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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = 0; |
80 | int KompassValue = 0; |
81 | int KompassStartwert = 0; |
81 | int KompassStartwert = 0; |
82 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
83 | unsigned int KompassSignalSchlecht = 500; |
83 | unsigned int KompassSignalSchlecht = 500; |
84 | unsigned char MAX_GAS,MIN_GAS; |
84 | unsigned char MAX_GAS,MIN_GAS; |
85 | unsigned char HoehenReglerAktiv = 0; |
85 | unsigned char HoehenReglerAktiv = 0; |
86 | unsigned char TrichterFlug = 0; |
86 | unsigned char TrichterFlug = 0; |
87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
88 | long ErsatzKompass; |
88 | long ErsatzKompass; |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
90 | int GierGyroFehler = 0; |
90 | int GierGyroFehler = 0; |
91 | char GyroFaktor,GyroFaktorGier; |
91 | char GyroFaktor,GyroFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
92 | char IntegralFaktor,IntegralFaktorGier; |
93 | int DiffNick,DiffRoll; |
93 | int DiffNick,DiffRoll; |
94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
96 | volatile unsigned char SenderOkay = 0; |
96 | volatile unsigned char SenderOkay = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
98 | char MotorenEin = 0,StartTrigger = 0; |
98 | char MotorenEin = 0,StartTrigger = 0; |
99 | long HoehenWert = 0; |
99 | long HoehenWert = 0; |
100 | long SollHoehe = 0; |
100 | long SollHoehe = 0; |
101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
102 | //float Ki = FAKTOR_I; |
102 | //float Ki = FAKTOR_I; |
103 | int Ki = 10300 / 33; |
103 | int Ki = 10300 / 33; |
104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
106 | 106 | ||
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
120 | unsigned char Parameter_UserParam1 = 0; |
120 | unsigned char Parameter_UserParam1 = 0; |
121 | unsigned char Parameter_UserParam2 = 0; |
121 | unsigned char Parameter_UserParam2 = 0; |
122 | unsigned char Parameter_UserParam3 = 0; |
122 | unsigned char Parameter_UserParam3 = 0; |
123 | unsigned char Parameter_UserParam4 = 0; |
123 | unsigned char Parameter_UserParam4 = 0; |
124 | unsigned char Parameter_UserParam5 = 0; |
124 | unsigned char Parameter_UserParam5 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
125 | unsigned char Parameter_UserParam6 = 0; |
126 | unsigned char Parameter_UserParam7 = 0; |
126 | unsigned char Parameter_UserParam7 = 0; |
127 | unsigned char Parameter_UserParam8 = 0; |
127 | unsigned char Parameter_UserParam8 = 0; |
128 | unsigned char Parameter_ServoNickControl = 100; |
128 | unsigned char Parameter_ServoNickControl = 100; |
129 | unsigned char Parameter_ServoRollControl = 100; |
129 | unsigned char Parameter_ServoRollControl = 100; |
130 | unsigned char Parameter_LoopGasLimit = 70; |
130 | unsigned char Parameter_LoopGasLimit = 70; |
131 | unsigned char Parameter_AchsKopplung1 = 90; |
131 | unsigned char Parameter_AchsKopplung1 = 90; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
132 | unsigned char Parameter_AchsKopplung2 = 65; |
133 | unsigned char Parameter_CouplingYawCorrection = 64; |
133 | unsigned char Parameter_CouplingYawCorrection = 64; |
134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
135 | unsigned char Parameter_DynamicStability = 100; |
135 | unsigned char Parameter_DynamicStability = 100; |
136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
137 | unsigned char Parameter_J16Timing; // for the J16 Output |
138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
139 | unsigned char Parameter_J17Timing; // for the J17 Output |
139 | unsigned char Parameter_J17Timing; // for the J17 Output |
140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
141 | unsigned char Parameter_NaviGpsGain; |
141 | unsigned char Parameter_NaviGpsGain; |
142 | unsigned char Parameter_NaviGpsP; |
142 | unsigned char Parameter_NaviGpsP; |
143 | unsigned char Parameter_NaviGpsI; |
143 | unsigned char Parameter_NaviGpsI; |
144 | unsigned char Parameter_NaviGpsD; |
144 | unsigned char Parameter_NaviGpsD; |
145 | unsigned char Parameter_NaviGpsACC; |
145 | unsigned char Parameter_NaviGpsACC; |
146 | unsigned char Parameter_NaviOperatingRadius; |
146 | unsigned char Parameter_NaviOperatingRadius; |
147 | unsigned char Parameter_NaviWindCorrection; |
147 | unsigned char Parameter_NaviWindCorrection; |
148 | unsigned char Parameter_NaviSpeedCompensation; |
148 | unsigned char Parameter_NaviSpeedCompensation; |
149 | unsigned char Parameter_ExternalControl; |
149 | unsigned char Parameter_ExternalControl; |
150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
151 | unsigned char CareFree = 0; |
151 | unsigned char CareFree = 0; |
152 | 152 | ||
153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
154 | int MaxStickNick = 0,MaxStickRoll = 0; |
154 | int MaxStickNick = 0,MaxStickRoll = 0; |
155 | unsigned int modell_fliegt = 0; |
155 | unsigned int modell_fliegt = 0; |
156 | volatile unsigned char FCFlags = 0; |
156 | volatile unsigned char FCFlags = 0; |
157 | long GIER_GRAD_FAKTOR = 1291; |
157 | long GIER_GRAD_FAKTOR = 1291; |
158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
159 | signed int tmp_motorwert[MAX_MOTORS]; |
159 | signed int tmp_motorwert[MAX_MOTORS]; |
160 | char VarioCharacter = ' '; |
160 | char VarioCharacter = ' '; |
161 | 161 | ||
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
163 | #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;} |
164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
165 | 165 | ||
166 | 166 | ||
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | // Debugwerte zuordnen |
168 | // Debugwerte zuordnen |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
170 | void CopyDebugValues(void) |
170 | void CopyDebugValues(void) |
171 | { |
171 | { |
172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
176 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
177 | DebugOut.Analog[5] = HoehenWert/5; |
177 | DebugOut.Analog[5] = HoehenWert/5; |
178 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
178 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
179 | DebugOut.Analog[8] = KompassValue; |
179 | DebugOut.Analog[8] = KompassValue; |
180 | DebugOut.Analog[9] = UBat; |
180 | DebugOut.Analog[9] = UBat; |
181 | DebugOut.Analog[10] = SenderOkay; |
181 | DebugOut.Analog[10] = SenderOkay; |
182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
183 | DebugOut.Analog[12] = Motor[0].SetPoint; |
183 | DebugOut.Analog[12] = Motor[0].SetPoint; |
184 | DebugOut.Analog[13] = Motor[1].SetPoint; |
184 | DebugOut.Analog[13] = Motor[1].SetPoint; |
185 | DebugOut.Analog[14] = Motor[2].SetPoint; |
185 | DebugOut.Analog[14] = Motor[2].SetPoint; |
186 | DebugOut.Analog[15] = Motor[3].SetPoint; |
186 | DebugOut.Analog[15] = Motor[3].SetPoint; |
187 | DebugOut.Analog[20] = ServoNickValue; |
187 | DebugOut.Analog[20] = ServoNickValue; |
188 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
188 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
189 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
189 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
190 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
190 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
191 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
191 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
192 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
192 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
193 | DebugOut.Analog[30] = GPS_Nick; |
193 | DebugOut.Analog[30] = GPS_Nick; |
194 | DebugOut.Analog[31] = GPS_Roll; |
194 | DebugOut.Analog[31] = GPS_Roll; |
195 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
195 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
196 | } |
196 | } |
197 | 197 | ||
198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
198 | void Piep(unsigned char Anzahl, unsigned int dauer) |
199 | { |
199 | { |
200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
200 | if(MotorenEin) return; //auf keinen Fall im Flug! |
201 | while(Anzahl--) |
201 | while(Anzahl--) |
202 | { |
202 | { |
203 | beeptime = dauer; |
203 | beeptime = dauer; |
204 | while(beeptime); |
204 | while(beeptime); |
205 | Delay_ms(dauer * 2); |
205 | Delay_ms(dauer * 2); |
206 | } |
206 | } |
207 | } |
207 | } |
208 | 208 | ||
209 | //############################################################################ |
209 | //############################################################################ |
210 | // Messwerte beim Ermitteln der Nullage |
210 | // Messwerte beim Ermitteln der Nullage |
211 | void CalibrierMittelwert(void) |
211 | void CalibrierMittelwert(void) |
212 | //############################################################################ |
212 | //############################################################################ |
213 | { |
213 | { |
214 | unsigned char i; |
214 | unsigned char i; |
215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
215 | if(PlatinenVersion == 13) SucheGyroOffset(); |
216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
216 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
217 | ANALOG_OFF; |
217 | ANALOG_OFF; |
218 | MesswertNick = AdWertNick; |
218 | MesswertNick = AdWertNick; |
219 | MesswertRoll = AdWertRoll; |
219 | MesswertRoll = AdWertRoll; |
220 | MesswertGier = AdWertGier; |
220 | MesswertGier = AdWertGier; |
221 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
221 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
222 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
222 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
223 | // ADC einschalten |
223 | // ADC einschalten |
224 | ANALOG_ON; |
224 | ANALOG_ON; |
225 | for(i=0;i<8;i++) |
225 | for(i=0;i<8;i++) |
226 | { |
226 | { |
227 | int tmp; |
227 | int tmp; |
228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
229 | LIMIT_MIN_MAX(tmp, 0, 255); |
229 | LIMIT_MIN_MAX(tmp, 0, 255); |
230 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
230 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
231 | } |
231 | } |
232 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
232 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
233 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
233 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
234 | } |
234 | } |
235 | 235 | ||
236 | //############################################################################ |
236 | //############################################################################ |
237 | // Nullwerte ermitteln |
237 | // Nullwerte ermitteln |
238 | void SetNeutral(unsigned char AccAdjustment) |
238 | void SetNeutral(unsigned char AccAdjustment) |
239 | //############################################################################ |
239 | //############################################################################ |
240 | { |
240 | { |
241 | unsigned char i; |
241 | unsigned char i; |
242 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
242 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
243 | VersionInfo.HardwareError[0] = 0; |
243 | VersionInfo.HardwareError[0] = 0; |
244 | HEF4017R_ON; |
244 | HEF4017R_ON; |
245 | NeutralAccX = 0; |
245 | NeutralAccX = 0; |
246 | NeutralAccY = 0; |
246 | NeutralAccY = 0; |
247 | NeutralAccZ = 0; |
247 | NeutralAccZ = 0; |
248 | 248 | ||
249 | AdNeutralNick = 0; |
249 | AdNeutralNick = 0; |
250 | AdNeutralRoll = 0; |
250 | AdNeutralRoll = 0; |
251 | AdNeutralGier = 0; |
251 | AdNeutralGier = 0; |
252 | 252 | ||
253 | Parameter_AchsKopplung1 = 0; |
253 | Parameter_AchsKopplung1 = 0; |
254 | Parameter_AchsKopplung2 = 0; |
254 | Parameter_AchsKopplung2 = 0; |
255 | 255 | ||
256 | ExpandBaro = 0; |
256 | ExpandBaro = 0; |
257 | 257 | ||
258 | CalibrierMittelwert(); |
258 | CalibrierMittelwert(); |
259 | Delay_ms_Mess(100); |
259 | Delay_ms_Mess(100); |
260 | 260 | ||
261 | CalibrierMittelwert(); |
261 | CalibrierMittelwert(); |
262 | 262 | ||
263 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
263 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
264 | { |
264 | { |
265 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
265 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
266 | } |
266 | } |
267 | #define NEUTRAL_FILTER 32 |
267 | #define NEUTRAL_FILTER 32 |
268 | for(i=0; i<NEUTRAL_FILTER; i++) |
268 | for(i=0; i<NEUTRAL_FILTER; i++) |
269 | { |
269 | { |
270 | Delay_ms_Mess(10); |
270 | Delay_ms_Mess(10); |
271 | gier_neutral += AdWertGier; |
271 | gier_neutral += AdWertGier; |
272 | nick_neutral += AdWertNick; |
272 | nick_neutral += AdWertNick; |
273 | roll_neutral += AdWertRoll; |
273 | roll_neutral += AdWertRoll; |
274 | } |
274 | } |
275 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
275 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
276 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
276 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
277 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
277 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
278 | 278 | ||
279 | StartNeutralRoll = AdNeutralRoll; |
279 | StartNeutralRoll = AdNeutralRoll; |
280 | StartNeutralNick = AdNeutralNick; |
280 | StartNeutralNick = AdNeutralNick; |
281 | 281 | ||
282 | if(AccAdjustment) |
282 | if(AccAdjustment) |
283 | { |
283 | { |
284 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
284 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
285 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
285 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
286 | NeutralAccZ = Aktuell_az; |
286 | NeutralAccZ = Aktuell_az; |
287 | 287 | ||
288 | // Save ACC neutral settings to eeprom |
288 | // Save ACC neutral settings to eeprom |
289 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
289 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
290 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
290 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
291 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
291 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
