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1154 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1156 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1155 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1157 | } |
1156 | } |
1158 | else |
1157 | else |
1159 | { |
1158 | { |
1160 | LageKorrekturRoll = 0; |
1159 | LageKorrekturRoll = 0; |
1161 | LageKorrekturNick = 0; |
1160 | LageKorrekturNick = 0; |
1162 | TrichterFlug = 0; |
1161 | TrichterFlug = 0; |
1163 | } |
1162 | } |
1164 | 1163 | ||
1165 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1164 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | MittelIntegralNick_Alt = MittelIntegralNick; |
1166 | MittelIntegralNick_Alt = MittelIntegralNick; |
1168 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1167 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1170 | IntegralAccNick = 0; |
1169 | IntegralAccNick = 0; |
1171 | IntegralAccRoll = 0; |
1170 | IntegralAccRoll = 0; |
1172 | IntegralAccZ = 0; |
1171 | IntegralAccZ = 0; |
1173 | MittelIntegralNick = 0; |
1172 | MittelIntegralNick = 0; |
1174 | MittelIntegralRoll = 0; |
1173 | MittelIntegralRoll = 0; |
1175 | MittelIntegralNick2 = 0; |
1174 | MittelIntegralNick2 = 0; |
1176 | MittelIntegralRoll2 = 0; |
1175 | MittelIntegralRoll2 = 0; |
1177 | ZaehlMessungen = 0; |
1176 | ZaehlMessungen = 0; |
1178 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1177 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1179 | 1178 | ||
1180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1179 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1181 | // Gieren |
1180 | // Gieren |
1182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1183 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1182 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
1184 | if(abs(StickGier) > 15) // war 35 |
1183 | if(abs(StickGier) > 15) // war 35 |
1185 | { |
1184 | { |
1186 | KompassSignalSchlecht = 1000; |
1185 | KompassSignalSchlecht = 1000; |
1187 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1186 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1188 | { |
1187 | { |
1189 | NeueKompassRichtungMerken = 1; |
1188 | NeueKompassRichtungMerken = 1; |
1190 | }; |
1189 | }; |
1191 | } |
1190 | } |
1192 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1191 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1193 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1192 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1194 | sollGier = tmp_int; |
1193 | sollGier = tmp_int; |
1195 | Mess_Integral_Gier -= tmp_int; |
1194 | Mess_Integral_Gier -= tmp_int; |
1196 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1195 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1197 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1196 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1198 | 1197 | ||
1199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1200 | // Kompass |
1199 | // Kompass |
1201 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1202 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
1201 | //DebugOut.Analog[18] = KompassSignalSchlecht; |
1203 | 1202 | ||
1204 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1203 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1205 | { |
1204 | { |
1206 | int w,v,r,fehler,korrektur; |
1205 | int w,v,r,fehler,korrektur; |
1207 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1206 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1208 | v = abs(IntegralRoll /512); |
1207 | v = abs(IntegralRoll /512); |
1209 | if(v > w) w = v; // grösste Neigung ermitteln |
1208 | if(v > w) w = v; // grösste Neigung ermitteln |
1210 | korrektur = w / 8 + 2; |
1209 | korrektur = w / 8 + 2; |
1211 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1210 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1212 | //fehler += MesswertGier / 12; |
1211 | //fehler += MesswertGier / 12; |
1213 | 1212 | ||
1214 | if(!KompassSignalSchlecht && w < 25) |
1213 | if(!KompassSignalSchlecht && w < 25) |
1215 | { |
1214 | { |
1216 | GierGyroFehler += fehler; |
1215 | GierGyroFehler += fehler; |
1217 | if(NeueKompassRichtungMerken) |
1216 | if(NeueKompassRichtungMerken) |
1218 | { |
1217 | { |
1219 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1218 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1220 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1219 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1221 | NeueKompassRichtungMerken = 0; |
1220 | NeueKompassRichtungMerken = 0; |
1222 | } |
1221 | } |
1223 | } |
1222 | } |
1224 | //DebugOut.Analog[16] = fehler; |
1223 | //DebugOut.Analog[16] = fehler; |
1225 | //DebugOut.Analog[17] = korrektur; |
1224 | //DebugOut.Analog[17] = korrektur; |
1226 | ErsatzKompass += (fehler * 16) / korrektur; |
1225 | ErsatzKompass += (fehler * 16) / korrektur; |
1227 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1226 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1228 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1227 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1229 | if(w >= 0) |
1228 | if(w >= 0) |
1230 | { |
1229 | { |
1231 | if(!KompassSignalSchlecht) |
1230 | if(!KompassSignalSchlecht) |
1232 | { |
1231 | { |
1233 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1232 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1234 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1233 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1235 | // r = KompassRichtung; |
1234 | // r = KompassRichtung; |
1236 | v = (r * w) / v; // nach Kompass ausrichten |
1235 | v = (r * w) / v; // nach Kompass ausrichten |
1237 | w = 3 * Parameter_KompassWirkung; |
1236 | w = 3 * Parameter_KompassWirkung; |
1238 | if(v > w) v = w; // Begrenzen |
1237 | if(v > w) v = w; // Begrenzen |
1239 | else |
1238 | else |
1240 | if(v < -w) v = -w; |
1239 | if(v < -w) v = -w; |
1241 | Mess_Integral_Gier += v; |
1240 | Mess_Integral_Gier += v; |
1242 | } |
1241 | } |
1243 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1242 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1244 | } |
1243 | } |
1245 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1244 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1246 | } |
1245 | } |
1247 | 1246 | ||
1248 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1249 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1248 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1250 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1251 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1250 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1252 | 1251 | ||
1253 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1252 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1254 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1253 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1255 | 1254 | ||
1256 | #define TRIM_MAX 200 |
1255 | #define TRIM_MAX 200 |
1257 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1256 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1258 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1257 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1259 | 1258 | ||
1260 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1259 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1261 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1260 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1262 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1261 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1263 | 1262 | ||
1264 | // Maximalwerte abfangen |
1263 | // Maximalwerte abfangen |
1265 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1264 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1266 | #define MAX_SENSOR (4096*4) |
1265 | #define MAX_SENSOR (4096*4) |
1267 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1266 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1268 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1267 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1269 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1268 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1270 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1269 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1271 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1270 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1272 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1271 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1273 | 1272 | ||
1274 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1275 | // Höhenregelung |
1274 | // Höhenregelung |
1276 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1275 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1277 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1276 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1278 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1277 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1279 | GasMischanteil *= STICK_GAIN; |
1278 | GasMischanteil *= STICK_GAIN; |
1280 | // if height control is activated |
1279 | // if height control is activated |
1281 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1280 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1282 | { |
1281 | { |
1283 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1282 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1284 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1283 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1285 | 1284 | ||
1286 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1285 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1287 | #define OPA_OFFSET_STEP 15 |
1286 | #define OPA_OFFSET_STEP 15 |
1288 | #else |
1287 | #else |
1289 | #define OPA_OFFSET_STEP 10 |
1288 | #define OPA_OFFSET_STEP 10 |
1290 | #endif |
1289 | #endif |
1291 | int HCGas, HeightDeviation = 0; |
1290 | int HCGas, HeightDeviation = 0; |
1292 | static int HeightTrimming = 0; // rate for change of height setpoint |
1291 | static int HeightTrimming = 0; // rate for change of height setpoint |
1293 | static int FilterHCGas = 0; |
1292 | static int FilterHCGas = 0; |
1294 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
1293 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
1295 | static unsigned long HoverGasFilter = 0; |
1294 | static unsigned long HoverGasFilter = 0; |
1296 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1295 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1297 | int CosAttitude; // for projection of hoover gas |
1296 | int CosAttitude; // for projection of hoover gas |
1298 | 1297 | ||
1299 | // get the current hooverpoint |
1298 | // get the current hooverpoint |
1300 | DebugOut.Analog[21] = HoverGas; |
1299 | DebugOut.Analog[21] = HoverGas; |
1301 | 1300 | ||
1302 | // Expand the measurement |
1301 | // Expand the measurement |
1303 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1302 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1304 | if(!BaroExpandActive) |
1303 | if(!BaroExpandActive) |
1305 | { |
1304 | { |
1306 | if(MessLuftdruck > 920) |
1305 | if(MessLuftdruck > 920) |
1307 | { // increase offset |
1306 | { // increase offset |
1308 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1307 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1309 | { |
1308 | { |
1310 | ExpandBaro -= 1; |
1309 | ExpandBaro -= 1; |
1311 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1310 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1312 | beeptime = 300; |
1311 | beeptime = 300; |
1313 | BaroExpandActive = 350; |
1312 | BaroExpandActive = 350; |
1314 | } |
1313 | } |
1315 | else |
1314 | else |
1316 | { |
1315 | { |
1317 | BaroAtLowerLimit = 1; |
1316 | BaroAtLowerLimit = 1; |
1318 | } |
1317 | } |
1319 | } |
1318 | } |
1320 | // measurement of air pressure close to lower limit and |