292 | } |
292 | } |
293 | else |
293 | else |
294 | { |
294 | { |
295 | // restore from eeprom |
295 | // restore from eeprom |
296 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
296 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
297 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
297 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
298 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
298 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
299 | // strange settings? |
299 | // strange settings? |
300 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
300 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
301 | { |
301 | { |
302 | printf("\n\rACC not calibrated!\r\n"); |
302 | printf("\n\rACC not calibrated!\r\n"); |
303 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
303 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
304 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
304 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
305 | NeutralAccZ = Aktuell_az; |
305 | NeutralAccZ = Aktuell_az; |
306 | } |
306 | } |
307 | } |
307 | } |
308 | 308 | ||
309 | MesswertNick = 0; |
309 | MesswertNick = 0; |
310 | MesswertRoll = 0; |
310 | MesswertRoll = 0; |
311 | MesswertGier = 0; |
311 | MesswertGier = 0; |
312 | Delay_ms_Mess(100); |
312 | Delay_ms_Mess(100); |
313 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
313 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
314 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
314 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
315 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
315 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
316 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
316 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
317 | Mess_IntegralNick2 = IntegralNick; |
317 | Mess_IntegralNick2 = IntegralNick; |
318 | Mess_IntegralRoll2 = IntegralRoll; |
318 | Mess_IntegralRoll2 = IntegralRoll; |
319 | Mess_Integral_Gier = 0; |
319 | Mess_Integral_Gier = 0; |
320 | StartLuftdruck = Luftdruck; |
320 | StartLuftdruck = Luftdruck; |
321 | VarioMeter = 0; |
321 | VarioMeter = 0; |
322 | Mess_Integral_Hoch = 0; |
322 | Mess_Integral_Hoch = 0; |
323 | KompassStartwert = KompassValue; |
323 | KompassStartwert = KompassValue; |
324 | GPS_Neutral(); |
324 | GPS_Neutral(); |
325 | beeptime = 50; |
325 | beeptime = 50; |
326 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
326 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
327 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
327 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
328 | ExternHoehenValue = 0; |
328 | ExternHoehenValue = 0; |
329 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
329 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
330 | GierGyroFehler = 0; |
330 | GierGyroFehler = 0; |
331 | SendVersionToNavi = 1; |
331 | SendVersionToNavi = 1; |
332 | LED_Init(); |
332 | LED_Init(); |
333 | FCFlags |= FCFLAG_CALIBRATE; |
333 | FCFlags |= FCFLAG_CALIBRATE; |
334 | FromNaviCtrl_Value.Kalman_K = -1; |
334 | FromNaviCtrl_Value.Kalman_K = -1; |
335 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
335 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
336 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
336 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
337 | 337 | ||
338 | for(i=0;i<8;i++) |
338 | for(i=0;i<8;i++) |
339 | { |
339 | { |
340 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
340 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
341 | } |
341 | } |
342 | SenderOkay = 100; |
342 | SenderOkay = 100; |
343 | if(ServoActive) |
343 | if(ServoActive) |
344 | { |
344 | { |
345 | HEF4017R_ON; |
345 | HEF4017R_ON; |
346 | DDRD |=0x80; // enable J7 -> Servo signal |
346 | DDRD |=0x80; // enable J7 -> Servo signal |
347 | } |
347 | } |
348 | 348 | ||
349 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
349 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
350 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
350 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
351 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
351 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
352 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
352 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
353 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
353 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
354 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
354 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
355 | } |
355 | } |
356 | 356 | ||
357 | 357 | ||
358 | //############################################################################ |
358 | //############################################################################ |
359 | // Bearbeitet die Messwerte |
359 | // Bearbeitet die Messwerte |
360 | void Mittelwert(void) |
360 | void Mittelwert(void) |
361 | //############################################################################ |
361 | //############################################################################ |
362 | { |
362 | { |
363 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
363 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
364 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
364 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
365 | signed long winkel_nick, winkel_roll; |
365 | signed long winkel_nick, winkel_roll; |
366 | unsigned char i; |
366 | unsigned char i; |
367 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
367 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
368 | MesswertNick = (signed int) AdWertNickFilter / 8; |
368 | MesswertNick = (signed int) AdWertNickFilter / 8; |
369 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
369 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
370 | RohMesswertNick = MesswertNick; |
370 | RohMesswertNick = MesswertNick; |
371 | RohMesswertRoll = MesswertRoll; |
371 | RohMesswertRoll = MesswertRoll; |
372 | 372 | ||
373 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
373 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
374 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
374 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
375 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
375 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
376 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
376 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
377 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
377 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
378 | NaviAccNick += AdWertAccNick; |
378 | NaviAccNick += AdWertAccNick; |
379 | NaviAccRoll += AdWertAccRoll; |
379 | NaviAccRoll += AdWertAccRoll; |
380 | NaviCntAcc++; |
380 | NaviCntAcc++; |
381 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
381 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
382 | 382 | ||
383 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
383 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
384 | // ADC einschalten |
384 | // ADC einschalten |
385 | ANALOG_ON; |
385 | ANALOG_ON; |
386 | AdReady = 0; |
386 | AdReady = 0; |
387 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
387 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
388 | 388 | ||
389 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
389 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
390 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
390 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
391 | else winkel_roll = Mess_IntegralRoll; |
391 | else winkel_roll = Mess_IntegralRoll; |
392 | 392 | ||
393 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
393 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
394 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
394 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
395 | else winkel_nick = Mess_IntegralNick; |
395 | else winkel_nick = Mess_IntegralNick; |
396 | 396 | ||
397 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
398 | Mess_Integral_Gier += MesswertGier; |
398 | Mess_Integral_Gier += MesswertGier; |
399 | ErsatzKompass += MesswertGier; |
399 | ErsatzKompass += MesswertGier; |
400 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
400 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
401 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
401 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
402 | { |
402 | { |
403 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
403 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
404 | tmpl3 *= Parameter_AchsKopplung2; //65 |
404 | tmpl3 *= Parameter_AchsKopplung2; //65 |
405 | tmpl3 /= 4096L; |
405 | tmpl3 /= 4096L; |
406 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
406 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
407 | tmpl4 *= Parameter_AchsKopplung2; //65 |
407 | tmpl4 *= Parameter_AchsKopplung2; //65 |
408 | tmpl4 /= 4096L; |
408 | tmpl4 /= 4096L; |
409 | KopplungsteilNickRoll = tmpl3; |
409 | KopplungsteilNickRoll = tmpl3; |
410 | KopplungsteilRollNick = tmpl4; |
410 | KopplungsteilRollNick = tmpl4; |
411 | tmpl4 -= tmpl3; |
411 | tmpl4 -= tmpl3; |
412 | ErsatzKompass += tmpl4; |
412 | ErsatzKompass += tmpl4; |
413 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
413 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
414 | 414 | ||
415 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
415 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
416 | tmpl *= Parameter_AchsKopplung1; // 90 |
416 | tmpl *= Parameter_AchsKopplung1; // 90 |
417 | tmpl /= 4096L; |
417 | tmpl /= 4096L; |
418 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
418 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
419 | tmpl2 *= Parameter_AchsKopplung1; |
419 | tmpl2 *= Parameter_AchsKopplung1; |
420 | tmpl2 /= 4096L; |
420 | tmpl2 /= 4096L; |
421 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
421 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
422 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
422 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
423 | } |
423 | } |
424 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
424 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
425 | TrimRoll = tmpl - tmpl2 / 100L; |
425 | TrimRoll = tmpl - tmpl2 / 100L; |
426 | TrimNick = -tmpl2 + tmpl / 100L; |
426 | TrimNick = -tmpl2 + tmpl / 100L; |
427 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
427 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
428 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
428 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
429 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
429 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
430 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
430 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
431 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
431 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
432 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
432 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
433 | if(Mess_IntegralRoll > Umschlag180Roll) |
433 | if(Mess_IntegralRoll > Umschlag180Roll) |
434 | { |
434 | { |
435 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
435 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
436 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
436 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
437 | } |
437 | } |
438 | if(Mess_IntegralRoll <-Umschlag180Roll) |
438 | if(Mess_IntegralRoll <-Umschlag180Roll) |
439 | { |
439 | { |
440 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
440 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
441 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
441 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
442 | } |
442 | } |
443 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
443 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
444 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
444 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
445 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
445 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
446 | if(Mess_IntegralNick > Umschlag180Nick) |
446 | if(Mess_IntegralNick > Umschlag180Nick) |
447 | { |
447 | { |
448 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
448 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
449 | Mess_IntegralNick2 = Mess_IntegralNick; |
449 | Mess_IntegralNick2 = Mess_IntegralNick; |
450 | } |
450 | } |
451 | if(Mess_IntegralNick <-Umschlag180Nick) |
451 | if(Mess_IntegralNick <-Umschlag180Nick) |
452 | { |
452 | { |
453 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
453 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
454 | Mess_IntegralNick2 = Mess_IntegralNick; |
454 | Mess_IntegralNick2 = Mess_IntegralNick; |
455 | } |
455 | } |
456 | 456 | ||
457 | Integral_Gier = Mess_Integral_Gier; |
457 | Integral_Gier = Mess_Integral_Gier; |
458 | IntegralNick = Mess_IntegralNick; |
458 | IntegralNick = Mess_IntegralNick; |
459 | IntegralRoll = Mess_IntegralRoll; |
459 | IntegralRoll = Mess_IntegralRoll; |
460 | IntegralNick2 = Mess_IntegralNick2; |
460 | IntegralNick2 = Mess_IntegralNick2; |
461 | IntegralRoll2 = Mess_IntegralRoll2; |
461 | IntegralRoll2 = Mess_IntegralRoll2; |
462 | 462 | ||
463 | #define D_LIMIT 128 |
463 | #define D_LIMIT 128 |
464 | 464 | ||
465 | MesswertNick = HiResNick / 8; |
465 | MesswertNick = HiResNick / 8; |
466 | MesswertRoll = HiResRoll / 8; |
466 | MesswertRoll = HiResRoll / 8; |
467 | 467 | ||
468 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
468 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
469 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
469 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
470 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
470 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
471 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
471 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