1319 | // measurement of air pressure close to lower limit and |
1321 | else |
1320 | else |
1322 | if(MessLuftdruck < 100) |
1321 | if(MessLuftdruck < 100) |
1323 | { // decrease offset |
1322 | { // decrease offset |
1324 | if(OCR0A > OPA_OFFSET_STEP) |
1323 | if(OCR0A > OPA_OFFSET_STEP) |
1325 | { |
1324 | { |
1326 | ExpandBaro += 1; |
1325 | ExpandBaro += 1; |
1327 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1326 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1328 | beeptime = 300; |
1327 | beeptime = 300; |
1329 | BaroExpandActive = 350; |
1328 | BaroExpandActive = 350; |
1330 | } |
1329 | } |
1331 | else |
1330 | else |
1332 | { |
1331 | { |
1333 | BaroAtUpperLimit = 1; |
1332 | BaroAtUpperLimit = 1; |
1334 | } |
1333 | } |
1335 | } |
1334 | } |
1336 | else |
1335 | else |
1337 | { |
1336 | { |
1338 | BaroAtUpperLimit = 0; |
1337 | BaroAtUpperLimit = 0; |
1339 | BaroAtLowerLimit = 0; |
1338 | BaroAtLowerLimit = 0; |
1340 | } |
1339 | } |
1341 | } |
1340 | } |
1342 | else // delay, because of expanding the Baro-Range |
1341 | else // delay, because of expanding the Baro-Range |
1343 | { |
1342 | { |
1344 | // now clear the D-values |
1343 | // now clear the D-values |
1345 | SummenHoehe = HoehenWert * SM_FILTER; |
1344 | SummenHoehe = HoehenWert * SM_FILTER; |
1346 | VarioMeter = 0; |
1345 | VarioMeter = 0; |
1347 | BaroExpandActive--; |
1346 | BaroExpandActive--; |
1348 | } |
1347 | } |
1349 | 1348 | ||
1350 | // if height control is activated by an rc channel |
1349 | // if height control is activated by an rc channel |
1351 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1350 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1352 | { // check if parameter is less than activation threshold |
1351 | { // check if parameter is less than activation threshold |
1353 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1352 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1354 | { //height control not active |
1353 | { //height control not active |
1355 | if(!delay--) |
1354 | if(!delay--) |
1356 | { |
1355 | { |
1357 | HoehenReglerAktiv = 0; // disable height control |
1356 | HoehenReglerAktiv = 0; // disable height control |
1358 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1357 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1359 | delay = 1; |
1358 | delay = 1; |
1360 | } |
1359 | } |
1361 | } |
1360 | } |
1362 | else |
1361 | else |
1363 | { //height control is activated |
1362 | { //height control is activated |
1364 | HoehenReglerAktiv = 1; // enable height control |
1363 | HoehenReglerAktiv = 1; // enable height control |
1365 | delay = 200; |
1364 | delay = 200; |
1366 | } |
1365 | } |
1367 | } |
1366 | } |
1368 | else // no switchable height control |
1367 | else // no switchable height control |
1369 | { |
1368 | { |
1370 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1369 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1371 | HoehenReglerAktiv = 1; |
1370 | HoehenReglerAktiv = 1; |
1372 | } |
1371 | } |
1373 | 1372 | ||
1374 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1373 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1375 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1374 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1376 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1375 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1377 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1376 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1378 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1377 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1379 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1378 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1380 | VarioCharacter = ' '; |
1379 | VarioCharacter = ' '; |
1381 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1380 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1382 | { |
1381 | { |
1383 | #define HEIGHT_TRIM_UP 0x01 |
1382 | #define HEIGHT_TRIM_UP 0x01 |
1384 | #define HEIGHT_TRIM_DOWN 0x02 |
1383 | #define HEIGHT_TRIM_DOWN 0x02 |
1385 | static unsigned char HeightTrimmingFlag = 0x00; |
1384 | static unsigned char HeightTrimmingFlag = 0x00; |
1386 | 1385 | ||
1387 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1386 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1388 | // Holger original version |
1387 | // Holger original version |
1389 | // start of height control algorithm |
1388 | // start of height control algorithm |
1390 | // the height control is only an attenuation of the actual gas stick. |
1389 | // the height control is only an attenuation of the actual gas stick. |
1391 | // I.e. it will work only if the gas stick is higher than the hover gas |
1390 | // I.e. it will work only if the gas stick is higher than the hover gas |
1392 | // and the hover height will be allways larger than height setpoint. |
1391 | // and the hover height will be allways larger than height setpoint. |
1393 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1392 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1394 | { // old version |
1393 | { // old version |
1395 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1394 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1396 | HeightTrimming = 0; |
1395 | HeightTrimming = 0; |
1397 | } |
1396 | } |
1398 | else |
1397 | else |
1399 | { |
1398 | { |
1400 | // alternative height control |
1399 | // alternative height control |
1401 | // PD-Control with respect to hoover point |
1400 | // PD-Control with respect to hoover point |
1402 | // the thrust loss out of horizontal attitude is compensated |
1401 | // the thrust loss out of horizontal attitude is compensated |
1403 | // the setpoint will be fine adjusted with the gas stick position |
1402 | // the setpoint will be fine adjusted with the gas stick position |
1404 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1403 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1405 | { // gas stick is above hoover point |
1404 | { // gas stick is above hoover point |
1406 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1405 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1407 | { |
1406 | { |
1408 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1407 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1409 | { |
1408 | { |
1410 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1409 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1411 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1410 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1412 | } |
1411 | } |
1413 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1412 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1414 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1413 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1415 | VarioCharacter = '+'; |
1414 | VarioCharacter = '+'; |
1416 | } // gas stick is below hoover point |
1415 | } // gas stick is below hoover point |
1417 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1416 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1418 | { |
1417 | { |
1419 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1418 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1420 | { |
1419 | { |
1421 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1420 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1422 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1421 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1423 | } |
1422 | } |
1424 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1423 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1425 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1424 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1426 | VarioCharacter = '-'; |
1425 | VarioCharacter = '-'; |
1427 | } |
1426 | } |
1428 | else // Gas Stick in Hover Range |
1427 | else // Gas Stick in Hover Range |
1429 | { |
1428 | { |
1430 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1429 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1431 | { |
1430 | { |
1432 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1431 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1433 | HeightTrimming = 0; |
1432 | HeightTrimming = 0; |
1434 | SollHoehe = HoehenWert; // update setpoint to current height |
1433 | SollHoehe = HoehenWert; // update setpoint to current height |
1435 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1434 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1436 | } |
1435 | } |
1437 | VarioCharacter = '='; |
1436 | VarioCharacter = '='; |
1438 | } |
1437 | } |
1439 | // Trim height set point |
1438 | // Trim height set point |
1440 | if(abs(HeightTrimming) > 512) |
1439 | if(abs(HeightTrimming) > 512) |
1441 | { |
1440 | { |
1442 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1441 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1443 | HeightTrimming = 0; |
1442 | HeightTrimming = 0; |
1444 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1443 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1445 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1444 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1446 | //update hoover gas stick value when setpoint is shifted |
1445 | //update hoover gas stick value when setpoint is shifted |
1447 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1446 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1448 | { |
1447 | { |
1449 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1448 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1450 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1449 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1451 | if(StickGasHover < 70) StickGasHover = 70; |
1450 | if(StickGasHover < 70) StickGasHover = 70; |
1452 | else if(StickGasHover > 150) StickGasHover = 150; |
1451 | else if(StickGasHover > 150) StickGasHover = 150; |
1453 | } |
1452 | } |
1454 | } |
1453 | } |
1455 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1454 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1456 | } //if FCFlags & MKFCFLAG_FLY |
1455 | } //if FCFlags & MKFCFLAG_FLY |
1457 | else |
1456 | else |
1458 | { |
1457 | { |
1459 | SollHoehe = HoehenWert - 400; |
1458 | SollHoehe = HoehenWert - 400; |
1460 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1459 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1461 | else StickGasHover = 120; |
1460 | else StickGasHover = 120; |
1462 | } |
1461 | } |
1463 | HCGas = HoverGas; // take hover gas (neutral point) |
1462 | HCGas = HoverGas; // take hover gas (neutral point) |
1464 | } |
1463 | } |
1465 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1464 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1466 | { |
1465 | { |
1467 | // from this point the Heigth Control Algorithm is identical for both versions |
1466 | // from this point the Heigth Control Algorithm is identical for both versions |
1468 | if(BaroExpandActive) // baro range expanding active |
1467 | if(BaroExpandActive) // baro range expanding active |
1469 | { |
1468 | { |
1470 | HCGas = HoverGas; // hover while expanding baro adc range |
1469 | HCGas = HoverGas; // hover while expanding baro adc range |
1471 | HeightDeviation = 0; |
1470 | HeightDeviation = 0; |
1472 | } // EOF // baro range expanding active |
1471 | } // EOF // baro range expanding active |
1473 | else // valid data from air pressure sensor |
1472 | else // valid data from air pressure sensor |
1474 | { |
1473 | { |
1475 | // ------------------------- P-Part ---------------------------- |
1474 | // ------------------------- P-Part ---------------------------- |
1476 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1475 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1477 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1476 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1478 | HeightDeviation = (int)(tmp_long); // positive when too high |