472 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
472 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
473 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
473 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
474 | 474 | ||
475 | if(Parameter_Gyro_D) |
475 | if(Parameter_Gyro_D) |
476 | { |
476 | { |
477 | d2Nick = HiResNick - oldNick; |
477 | d2Nick = HiResNick - oldNick; |
478 | oldNick = (oldNick + HiResNick)/2; |
478 | oldNick = (oldNick + HiResNick)/2; |
479 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
479 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
480 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
480 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
481 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
481 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
482 | d2Roll = HiResRoll - oldRoll; |
482 | d2Roll = HiResRoll - oldRoll; |
483 | oldRoll = (oldRoll + HiResRoll)/2; |
483 | oldRoll = (oldRoll + HiResRoll)/2; |
484 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
484 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
485 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
485 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
486 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
486 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
487 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
487 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
488 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
488 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
489 | } |
489 | } |
490 | 490 | ||
491 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
491 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
492 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
492 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
493 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
493 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
494 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
494 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
495 | 495 | ||
496 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
496 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
497 | { |
497 | { |
498 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
498 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
499 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
499 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
500 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
500 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
501 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
501 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
502 | } |
502 | } |
503 | for(i=0;i<8;i++) |
503 | for(i=0;i<8;i++) |
504 | { |
504 | { |
505 | int tmp; |
505 | int tmp; |
506 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
506 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
507 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
507 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
508 | if(tmp != Poti[i]) |
508 | if(tmp != Poti[i]) |
509 | { |
509 | { |
510 | Poti[i] += (tmp - Poti[i]) / 8; |
510 | Poti[i] += (tmp - Poti[i]) / 8; |
511 | if(Poti[i] > tmp) Poti[i]--; |
511 | if(Poti[i] > tmp) Poti[i]--; |
512 | else Poti[i]++; |
512 | else Poti[i]++; |
513 | } |
513 | } |
514 | } |
514 | } |
515 | } |
515 | } |
516 | 516 | ||
517 | //############################################################################ |
517 | //############################################################################ |
518 | // Senden der Motorwerte per I2C-Bus |
518 | // Senden der Motorwerte per I2C-Bus |
519 | void SendMotorData(void) |
519 | void SendMotorData(void) |
520 | //############################################################################ |
520 | //############################################################################ |
521 | { |
521 | { |
522 | unsigned char i; |
522 | unsigned char i; |
523 | if(!MotorenEin) |
523 | if(!MotorenEin) |
524 | { |
524 | { |
525 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
525 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
526 | for(i=0;i<MAX_MOTORS;i++) |
526 | for(i=0;i<MAX_MOTORS;i++) |
527 | { |
527 | { |
528 | if(!PC_MotortestActive) MotorTest[i] = 0; |
528 | if(!PC_MotortestActive) MotorTest[i] = 0; |
529 | Motor[i].SetPoint = MotorTest[i]; |
529 | Motor[i].SetPoint = MotorTest[i]; |
530 | Motor[i].SetPointLowerBits = 0; |
530 | Motor[i].SetPointLowerBits = 0; |
531 | /* |
531 | /* |
532 | Motor[i].SetPoint = MotorTest[i] / 4; |
532 | Motor[i].SetPoint = MotorTest[i] / 4; |
533 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
533 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
534 | */ |
534 | */ |
535 | } |
535 | } |
536 | if(PC_MotortestActive) PC_MotortestActive--; |
536 | if(PC_MotortestActive) PC_MotortestActive--; |
537 | } |
537 | } |
538 | else FCFlags |= FCFLAG_MOTOR_RUN; |
538 | else FCFlags |= FCFLAG_MOTOR_RUN; |
539 | //Start I2C Interrupt Mode |
539 | //Start I2C Interrupt Mode |
540 | motor_write = 0; |
540 | motor_write = 0; |
541 | I2C_Start(TWI_STATE_MOTOR_TX); |
541 | I2C_Start(TWI_STATE_MOTOR_TX); |
542 | } |
542 | } |
543 | 543 | ||
544 | 544 | ||
545 | 545 | ||
546 | //############################################################################ |
546 | //############################################################################ |
547 | // Trägt ggf. das Poti als Parameter ein |
547 | // Trägt ggf. das Poti als Parameter ein |
548 | void ParameterZuordnung(void) |
548 | void ParameterZuordnung(void) |
549 | //############################################################################ |
549 | //############################################################################ |
550 | { |
550 | { |
551 | unsigned char tmp; |
551 | unsigned char tmp; |
552 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
552 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
553 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
553 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
554 | 554 | ||
555 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
555 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
556 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
556 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
557 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
557 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
558 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
558 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
559 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
559 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
560 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
560 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
561 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
561 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
562 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
562 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
563 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
563 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
564 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
565 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
565 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
566 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
566 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
567 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
567 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
568 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
568 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
569 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
569 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
570 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
570 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
571 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
571 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
572 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
572 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
573 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
573 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
574 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
574 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
575 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
575 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
576 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
576 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
577 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
577 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
578 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
578 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
579 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
579 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
580 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
580 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
581 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
581 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
582 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
582 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
583 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
583 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
584 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
584 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
585 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
585 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
586 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
586 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
587 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
587 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
588 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
588 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
589 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
589 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
590 | Ki = 10300 / (Parameter_I_Faktor + 1); |
590 | Ki = 10300 / (Parameter_I_Faktor + 1); |
591 | MAX_GAS = EE_Parameter.Gas_Max; |
591 | MAX_GAS = EE_Parameter.Gas_Max; |
592 | MIN_GAS = EE_Parameter.Gas_Min; |
592 | MIN_GAS = EE_Parameter.Gas_Min; |
593 | 593 | ||
594 | tmp = EE_Parameter.OrientationModeControl; |
594 | tmp = EE_Parameter.OrientationModeControl; |
595 | if(tmp > 50) |
595 | if(tmp > 50) |
596 | { |
596 | { |
597 | #ifdef SWITCH_LEARNS_CAREFREE |
597 | #ifdef SWITCH_LEARNS_CAREFREE |
598 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
598 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
599 | #endif |
599 | #endif |
600 | CareFree = 1; |
600 | CareFree = 1; |
601 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
601 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
602 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
602 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
603 | } |
603 | } |
604 | else CareFree = 0; |
604 | else CareFree = 0; |
605 | 605 | ||
606 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
606 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
607 | { |
607 | { |
608 | beeptime = 15000; |
608 | beeptime = 15000; |
609 | BeepMuster = 0xA400; |
609 | BeepMuster = 0xA400; |
610 | CareFree = 0; |
610 | CareFree = 0; |
611 | } |
611 | } |
612 | 612 | ||
613 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
613 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
614 | } |
614 | } |
615 | 615 | ||
616 | //############################################################################ |
616 | //############################################################################ |
617 | // |
617 | // |
618 | void MotorRegler(void) |
618 | void MotorRegler(void) |
619 | //############################################################################ |
619 | //############################################################################ |
620 | { |
620 | { |
621 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
621 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
622 | int GierMischanteil,GasMischanteil; |
622 | int GierMischanteil,GasMischanteil; |
623 | static long sollGier = 0,tmp_long,tmp_long2; |
623 | static long sollGier = 0,tmp_long,tmp_long2; |
624 | static long IntegralFehlerNick = 0; |
624 | static long IntegralFehlerNick = 0; |
625 | static long IntegralFehlerRoll = 0; |
625 | static long IntegralFehlerRoll = 0; |
626 | static unsigned int RcLostTimer; |
626 | static unsigned int RcLostTimer; |
627 | static unsigned char delay_neutral = 0; |
627 | static unsigned char delay_neutral = 0; |
628 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
628 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
629 | static unsigned char calibration_done = 0; |
629 | static unsigned char calibration_done = 0; |
630 | static char NeueKompassRichtungMerken = 0; |
630 | static char NeueKompassRichtungMerken = 0; |
631 | static long ausgleichNick, ausgleichRoll; |
631 | static long ausgleichNick, ausgleichRoll; |
632 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
632 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
633 | unsigned char i; |
633 | unsigned char i; |
634 | Mittelwert(); |
634 | Mittelwert(); |
635 | GRN_ON; |
635 | GRN_ON; |
636 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
636 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
637 | // Gaswert ermitteln |
637 | // Gaswert ermitteln |
638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
639 | GasMischanteil = StickGas; |
639 | GasMischanteil = StickGas; |
640 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
640 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
641 | 641 | ||
642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
643 | // Empfang schlecht |
643 | // Empfang schlecht |
644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
644 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
645 | if(SenderOkay < 100) |
645 | if(SenderOkay < 100) |
646 | { |
646 | { |
647 | if(RcLostTimer) RcLostTimer--; |
647 | if(RcLostTimer) RcLostTimer--; |
648 | else |
648 | else |
649 | { |
649 | { |
650 | MotorenEin = 0; |
650 | MotorenEin = 0; |
651 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
651 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
652 | } |
652 | } |
653 | ROT_ON; |
653 | ROT_ON; |
654 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
654 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
655 | { |
655 | { |
656 | GasMischanteil = EE_Parameter.NotGas; |
656 | GasMischanteil = EE_Parameter.NotGas; |
657 | FCFlags |= FCFLAG_NOTLANDUNG; |
657 | FCFlags |= FCFLAG_NOTLANDUNG; |
658 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
658 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
659 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
659 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
660 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
660 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
661 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
661 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
662 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
662 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
663 | } |
663 | } |
664 | else MotorenEin = 0; |
664 | else MotorenEin = 0; |
665 | } |
665 | } |
666 | else |
666 | else |
667 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
668 | // Emfang gut |
668 | // Emfang gut |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | if(SenderOkay > 140) |
670 | if(SenderOkay > 140) |
671 | { |
671 | { |
672 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
672 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
673 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
673 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
674 | if(GasMischanteil > 40 && MotorenEin) |
674 | if(GasMischanteil > 40 && MotorenEin) |
675 | { |
675 | { |
676 | if(modell_fliegt < 0xffff) modell_fliegt++; |
676 | if(modell_fliegt < 0xffff) modell_fliegt++; |
677 | } |
677 | } |
678 | if((modell_fliegt < 256)) |
678 | if((modell_fliegt < 256)) |
679 | { |
679 | { |
680 | SummeNick = 0; |
680 | SummeNick = 0; |
681 | SummeRoll = 0; |
681 | SummeRoll = 0; |
682 | sollGier = 0; |
682 | sollGier = 0; |
683 | Mess_Integral_Gier = 0; |
683 | Mess_Integral_Gier = 0; |
684 | if(modell_fliegt == 250) |
684 | if(modell_fliegt == 250) |
685 | { |
685 | { |
686 | NeueKompassRichtungMerken = 1; |
686 | NeueKompassRichtungMerken = 1; |
687 | // Mess_Integral_Gier2 = 0; |
- | |
688 | } |
687 | } |
689 | } else FCFlags |= FCFLAG_FLY; |
688 | } else FCFlags |= FCFLAG_FLY; |
690 | 689 | ||
691 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
690 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
692 | { |
691 | { |
693 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | // auf Nullwerte kalibrieren |
693 | // auf Nullwerte kalibrieren |
695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
695 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
697 | { |
696 | { |
698 | if(++delay_neutral > 200) // nicht sofort |
697 | if(++delay_neutral > 200) // nicht sofort |
699 | { |
698 | { |
700 | GRN_OFF; |
699 | GRN_OFF; |
701 | MotorenEin = 0; |
700 | MotorenEin = 0; |
702 | delay_neutral = 0; |
701 | delay_neutral = 0; |
703 | modell_fliegt = 0; |
702 | modell_fliegt = 0; |
704 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
703 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
705 | { |
704 | { |
706 | unsigned char setting=1; |
705 | unsigned char setting=1; |
707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
706 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
708 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
708 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
709 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
711 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
710 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
712 | SetActiveParamSet(setting); // aktiven Datensatz merken |
711 | SetActiveParamSet(setting); // aktiven Datensatz merken |
713 | } |
712 | } |
714 | // else |
- | |
715 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
713 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
716 | { |
714 | { |
717 | WinkelOut.CalcState = 1; |
715 | WinkelOut.CalcState = 1; |
718 | beeptime = 1000; |
716 | beeptime = 1000; |
719 | } |
717 | } |
720 | else |
718 | else |
721 | { |
719 | { |
722 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
720 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
723 | LipoDetection(0); |
721 | LipoDetection(0); |
724 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
722 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
725 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
723 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
726 | { |
724 | { |
727 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
725 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
728 | } |
726 | } |
729 | ServoActive = 0; |
727 | ServoActive = 0; |
730 | SetNeutral(0); |
728 | SetNeutral(0); |
731 | calibration_done = 1; |
729 | calibration_done = 1; |
732 | ServoActive = 1; |
730 | ServoActive = 1; |
733 | DDRD |=0x80; // enable J7 -> Servo signal |
731 | DDRD |=0x80; // enable J7 -> Servo signal |
734 | Piep(GetActiveParamSet(),120); |
732 | Piep(GetActiveParamSet(),120); |
735 | } |
733 | } |
736 | } |
734 | } |
737 | } |
735 | } |
738 | else |
736 | else |
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
740 | { |
738 | { |
741 | if(++delay_neutral > 200) // nicht sofort |
739 | if(++delay_neutral > 200) // nicht sofort |
742 | { |
740 | { |
743 | GRN_OFF; |
741 | GRN_OFF; |
744 | MotorenEin = 0; |
742 | MotorenEin = 0; |
745 | delay_neutral = 0; |
743 | delay_neutral = 0; |
746 | modell_fliegt = 0; |
744 | modell_fliegt = 0; |
747 | SetNeutral(1); |
745 | SetNeutral(1); |
748 | calibration_done = 1; |
746 | calibration_done = 1; |
749 | Piep(GetActiveParamSet(),120); |
747 | Piep(GetActiveParamSet(),120); |
750 | } |
748 | } |
751 | } |
749 | } |
752 | else delay_neutral = 0; |
750 | else delay_neutral = 0; |
753 | } |
751 | } |
754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
755 | // Gas ist unten |
753 | // Gas ist unten |
756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
754 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
757 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
755 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
758 | { |
756 | { |
759 | // Motoren Starten |
757 | // Motoren Starten |
760 | if(!MotorenEin) |
758 | if(!MotorenEin) |
761 | { |
759 | { |
762 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
760 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
763 | { |
761 | { |
764 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
765 | // Einschalten |
763 | // Einschalten |
766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
764 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
767 | if(++delay_einschalten > 200) |
765 | if(++delay_einschalten > 200) |
768 | { |
766 | { |
769 | delay_einschalten = 0; |
767 | delay_einschalten = 0; |
770 | if(!VersionInfo.HardwareError[0] && calibration_done) |
768 | if(!VersionInfo.HardwareError[0] && calibration_done) |
771 | { |
769 | { |
772 | modell_fliegt = 1; |
770 | modell_fliegt = 1; |
773 | MotorenEin = 1; |
771 | MotorenEin = 1; |
774 | sollGier = 0; |
772 | sollGier = 0; |
775 | Mess_Integral_Gier = 0; |
773 | Mess_Integral_Gier = 0; |
776 | Mess_Integral_Gier2 = 0; |
774 | Mess_Integral_Gier2 = 0; |
777 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
775 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
778 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
776 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
779 | Mess_IntegralNick2 = IntegralNick; |
777 | Mess_IntegralNick2 = IntegralNick; |
780 | Mess_IntegralRoll2 = IntegralRoll; |
778 | Mess_IntegralRoll2 = IntegralRoll; |
781 | SummeNick = 0; |
779 | SummeNick = 0; |
782 | SummeRoll = 0; |
780 | SummeRoll = 0; |
783 | FCFlags |= FCFLAG_START; |
781 | FCFlags |= FCFLAG_START; |
784 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
782 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
785 | } |
783 | } |
786 | else |
784 | else |
787 | { |
785 | { |
788 | beeptime = 1500; // indicate missing calibration |
786 | beeptime = 1500; // indicate missing calibration |
789 | } |
787 | } |
790 | } |
788 | } |
791 | } |
789 | } |
792 | else delay_einschalten = 0; |
790 | else delay_einschalten = 0; |
793 | } |
791 | } |
794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
795 | // Auschalten |
793 | // Auschalten |
796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
797 | else // only if motors are running |
795 | else // only if motors are running |
798 | { |
796 | { |
799 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
797 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
800 | { |
798 | { |
801 | if(++delay_ausschalten > 200) // nicht sofort |
799 | if(++delay_ausschalten > 200) // nicht sofort |
802 | { |
800 | { |
803 | MotorenEin = 0; |
801 | MotorenEin = 0; |
804 | delay_ausschalten = 0; |
802 | delay_ausschalten = 0; |
805 | modell_fliegt = 0; |
803 | modell_fliegt = 0; |
806 | } |
804 | } |
807 | } |
805 | } |
808 | else delay_ausschalten = 0; |
806 | else delay_ausschalten = 0; |
809 | } |
807 | } |
810 | } |
808 | } |
811 | } |
809 | } |
812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
810 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
813 | // neue Werte von der Funke |
811 | // neue Werte von der Funke |
814 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | 813 | ||
816 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
814 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
817 | { |
815 | { |
818 | static int stick_nick,stick_roll; |
816 | static int stick_nick,stick_roll; |
819 | ParameterZuordnung(); |
817 | ParameterZuordnung(); |
820 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
818 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
821 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
819 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
822 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
820 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
823 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
821 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
824 | - | ||
- | 822 | ||
- | 823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 824 | // CareFree und freie Wahl der vorderen Richtung |
|
825 | 825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
826 | 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}; |
826 | 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}; |
827 | 827 | ||
828 | if(CareFree) |
828 | if(CareFree) |
829 | { |
829 | { |
830 | signed int nick, roll; |
830 | signed int nick, roll; |
831 | nick = stick_nick / 4; |
831 | nick = stick_nick / 4; |
832 | roll = stick_roll / 4; |
832 | roll = stick_roll / 4; |
833 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
833 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
834 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
834 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
835 | } |
835 | } |
836 | else |
836 | else |
837 | { |
837 | { |
838 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
838 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
839 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
839 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
840 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
840 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
841 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
841 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
842 | } |
842 | } |
843 | 843 | ||
844 | 844 | ||
845 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
845 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
846 | if(StickGier > 2) StickGier -= 2; else |
846 | if(StickGier > 2) StickGier -= 2; else |
847 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
847 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
848 | 848 | ||
849 | StickNick -= (GPS_Nick + GPS_Nick2); |
849 | StickNick -= (GPS_Nick + GPS_Nick2); |
850 | StickRoll -= (GPS_Roll + GPS_Roll2); |
850 | StickRoll -= (GPS_Roll + GPS_Roll2); |
851 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
851 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
852 | 852 | ||
853 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
853 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
854 | IntegralFaktor = Parameter_Gyro_I; |
854 | IntegralFaktor = Parameter_Gyro_I; |
855 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
855 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
856 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
856 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
857 | 857 | ||
858 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
858 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
859 | //+ Analoge Steuerung per Seriell |
859 | //+ Analoge Steuerung per Seriell |
860 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
860 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
861 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
861 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
862 | { |
862 | { |
863 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
863 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
864 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
864 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
865 | StickGier += ExternControl.Gier; |
865 | StickGier += ExternControl.Gier; |
866 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
866 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
867 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
867 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
868 | } |
868 | } |