1477 | HeightDeviation = (int)(tmp_long); // positive when too high |
1479 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
1478 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
1480 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
1479 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
1481 | HCGas -= tmp_long; |
1480 | HCGas -= tmp_long; |
1482 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1481 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1483 | tmp_int = VarioMeter / 8; |
1482 | tmp_int = VarioMeter / 8; |
1484 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
1483 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
1485 | tmp_int2 = tmp_int; |
1484 | tmp_int2 = tmp_int; |
1486 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
1485 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
1487 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
1486 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
1488 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
1487 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
1489 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
1488 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
1490 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
1489 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
1491 | HCGas -= tmp_int; |
1490 | HCGas -= tmp_int; |
1492 | } // EOF no baro range expanding |
1491 | } // EOF no baro range expanding |
1493 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1492 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1494 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1493 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1495 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1494 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1496 | HCGas -= tmp_long; |
1495 | HCGas -= tmp_long; |
1497 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1496 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1498 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1497 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1499 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1498 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1500 | HCGas -= tmp_int; |
1499 | HCGas -= tmp_int; |
1501 | 1500 | ||
1502 | // limit deviation from hoover point within the target region |
1501 | // limit deviation from hoover point within the target region |
1503 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1502 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1504 | { |
1503 | { |
1505 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1504 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1506 | } |
1505 | } |
1507 | 1506 | ||
1508 | // strech control output by inverse attitude projection 1/cos |
1507 | // strech control output by inverse attitude projection 1/cos |
1509 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1508 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1510 | tmp_long2 = (int32_t)HCGas; |
1509 | tmp_long2 = (int32_t)HCGas; |
1511 | tmp_long2 *= 8192L; |
1510 | tmp_long2 *= 8192L; |
1512 | tmp_long2 /= CosAttitude; |
1511 | tmp_long2 /= CosAttitude; |
1513 | HCGas = (int16_t)tmp_long2; |
1512 | HCGas = (int16_t)tmp_long2; |
1514 | // update height control gas averaging |
1513 | // update height control gas averaging |
1515 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1514 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1516 | // limit height control gas pd-control output |
1515 | // limit height control gas pd-control output |
1517 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1516 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1518 | // set GasMischanteil to HeightControlGasFilter |
1517 | // set GasMischanteil to HeightControlGasFilter |
1519 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1518 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1520 | { // old version |
1519 | { // old version |
1521 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1520 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1522 | } |
1521 | } |
1523 | GasMischanteil = FilterHCGas; |
1522 | GasMischanteil = FilterHCGas; |
1524 | } |
1523 | } |
1525 | }// EOF height control active |
1524 | }// EOF height control active |
1526 | else // HC not active |
1525 | else // HC not active |
1527 | { |
1526 | { |
1528 | //update hoover gas stick value when HC is not active |
1527 | //update hoover gas stick value when HC is not active |
1529 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1528 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1530 | { |
1529 | { |
1531 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1530 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1532 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1531 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1533 | } |
1532 | } |
1534 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1533 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1535 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1534 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1536 | FilterHCGas = GasMischanteil; |
1535 | FilterHCGas = GasMischanteil; |
1537 | } |
1536 | } |
1538 | 1537 | ||
1539 | // Hover gas estimation by averaging gas control output on small z-velocities |
1538 | // Hover gas estimation by averaging gas control output on small z-velocities |
1540 | // this is done only if height contol option is selected in global config and aircraft is flying |
1539 | // this is done only if height contol option is selected in global config and aircraft is flying |
1541 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1540 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1542 | { |
1541 | { |
1543 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1542 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1544 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1543 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1545 | { |