869 | if(StickGas < 0) StickGas = 0; |
869 | if(StickGas < 0) StickGas = 0; |
870 | 870 | ||
871 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
871 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
872 | //if(GyroFaktor < 0) GyroFaktor = 0; |
- | |
873 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
- | |
874 | 872 | ||
875 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
873 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
876 | { |
874 | { |
877 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
875 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
878 | if(MaxStickNick > 100) MaxStickNick = 100; |
876 | if(MaxStickNick > 100) MaxStickNick = 100; |
879 | } |
877 | } |
880 | else MaxStickNick--; |
878 | else MaxStickNick--; |
881 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
879 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
882 | { |
880 | { |
883 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
881 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
884 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
882 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
885 | } |
883 | } |
886 | else MaxStickRoll--; |
884 | else MaxStickRoll--; |
887 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
885 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
888 | 886 | ||
889 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
890 | // Looping? |
888 | // Looping? |
891 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
889 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
892 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
890 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
893 | else |
891 | else |
894 | { |
892 | { |
895 | { |
893 | { |
896 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
894 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
897 | } |
895 | } |
898 | } |
896 | } |
899 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
897 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
900 | else |
898 | else |
901 | { |
899 | { |
902 | if(Looping_Rechts) // Hysterese |
900 | if(Looping_Rechts) // Hysterese |
903 | { |
901 | { |
904 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
902 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
905 | } |
903 | } |
906 | } |
904 | } |
907 | 905 | ||
908 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
909 | else |
907 | else |
910 | { |
908 | { |
911 | if(Looping_Oben) // Hysterese |
909 | if(Looping_Oben) // Hysterese |
912 | { |
910 | { |
913 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
911 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
914 | } |
912 | } |
915 | } |
913 | } |
916 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
914 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
917 | else |
915 | else |
918 | { |
916 | { |
919 | if(Looping_Unten) // Hysterese |
917 | if(Looping_Unten) // Hysterese |
920 | { |
918 | { |
921 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
919 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
922 | } |
920 | } |
923 | } |
921 | } |
924 | 922 | ||
925 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
923 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
926 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
924 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
927 | } // Ende neue Funken-Werte |
925 | } // Ende neue Funken-Werte |
928 | 926 | ||
929 | if(Looping_Roll || Looping_Nick) |
927 | if(Looping_Roll || Looping_Nick) |
930 | { |
928 | { |
931 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
929 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
932 | TrichterFlug = 1; |
930 | TrichterFlug = 1; |
933 | } |
931 | } |
934 | 932 | ||
935 | 933 | ||
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
937 | // Bei Empfangsausfall im Flug |
935 | // Bei Empfangsausfall im Flug |
938 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
939 | if(FCFlags & FCFLAG_NOTLANDUNG) |
937 | if(FCFlags & FCFLAG_NOTLANDUNG) |
940 | { |
938 | { |
941 | StickGier = 0; |
939 | StickGier = 0; |
942 | StickNick = 0; |
940 | StickNick = 0; |
943 | StickRoll = 0; |
941 | StickRoll = 0; |
944 | GyroFaktor = 90; |
942 | GyroFaktor = 90; |
945 | IntegralFaktor = 120; |
943 | IntegralFaktor = 120; |
946 | GyroFaktorGier = 90; |
944 | GyroFaktorGier = 90; |
947 | IntegralFaktorGier = 120; |
945 | IntegralFaktorGier = 120; |
948 | Looping_Roll = 0; |
946 | Looping_Roll = 0; |
949 | Looping_Nick = 0; |
947 | Looping_Nick = 0; |
950 | } |
948 | } |
951 | 949 | ||
952 | 950 | ||
953 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
951 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
954 | // Integrale auf ACC-Signal abgleichen |
952 | // Integrale auf ACC-Signal abgleichen |
955 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
953 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
956 | #define ABGLEICH_ANZAHL 256L |
954 | #define ABGLEICH_ANZAHL 256L |
957 | 955 | ||
958 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
956 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
959 | MittelIntegralRoll += IntegralRoll; |
957 | MittelIntegralRoll += IntegralRoll; |
960 | MittelIntegralNick2 += IntegralNick2; |
958 | MittelIntegralNick2 += IntegralNick2; |
961 | MittelIntegralRoll2 += IntegralRoll2; |
959 | MittelIntegralRoll2 += IntegralRoll2; |
962 | 960 | ||
963 | if(Looping_Nick || Looping_Roll) |
961 | if(Looping_Nick || Looping_Roll) |
964 | { |
962 | { |
965 | IntegralAccNick = 0; |
963 | IntegralAccNick = 0; |
966 | IntegralAccRoll = 0; |
964 | IntegralAccRoll = 0; |
967 | MittelIntegralNick = 0; |
965 | MittelIntegralNick = 0; |
968 | MittelIntegralRoll = 0; |
966 | MittelIntegralRoll = 0; |
969 | MittelIntegralNick2 = 0; |
967 | MittelIntegralNick2 = 0; |
970 | MittelIntegralRoll2 = 0; |
968 | MittelIntegralRoll2 = 0; |
971 | Mess_IntegralNick2 = Mess_IntegralNick; |
969 | Mess_IntegralNick2 = Mess_IntegralNick; |
972 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
970 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
973 | ZaehlMessungen = 0; |
971 | ZaehlMessungen = 0; |
974 | LageKorrekturNick = 0; |
972 | LageKorrekturNick = 0; |
975 | LageKorrekturRoll = 0; |
973 | LageKorrekturRoll = 0; |
976 | } |
974 | } |
977 | 975 | ||
978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
976 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
977 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
980 | { |
978 | { |
981 | long tmp_long, tmp_long2; |
979 | long tmp_long, tmp_long2; |
982 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
980 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
983 | { |
981 | { |
984 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
982 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
985 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
983 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
986 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
984 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
987 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
985 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
988 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
986 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
989 | { |
987 | { |
990 | tmp_long /= 2; |
988 | tmp_long /= 2; |
991 | tmp_long2 /= 2; |
989 | tmp_long2 /= 2; |
992 | } |
990 | } |
993 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
991 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
994 | { |
992 | { |
995 | tmp_long /= 3; |
993 | tmp_long /= 3; |
996 | tmp_long2 /= 3; |
994 | tmp_long2 /= 3; |
997 | } |
995 | } |
998 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
996 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
999 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
997 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1000 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
998 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1001 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
999 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1002 | } |
1000 | } |
1003 | else |
1001 | else |
1004 | { |
1002 | { |
1005 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1003 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1006 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1004 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1007 | tmp_long /= 16; |
1005 | tmp_long /= 16; |
1008 | tmp_long2 /= 16; |
1006 | tmp_long2 /= 16; |
1009 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1007 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1010 | { |
1008 | { |
1011 | tmp_long /= 3; |
1009 | tmp_long /= 3; |
1012 | tmp_long2 /= 3; |
1010 | tmp_long2 /= 3; |
1013 | } |
1011 | } |
1014 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1012 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1015 | { |
1013 | { |
1016 | tmp_long /= 3; |
1014 | tmp_long /= 3; |
1017 | tmp_long2 /= 3; |
1015 | tmp_long2 /= 3; |
1018 | } |
1016 | } |
1019 | 1017 | ||
1020 | #define AUSGLEICH 32 |
1018 | #define AUSGLEICH 32 |
1021 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1019 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1022 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1020 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1023 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1021 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1024 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1022 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1025 | } |
1023 | } |
1026 | 1024 | ||
1027 | Mess_IntegralNick -= tmp_long; |
1025 | Mess_IntegralNick -= tmp_long; |
1028 | Mess_IntegralRoll -= tmp_long2; |
1026 | Mess_IntegralRoll -= tmp_long2; |
1029 | } |
1027 | } |
1030 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1028 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1031 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1029 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1032 | { |
1030 | { |
1033 | static int cnt = 0; |
1031 | static int cnt = 0; |
1034 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1032 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1035 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1033 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1036 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1034 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1037 | { |
1035 | { |
1038 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1036 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1039 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1037 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1040 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1038 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1041 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1039 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1042 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1040 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1043 | #define MAX_I 0//(Poti2/10) |
1041 | #define MAX_I 0 |
1044 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1042 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1043 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1046 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1044 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1047 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1048 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1046 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1049 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1047 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1050 | 1048 | ||
1051 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1049 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1052 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1050 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1053 | 1051 | ||
1054 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1052 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1055 | { |
1053 | { |
1056 | LageKorrekturNick /= 2; |
1054 | LageKorrekturNick /= 2; |
1057 | LageKorrekturRoll /= 2; |
1055 | LageKorrekturRoll /= 2; |
1058 | } |
1056 | } |
1059 | 1057 | ||
1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1061 | // Gyro-Drift ermitteln |
1059 | // Gyro-Drift ermitteln |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1060 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1063 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1061 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1064 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1062 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1065 | tmp_long = IntegralNick2 - IntegralNick; |
1063 | tmp_long = IntegralNick2 - IntegralNick; |
1066 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1064 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1067 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
- | |
1068 | 1065 | ||
1069 | IntegralFehlerNick = tmp_long; |
1066 | IntegralFehlerNick = tmp_long; |
1070 | IntegralFehlerRoll = tmp_long2; |
1067 | IntegralFehlerRoll = tmp_long2; |
1071 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1068 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1072 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1069 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1073 | 1070 | ||
1074 | if(EE_Parameter.Driftkomp) |
1071 | if(EE_Parameter.Driftkomp) |
1075 | { |
1072 | { |
1076 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1073 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1077 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1074 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1078 | } |
1075 | } |
1079 | GierGyroFehler = 0; |
1076 | GierGyroFehler = 0; |
1080 | 1077 | ||
1081 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1078 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1082 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1079 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1083 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1080 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1084 | #define BEWEGUNGS_LIMIT 20000 |
1081 | #define BEWEGUNGS_LIMIT 20000 |
1085 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1082 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1086 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1083 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1087 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1084 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1088 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1085 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1089 | { |
1086 | { |
1090 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1087 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1091 | { |
1088 | { |
1092 | if(last_n_p) |
1089 | if(last_n_p) |
1093 | { |
1090 | { |
1094 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1091 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1095 | ausgleichNick = IntegralFehlerNick / 8; |
1092 | ausgleichNick = IntegralFehlerNick / 8; |
1096 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1093 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1097 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1094 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1098 | } |
1095 | } |
1099 | else last_n_p = 1; |
1096 | else last_n_p = 1; |
1100 | } else last_n_p = 0; |
1097 | } else last_n_p = 0; |
1101 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1098 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1102 | { |
1099 | { |
1103 | if(last_n_n) |
1100 | if(last_n_n) |
1104 | { |
1101 | { |
1105 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1102 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1106 | ausgleichNick = IntegralFehlerNick / 8; |
1103 | ausgleichNick = IntegralFehlerNick / 8; |
1107 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1104 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1108 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1105 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1109 | } |
1106 | } |
1110 | else last_n_n = 1; |
1107 | else last_n_n = 1; |
1111 | } else last_n_n = 0; |
1108 | } else last_n_n = 0; |
1112 | } |
1109 | } |
1113 | else |
1110 | else |
1114 | { |
1111 | { |
1115 | cnt = 0; |
1112 | cnt = 0; |
1116 | KompassSignalSchlecht = 1000; |
1113 | KompassSignalSchlecht = 1000; |
1117 | } |
1114 | } |
1118 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1115 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1119 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1116 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1120 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1117 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1121 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1118 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1122 | 1119 | ||
1123 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1120 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1124 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1121 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1125 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1122 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1126 | 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)) |
1127 | { |
1124 | { |
1128 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1125 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1129 | { |
1126 | { |
1130 | if(last_r_p) |
1127 | if(last_r_p) |
1131 | { |
1128 | { |
1132 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1129 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1133 | ausgleichRoll = IntegralFehlerRoll / 8; |
1130 | ausgleichRoll = IntegralFehlerRoll / 8; |
1134 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1131 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1135 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1132 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1136 | } |
1133 | } |
1137 | else last_r_p = 1; |
1134 | else last_r_p = 1; |
1138 | } else last_r_p = 0; |
1135 | } else last_r_p = 0; |
1139 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1136 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1140 | { |
1137 | { |
1141 | if(last_r_n) |
1138 | if(last_r_n) |
1142 | { |
1139 | { |
1143 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1140 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1144 | ausgleichRoll = IntegralFehlerRoll / 8; |
1141 | ausgleichRoll = IntegralFehlerRoll / 8; |
1145 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1142 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1146 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1143 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1147 | } |
1144 | } |
1148 | else last_r_n = 1; |
1145 | else last_r_n = 1; |
1149 | } else last_r_n = 0; |
1146 | } else last_r_n = 0; |
1150 | } else |
1147 | } else |
1151 | { |
1148 | { |
1152 | cnt = 0; |
1149 | cnt = 0; |
1153 | KompassSignalSchlecht = 1000; |
1150 | KompassSignalSchlecht = 1000; |
1154 | } |
1151 | } |
1155 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1152 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1156 | 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; |
1157 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1154 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1158 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1155 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1159 | } |
1156 | } |
1160 | else |
1157 | else |
1161 | { |
1158 | { |
1162 | LageKorrekturRoll = 0; |
1159 | LageKorrekturRoll = 0; |
1163 | LageKorrekturNick = 0; |
1160 | LageKorrekturNick = 0; |
1164 | TrichterFlug = 0; |
1161 | TrichterFlug = 0; |
1165 | } |
1162 | } |
1166 | 1163 | ||
1167 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1164 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1169 | MittelIntegralNick_Alt = MittelIntegralNick; |
1166 | MittelIntegralNick_Alt = MittelIntegralNick; |
1170 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1167 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1168 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1172 | IntegralAccNick = 0; |
1169 | IntegralAccNick = 0; |
1173 | IntegralAccRoll = 0; |
1170 | IntegralAccRoll = 0; |
1174 | IntegralAccZ = 0; |
1171 | IntegralAccZ = 0; |
1175 | MittelIntegralNick = 0; |
1172 | MittelIntegralNick = 0; |
1176 | MittelIntegralRoll = 0; |
1173 | MittelIntegralRoll = 0; |
1177 | MittelIntegralNick2 = 0; |
1174 | MittelIntegralNick2 = 0; |
1178 | MittelIntegralRoll2 = 0; |
1175 | MittelIntegralRoll2 = 0; |
1179 | ZaehlMessungen = 0; |
1176 | ZaehlMessungen = 0; |
1180 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1177 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1181 | 1178 | ||
1182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1179 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1183 | // Gieren |
1180 | // Gieren |
1184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1181 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1185 | if(abs(StickGier) > 15) // war 35 |
1182 | if(abs(StickGier) > 15) // war 35 |
1186 | { |
1183 | { |
1187 | KompassSignalSchlecht = 1000; |
1184 | KompassSignalSchlecht = 1000; |
1188 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1185 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1189 | { |
1186 | { |
1190 | NeueKompassRichtungMerken = 1; |
1187 | NeueKompassRichtungMerken = 1; |
1191 | }; |
1188 | }; |
1192 | } |
1189 | } |
1193 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1190 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1194 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1191 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1195 | sollGier = tmp_int; |
1192 | sollGier = tmp_int; |
1196 | Mess_Integral_Gier -= tmp_int; |
1193 | Mess_Integral_Gier -= tmp_int; |
1197 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1194 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1198 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1195 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1199 | 1196 | ||
1200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1201 | // Kompass |
1198 | // Kompass |
1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1199 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1200 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1204 | { |
1201 | { |
1205 | int w,v,r,fehler,korrektur; |
1202 | int w,v,r,fehler,korrektur; |
1206 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1203 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1207 | v = abs(IntegralRoll /512); |
1204 | v = abs(IntegralRoll /512); |
1208 | if(v > w) w = v; // grösste Neigung ermitteln |
1205 | if(v > w) w = v; // grösste Neigung ermitteln |
1209 | korrektur = w / 8 + 2; |
1206 | korrektur = w / 8 + 2; |
1210 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1207 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1211 | //fehler += MesswertGier / 12; |
1208 | //fehler += MesswertGier / 12; |
1212 | 1209 | ||
1213 | if(!KompassSignalSchlecht && w < 25) |
1210 | if(!KompassSignalSchlecht && w < 25) |
1214 | { |
1211 | { |
1215 | GierGyroFehler += fehler; |
1212 | GierGyroFehler += fehler; |
1216 | if(NeueKompassRichtungMerken) |
1213 | if(NeueKompassRichtungMerken) |
1217 | { |
1214 | { |
1218 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1215 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1219 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1216 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1220 | NeueKompassRichtungMerken = 0; |
1217 | NeueKompassRichtungMerken = 0; |
1221 | } |
1218 | } |
1222 | } |
1219 | } |
1223 | ErsatzKompass += (fehler * 16) / korrektur; |
1220 | ErsatzKompass += (fehler * 16) / korrektur; |
1224 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1221 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1225 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1222 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1226 | if(w >= 0) |
1223 | if(w >= 0) |
1227 | { |
1224 | { |
1228 | if(!KompassSignalSchlecht) |
1225 | if(!KompassSignalSchlecht) |
1229 | { |
1226 | { |
1230 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1227 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1231 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1228 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1232 | v = (r * w) / v; // nach Kompass ausrichten |
1229 | v = (r * w) / v; // nach Kompass ausrichten |
1233 | w = 3 * Parameter_KompassWirkung; |
1230 | w = 3 * Parameter_KompassWirkung; |
1234 | if(v > w) v = w; // Begrenzen |
1231 | if(v > w) v = w; // Begrenzen |
1235 | else |
1232 | else |
1236 | if(v < -w) v = -w; |
1233 | if(v < -w) v = -w; |
1237 | Mess_Integral_Gier += v; |
1234 | Mess_Integral_Gier += v; |
1238 | } |
1235 | } |
1239 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1236 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1240 | } |
1237 | } |
1241 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1238 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1242 | } |
1239 | } |
1243 | 1240 | ||
1244 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1245 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1242 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1246 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1247 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1244 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1248 | 1245 | ||
1249 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1246 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1250 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1247 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1251 | 1248 | ||
1252 | #define TRIM_MAX 200 |
1249 | #define TRIM_MAX 200 |
1253 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1250 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1254 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1251 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1255 | 1252 | ||
1256 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1253 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1257 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1254 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1258 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1255 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1259 | 1256 | ||
1260 | // Maximalwerte abfangen |
1257 | // Maximalwerte abfangen |
1261 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1258 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1262 | #define MAX_SENSOR (4096) |
1259 | #define MAX_SENSOR (4096) |
1263 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1260 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1264 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1261 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1265 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1262 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1266 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1263 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1267 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1264 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1268 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1265 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1269 | 1266 | ||
1270 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1271 | // Höhenregelung |
1268 | // Höhenregelung |
1272 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1269 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1270 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1274 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1271 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1275 | GasMischanteil *= STICK_GAIN; |
1272 | GasMischanteil *= STICK_GAIN; |