1544 | { |
1546 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1545 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1547 | tmp_long2 *= CosAttitude; // apply attitude projection |
1546 | tmp_long2 *= CosAttitude; // apply attitude projection |
1548 | tmp_long2 /= 8192; |
1547 | tmp_long2 /= 8192; |
1549 | 1548 | ||
1550 | // average vertical projected thrust |
1549 | // average vertical projected thrust |
1551 | if(modell_fliegt < 2000) // the first 4 seconds |
1550 | if(modell_fliegt < 2000) // the first 4 seconds |
1552 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1551 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1553 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1552 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
1554 | HoverGasFilter += 8L * tmp_long2; |
1553 | HoverGasFilter += 8L * tmp_long2; |
1555 | } |
1554 | } |
1556 | else if(modell_fliegt < 4000) // the first 8 seconds |
1555 | else if(modell_fliegt < 4000) // the first 8 seconds |
1557 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1556 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1558 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1557 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1559 | HoverGasFilter += 4L * tmp_long2; |
1558 | HoverGasFilter += 4L * tmp_long2; |
1560 | } |
1559 | } |
1561 | else if(modell_fliegt < 8000) // the first 16 seconds |
1560 | else if(modell_fliegt < 8000) // the first 16 seconds |
1562 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1561 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1563 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1562 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
1564 | HoverGasFilter += 2L * tmp_long2; |
1563 | HoverGasFilter += 2L * tmp_long2; |
1565 | } |
1564 | } |
1566 | else //later |
1565 | else //later |
1567 | { |
1566 | { |
1568 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1567 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1569 | HoverGasFilter += tmp_long2; |
1568 | HoverGasFilter += tmp_long2; |
1570 | } |
1569 | } |
1571 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1570 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1572 | if(EE_Parameter.Hoehe_HoverBand) |
1571 | if(EE_Parameter.Hoehe_HoverBand) |
1573 | { |
1572 | { |
1574 | int16_t band; |
1573 | int16_t band; |
1575 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1574 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1576 | HoverGasMin = HoverGas - band; |
1575 | HoverGasMin = HoverGas - band; |
1577 | HoverGasMax = HoverGas + band; |
1576 | HoverGasMax = HoverGas + band; |
1578 | } |
1577 | } |
1579 | else |
1578 | else |
1580 | { // no limit |
1579 | { // no limit |
1581 | HoverGasMin = 0; |
1580 | HoverGasMin = 0; |
1582 | HoverGasMax = 1023; |
1581 | HoverGasMax = 1023; |
1583 | } |
1582 | } |
1584 | } |
1583 | } |
1585 | } |
1584 | } |
1586 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1585 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1587 | 1586 | ||
1588 | // limit gas to parameter setting |
1587 | // limit gas to parameter setting |
1589 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1588 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1590 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1589 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1591 | 1590 | ||
1592 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1593 | // all BL-Ctrl connected? |
1592 | // all BL-Ctrl connected? |
1594 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1595 | if(MissingMotor) |
1594 | if(MissingMotor) |
1596 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1595 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1597 | { |
1596 | { |
1598 | modell_fliegt = 1; |
1597 | modell_fliegt = 1; |
1599 | GasMischanteil = MIN_GAS; |
1598 | GasMischanteil = MIN_GAS; |
1600 | } |
1599 | } |
1601 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1600 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1602 | // + Mischer und PI-Regler |
1601 | // + Mischer und PI-Regler |
1603 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1602 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1604 | DebugOut.Analog[7] = GasMischanteil; |
1603 | DebugOut.Analog[7] = GasMischanteil; |
1605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1604 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1606 | // Gier-Anteil |
1605 | // Gier-Anteil |
1607 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1606 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1608 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1607 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1609 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1608 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1610 | if(GasMischanteil > MIN_GIERGAS) |
1609 | if(GasMischanteil > MIN_GIERGAS) |
1611 | { |
1610 | { |
1612 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1611 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1613 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1612 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1614 | } |
1613 | } |
1615 | else |
1614 | else |
1616 | { |
1615 | { |
1617 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1616 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1618 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1617 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1619 | } |
1618 | } |
1620 | tmp_int = MAX_GAS*STICK_GAIN; |
1619 | tmp_int = MAX_GAS*STICK_GAIN; |
1621 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1620 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1622 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1621 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1623 | 1622 | ||
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1623 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1625 | // Nick-Achse |
1624 | // Nick-Achse |
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1625 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1627 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1626 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1628 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1627 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1629 | else SummeNick += DiffNick; // I-Anteil bei HH |
1628 | else SummeNick += DiffNick; // I-Anteil bei HH |
1630 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1629 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1631 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1630 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1632 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1631 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
1633 | // Motor Vorn |
1632 | // Motor Vorn |
1634 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
1633 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
1635 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1634 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1636 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1635 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1637 | 1636 | ||
1638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1637 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1639 | // Roll-Achse |
1638 | // Roll-Achse |
1640 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1639 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1641 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1640 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1642 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1641 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1643 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1642 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1644 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1643 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1645 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1644 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1646 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
1645 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
1647 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
1646 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
1648 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1647 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1649 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1648 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1650 | 1649 | ||
1651 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1650 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1652 | // Universal Mixer |
1651 | // Universal Mixer |
1653 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1652 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1654 | for(i=0; i<MAX_MOTORS; i++) |
1653 | for(i=0; i<MAX_MOTORS; i++) |
1655 | { |
1654 | { |
1656 | signed int tmp_int; |
1655 | signed int tmp_int; |
1657 | if(Mixer.Motor[i][0] > 0) |
1656 | if(Mixer.Motor[i][0] > 0) |
1658 | { |
1657 | { |
1659 | // Gas |
1658 | // Gas |
1660 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil * 2; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 32L; |
1659 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil * 2; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 32L; |
1661 | // Nick |
1660 | // Nick |
1662 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1661 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1663 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1662 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1664 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1663 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1665 | // Roll |
1664 | // Roll |
1666 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1665 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1667 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1666 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1668 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1667 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1669 | // Gier |
1668 | // Gier |
1670 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil * 2; |
1669 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil * 2; |
1671 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil * 2; |
1670 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil * 2; |
1672 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 32L; |
1671 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 32L; |
1673 | /* |
1672 | /* |
1674 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1673 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1675 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1674 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1676 | 1675 | ||
1677 | if(Poti2 > 50) |
1676 | if(Poti2 > 50) |
1678 | { |
1677 | { |
1679 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1678 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1680 | else if(Poti2 > 150) tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1679 | else if(Poti2 > 150) tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1681 | } |
1680 | } |
1682 | */ |
1681 | */ |
1683 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 8,MAX_GAS * 8); |
1682 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 8,MAX_GAS * 8); |
1684 | Motor[i].SetPoint = tmp_int / 8; |
1683 | Motor[i].SetPoint = tmp_int / 8; |
1685 | Motor[i].SetPointLowerBits = tmp_int % 8; |
1684 | Motor[i].SetPointLowerBits = tmp_int % 8; |
1686 | tmp_motorwert[i] = tmp_int; |
1685 | tmp_motorwert[i] = tmp_int; |
1687 | } |
1686 | } |
1688 | else |
1687 | else |
1689 | { |
1688 | { |
1690 | Motor[i].SetPoint = 0; |
1689 | Motor[i].SetPoint = 0; |
1691 | Motor[i].SetPointLowerBits = 0; |
1690 | Motor[i].SetPointLowerBits = 0; |
1692 | } |
1691 | } |
1693 | } |
1692 | } |
1694 | } |
1693 | } |
1695 | 1694 |