1276 | // if height control is activated |
1273 | // if height control is activated |
1277 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1274 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1278 | { |
1275 | { |
1279 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1276 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1280 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1277 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1281 | 1278 | ||
1282 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1279 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1283 | #define OPA_OFFSET_STEP 15 |
1280 | #define OPA_OFFSET_STEP 15 |
1284 | #else |
1281 | #else |
1285 | #define OPA_OFFSET_STEP 10 |
1282 | #define OPA_OFFSET_STEP 10 |
1286 | #endif |
1283 | #endif |
1287 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1284 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1288 | static int HeightTrimming = 0; // rate for change of height setpoint |
1285 | static int HeightTrimming = 0; // rate for change of height setpoint |
1289 | static int FilterHCGas = 0; |
1286 | static int FilterHCGas = 0; |
1290 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1287 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1291 | static unsigned long HoverGasFilter = 0; |
1288 | static unsigned long HoverGasFilter = 0; |
1292 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1289 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1293 | int CosAttitude; // for projection of hoover gas |
1290 | int CosAttitude; // for projection of hoover gas |
1294 | 1291 | ||
1295 | // get the current hooverpoint |
1292 | // get the current hooverpoint |
1296 | DebugOut.Analog[21] = HoverGas; |
1293 | DebugOut.Analog[21] = HoverGas; |
1297 | 1294 | ||
1298 | // Expand the measurement |
1295 | // Expand the measurement |
1299 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1296 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1300 | if(!BaroExpandActive) |
1297 | if(!BaroExpandActive) |
1301 | { |
1298 | { |
1302 | if(MessLuftdruck > 920) |
1299 | if(MessLuftdruck > 920) |
1303 | { // increase offset |
1300 | { // increase offset |
1304 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1301 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1305 | { |
1302 | { |
1306 | ExpandBaro -= 1; |
1303 | ExpandBaro -= 1; |
1307 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1304 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1308 | beeptime = 300; |
1305 | beeptime = 300; |
1309 | BaroExpandActive = 350; |
1306 | BaroExpandActive = 350; |
1310 | } |
1307 | } |
1311 | else |
1308 | else |
1312 | { |
1309 | { |
1313 | BaroAtLowerLimit = 1; |
1310 | BaroAtLowerLimit = 1; |
1314 | } |
1311 | } |
1315 | } |
1312 | } |
1316 | // measurement of air pressure close to lower limit and |
1313 | // measurement of air pressure close to lower limit and |
1317 | else |
1314 | else |
1318 | if(MessLuftdruck < 100) |
1315 | if(MessLuftdruck < 100) |
1319 | { // decrease offset |
1316 | { // decrease offset |
1320 | if(OCR0A > OPA_OFFSET_STEP) |
1317 | if(OCR0A > OPA_OFFSET_STEP) |
1321 | { |
1318 | { |
1322 | ExpandBaro += 1; |
1319 | ExpandBaro += 1; |
1323 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1320 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1324 | beeptime = 300; |
1321 | beeptime = 300; |
1325 | BaroExpandActive = 350; |
1322 | BaroExpandActive = 350; |
1326 | } |
1323 | } |
1327 | else |
1324 | else |
1328 | { |
1325 | { |
1329 | BaroAtUpperLimit = 1; |
1326 | BaroAtUpperLimit = 1; |
1330 | } |
1327 | } |
1331 | } |
1328 | } |
1332 | else |
1329 | else |
1333 | { |
1330 | { |
1334 | BaroAtUpperLimit = 0; |
1331 | BaroAtUpperLimit = 0; |
1335 | BaroAtLowerLimit = 0; |
1332 | BaroAtLowerLimit = 0; |
1336 | } |
1333 | } |
1337 | } |
1334 | } |
1338 | else // delay, because of expanding the Baro-Range |
1335 | else // delay, because of expanding the Baro-Range |
1339 | { |
1336 | { |
1340 | // now clear the D-values |
1337 | // now clear the D-values |
1341 | SummenHoehe = HoehenWert * SM_FILTER; |
1338 | SummenHoehe = HoehenWert * SM_FILTER; |
1342 | VarioMeter = 0; |
1339 | VarioMeter = 0; |
1343 | BaroExpandActive--; |
1340 | BaroExpandActive--; |
1344 | } |
1341 | } |
1345 | 1342 | ||
1346 | // if height control is activated by an rc channel |
1343 | // if height control is activated by an rc channel |
1347 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1344 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1348 | { // check if parameter is less than activation threshold |
1345 | { // check if parameter is less than activation threshold |
1349 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1346 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1350 | { //height control not active |
1347 | { //height control not active |
1351 | if(!delay--) |
1348 | if(!delay--) |
1352 | { |
1349 | { |
1353 | HoehenReglerAktiv = 0; // disable height control |
1350 | HoehenReglerAktiv = 0; // disable height control |
1354 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1351 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1355 | delay = 1; |
1352 | delay = 1; |
1356 | } |
1353 | } |
1357 | } |
1354 | } |
1358 | else |
1355 | else |
1359 | { //height control is activated |
1356 | { //height control is activated |
1360 | HoehenReglerAktiv = 1; // enable height control |
1357 | HoehenReglerAktiv = 1; // enable height control |
1361 | delay = 200; |
1358 | delay = 200; |
1362 | } |
1359 | } |
1363 | } |
1360 | } |
1364 | else // no switchable height control |
1361 | else // no switchable height control |
1365 | { |
1362 | { |
1366 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1363 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1367 | HoehenReglerAktiv = 1; |
1364 | HoehenReglerAktiv = 1; |
1368 | } |
1365 | } |
1369 | 1366 | ||
1370 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1367 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1371 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1368 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1372 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1369 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1373 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1370 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1374 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1371 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1375 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1372 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1376 | VarioCharacter = ' '; |
1373 | VarioCharacter = ' '; |
1377 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1374 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1378 | { |
1375 | { |
1379 | #define HEIGHT_TRIM_UP 0x01 |
1376 | #define HEIGHT_TRIM_UP 0x01 |
1380 | #define HEIGHT_TRIM_DOWN 0x02 |
1377 | #define HEIGHT_TRIM_DOWN 0x02 |
1381 | static unsigned char HeightTrimmingFlag = 0x00; |
1378 | static unsigned char HeightTrimmingFlag = 0x00; |
1382 | 1379 | ||
1383 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1380 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1384 | // Holger original version |
1381 | // Holger original version |
1385 | // start of height control algorithm |
1382 | // start of height control algorithm |
1386 | // the height control is only an attenuation of the actual gas stick. |
1383 | // the height control is only an attenuation of the actual gas stick. |
1387 | // I.e. it will work only if the gas stick is higher than the hover gas |
1384 | // I.e. it will work only if the gas stick is higher than the hover gas |
1388 | // and the hover height will be allways larger than height setpoint. |
1385 | // and the hover height will be allways larger than height setpoint. |
1389 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1386 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1390 | { // old version |
1387 | { // old version |
1391 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1388 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1392 | HeightTrimming = 0; |
1389 | HeightTrimming = 0; |
1393 | } |
1390 | } |
1394 | else |
1391 | else |
1395 | { |
1392 | { |
1396 | // alternative height control |
1393 | // alternative height control |
1397 | // PD-Control with respect to hoover point |
1394 | // PD-Control with respect to hoover point |
1398 | // the thrust loss out of horizontal attitude is compensated |
1395 | // the thrust loss out of horizontal attitude is compensated |
1399 | // the setpoint will be fine adjusted with the gas stick position |
1396 | // the setpoint will be fine adjusted with the gas stick position |
1400 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1397 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1401 | { // gas stick is above hoover point |
1398 | { // gas stick is above hoover point |
1402 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1399 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1403 | { |
1400 | { |
1404 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1401 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1405 | { |
1402 | { |
1406 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1403 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1407 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1404 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1408 | } |
1405 | } |
1409 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1406 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1410 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1407 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1411 | VarioCharacter = '+'; |
1408 | VarioCharacter = '+'; |
1412 | } // gas stick is below hoover point |
1409 | } // gas stick is below hoover point |
1413 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1410 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1414 | { |
1411 | { |
1415 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1412 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1416 | { |
1413 | { |
1417 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1414 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1418 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1415 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1419 | } |
1416 | } |
1420 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1417 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1421 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1418 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1422 | VarioCharacter = '-'; |
1419 | VarioCharacter = '-'; |
1423 | } |
1420 | } |
1424 | else // Gas Stick in Hover Range |
1421 | else // Gas Stick in Hover Range |
1425 | { |
1422 | { |
1426 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1423 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1427 | { |
1424 | { |
1428 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1425 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1429 | HeightTrimming = 0; |
1426 | HeightTrimming = 0; |
1430 | SollHoehe = HoehenWert; // update setpoint to current height |
1427 | SollHoehe = HoehenWert; // update setpoint to current height |
1431 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1428 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1432 | if(!StartTrigger && HoehenWert > 50) |
1429 | if(!StartTrigger && HoehenWert > 50) |
1433 | { |
1430 | { |
1434 | StartTrigger = 1; |
1431 | StartTrigger = 1; |
1435 | } |
1432 | } |
1436 | } |
1433 | } |
1437 | VarioCharacter = '='; |
1434 | VarioCharacter = '='; |
1438 | } |
1435 | } |
1439 | // Trim height set point |
1436 | // Trim height set point |
1440 | if(abs(HeightTrimming) > 512) |
1437 | if(abs(HeightTrimming) > 512) |
1441 | { |
1438 | { |
1442 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1439 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1443 | HeightTrimming = 0; |
1440 | HeightTrimming = 0; |
1444 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1441 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1445 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1442 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1446 | //update hoover gas stick value when setpoint is shifted |
1443 | //update hoover gas stick value when setpoint is shifted |
1447 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1444 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1448 | { |
1445 | { |
1449 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1446 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1450 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1447 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1451 | if(StickGasHover < 70) StickGasHover = 70; |
1448 | if(StickGasHover < 70) StickGasHover = 70; |
1452 | else if(StickGasHover > 150) StickGasHover = 150; |
1449 | else if(StickGasHover > 150) StickGasHover = 150; |
1453 | } |
1450 | } |
1454 | } |
1451 | } |
1455 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1452 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1456 | } //if FCFlags & MKFCFLAG_FLY |
1453 | } //if FCFlags & MKFCFLAG_FLY |
1457 | else |
1454 | else |
1458 | { |
1455 | { |
1459 | SollHoehe = HoehenWert - 400; |
1456 | SollHoehe = HoehenWert - 400; |
1460 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1457 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1461 | else StickGasHover = 120; |
1458 | else StickGasHover = 120; |
1462 | HoverGas = GasMischanteil; |
1459 | HoverGas = GasMischanteil; |
1463 | } |
1460 | } |
1464 | HCGas = HoverGas; // take hover gas (neutral point) |
1461 | HCGas = HoverGas; // take hover gas (neutral point) |
1465 | } |
1462 | } |
1466 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1463 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1467 | { |
1464 | { |
1468 | // from this point the Heigth Control Algorithm is identical for both versions |
1465 | // from this point the Heigth Control Algorithm is identical for both versions |
1469 | if(BaroExpandActive) // baro range expanding active |
1466 | if(BaroExpandActive) // baro range expanding active |
1470 | { |
1467 | { |
1471 | HCGas = HoverGas; // hover while expanding baro adc range |
1468 | HCGas = HoverGas; // hover while expanding baro adc range |
1472 | HeightDeviation = 0; |
1469 | HeightDeviation = 0; |
1473 | } // EOF // baro range expanding active |
1470 | } // EOF // baro range expanding active |
1474 | else // valid data from air pressure sensor |
1471 | else // valid data from air pressure sensor |
1475 | { |
1472 | { |
1476 | // ------------------------- P-Part ---------------------------- |
1473 | // ------------------------- P-Part ---------------------------- |
1477 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1474 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1478 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1475 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1479 | HeightDeviation = (int)(tmp_long); // positive when too high |
1476 | HeightDeviation = (int)(tmp_long); // positive when too high |
1480 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1477 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1481 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1478 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1482 | GasReduction = tmp_long; |
1479 | GasReduction = tmp_long; |
1483 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1480 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1484 | tmp_int = VarioMeter / 8; |
1481 | tmp_int = VarioMeter / 8; |
1485 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1482 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1486 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1483 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1487 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1484 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1488 | if(HeightTrimmingFlag) tmp_int /= 4; // reduce d-part while trimming setpoint |
1485 | if(HeightTrimmingFlag) tmp_int /= 4; // reduce d-part while trimming setpoint |
1489 | GasReduction += tmp_int; |
1486 | GasReduction += tmp_int; |
1490 | } // EOF no baro range expanding |
1487 | } // EOF no baro range expanding |
1491 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1488 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1492 | if(Parameter_Hoehe_ACC_Wirkung) |
1489 | if(Parameter_Hoehe_ACC_Wirkung) |
1493 | { |
1490 | { |
1494 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1491 | 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); |
1492 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1496 | GasReduction += tmp_long; |
1493 | GasReduction += tmp_long; |
1497 | } |
1494 | } |
1498 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1495 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1499 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1496 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1500 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1497 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1501 | GasReduction += tmp_int; |
1498 | GasReduction += tmp_int; |
1502 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1499 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1503 | 1500 | ||
1504 | // ------------------------ ---------------------------------- |
1501 | // ------------------------ ---------------------------------- |
1505 | HCGas -= GasReduction; |
1502 | HCGas -= GasReduction; |
1506 | // limit deviation from hoover point within the target region |
1503 | // limit deviation from hoover point within the target region |
1507 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1504 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1508 | { |
1505 | { |
1509 | unsigned int tmp; |
1506 | unsigned int tmp; |
1510 | tmp = abs(HeightDeviation); |
1507 | tmp = abs(HeightDeviation); |
1511 | if(tmp <= 60) |
1508 | if(tmp <= 60) |
1512 | { |
1509 | { |
1513 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1510 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1514 | } |
1511 | } |
1515 | else |
1512 | else |
1516 | { |
1513 | { |
1517 | tmp = (tmp - 60) / 32; |
1514 | tmp = (tmp - 60) / 32; |
1518 | if(tmp > 15) tmp = 15; |
1515 | if(tmp > 15) tmp = 15; |
1519 | if(HeightDeviation > 0) |
1516 | if(HeightDeviation > 0) |
1520 | { |
1517 | { |
1521 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1518 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1522 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1519 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1523 | } |
1520 | } |
1524 | else |
1521 | else |
1525 | { |
1522 | { |
1526 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1523 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1527 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1524 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1528 | } |
1525 | } |
1529 | } |
1526 | } |
1530 | } |
1527 | } |
1531 | 1528 | ||
1532 | // strech control output by inverse attitude projection 1/cos |
1529 | // strech control output by inverse attitude projection 1/cos |
1533 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1530 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1534 | tmp_long2 = (int32_t)HCGas; |
1531 | tmp_long2 = (int32_t)HCGas; |
1535 | tmp_long2 *= 8192L; |
1532 | tmp_long2 *= 8192L; |
1536 | tmp_long2 /= CosAttitude; |
1533 | tmp_long2 /= CosAttitude; |
1537 | HCGas = (int16_t)tmp_long2; |
1534 | HCGas = (int16_t)tmp_long2; |
1538 | // update height control gas averaging |
1535 | // update height control gas averaging |
1539 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1536 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1540 | // limit height control gas pd-control output |
1537 | // limit height control gas pd-control output |
1541 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1538 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1542 | // set GasMischanteil to HeightControlGasFilter |
1539 | // set GasMischanteil to HeightControlGasFilter |
1543 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1540 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1544 | { // old version |
1541 | { // old version |
1545 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1542 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1546 | } |
1543 | } |
1547 | GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
1544 | GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
1548 | } |
1545 | } |
1549 | }// EOF height control active |
1546 | }// EOF height control active |
1550 | else // HC not active |
1547 | else // HC not active |
1551 | { |
1548 | { |
1552 | //update hoover gas stick value when HC is not active |
1549 | //update hoover gas stick value when HC is not active |
1553 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1550 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1554 | { |
1551 | { |
1555 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1552 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1556 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1553 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1557 | } |
1554 | } |
1558 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1555 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1559 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1556 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1560 | FilterHCGas = GasMischanteil; |
1557 | FilterHCGas = GasMischanteil; |
1561 | } |
1558 | } |
1562 | 1559 | ||
1563 | // Hover gas estimation by averaging gas control output on small z-velocities |
1560 | // Hover gas estimation by averaging gas control output on small z-velocities |
1564 | // this is done only if height contol option is selected in global config and aircraft is flying |
1561 | // this is done only if height contol option is selected in global config and aircraft is flying |
1565 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1562 | if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1566 | { |
1563 | { |
1567 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1564 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1568 | if(StartTrigger == 1) StartTrigger = 2; |
1565 | if(StartTrigger == 1) StartTrigger = 2; |
1569 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1566 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1570 | tmp_long2 *= CosAttitude; // apply attitude projection |
1567 | tmp_long2 *= CosAttitude; // apply attitude projection |
1571 | tmp_long2 /= 8192; |
1568 | tmp_long2 /= 8192; |
1572 | // average vertical projected thrust |
1569 | // average vertical projected thrust |
1573 | if(modell_fliegt < 4000) // the first 8 seconds |
1570 | if(modell_fliegt < 4000) // the first 8 seconds |
1574 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1571 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1575 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1572 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1576 | HoverGasFilter += 16L * tmp_long2; |
1573 | HoverGasFilter += 16L * tmp_long2; |
1577 | } |
1574 | } |
1578 | if(modell_fliegt < 8000) // the first 16 seconds |
1575 | if(modell_fliegt < 8000) // the first 16 seconds |
1579 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1576 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1580 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1577 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1581 | HoverGasFilter += 4L * tmp_long2; |
1578 | HoverGasFilter += 4L * tmp_long2; |
1582 | } |
1579 | } |
1583 | else //later |
1580 | else //later |
1584 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1581 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1585 | { |
1582 | { |
1586 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1583 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1587 | HoverGasFilter += tmp_long2; |
1584 | HoverGasFilter += tmp_long2; |
1588 | } |
1585 | } |
1589 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1586 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1590 | if(EE_Parameter.Hoehe_HoverBand) |
1587 | if(EE_Parameter.Hoehe_HoverBand) |
1591 | { |
1588 | { |
1592 | int16_t band; |
1589 | int16_t band; |
1593 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1590 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1594 | HoverGasMin = HoverGas - band; |
1591 | HoverGasMin = HoverGas - band; |
1595 | HoverGasMax = HoverGas + band; |
1592 | HoverGasMax = HoverGas + band; |
1596 | } |
1593 | } |
1597 | else |
1594 | else |
1598 | { // no limit |
1595 | { // no limit |
1599 | HoverGasMin = 0; |
1596 | HoverGasMin = 0; |
1600 | HoverGasMax = 1023; |
1597 | HoverGasMax = 1023; |
1601 | } |
1598 | } |
1602 | } |
1599 | } |
1603 | else |
1600 | else |
1604 | { |
1601 | { |
1605 | StartTrigger = 0; |
1602 | StartTrigger = 0; |
1606 | HoverGasFilter = 0; |
1603 | HoverGasFilter = 0; |
1607 | HoverGas = 0; |
1604 | HoverGas = 0; |
1608 | } |
1605 | } |
1609 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1606 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1610 | // limit gas to parameter setting |
1607 | // limit gas to parameter setting |
1611 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1608 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1612 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1609 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1613 | 1610 | ||
1614 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1611 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1615 | // all BL-Ctrl connected? |
1612 | // all BL-Ctrl connected? |
1616 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1613 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1617 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1614 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1618 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1615 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1619 | { |
1616 | { |
1620 | modell_fliegt = 1; |
1617 | modell_fliegt = 1; |
1621 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1618 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1622 | } |
1619 | } |
1623 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1620 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1624 | // + Mischer und PI-Regler |
1621 | // + Mischer und PI-Regler |
1625 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1626 | DebugOut.Analog[7] = GasMischanteil; |
1623 | DebugOut.Analog[7] = GasMischanteil; |
1627 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1628 | // Gier-Anteil |
1625 | // Gier-Anteil |
1629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1630 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1627 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1631 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1628 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1632 | if(GasMischanteil > MIN_GIERGAS) |
1629 | if(GasMischanteil > MIN_GIERGAS) |
1633 | { |
1630 | { |
1634 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1631 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1635 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1632 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1636 | } |
1633 | } |
1637 | else |
1634 | else |
1638 | { |
1635 | { |
1639 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1636 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1640 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1637 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1641 | } |
1638 | } |
1642 | tmp_int = MAX_GAS*STICK_GAIN; |
1639 | tmp_int = MAX_GAS*STICK_GAIN; |
1643 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1640 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1644 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1641 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1645 | 1642 | ||
1646 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1647 | // Nick-Achse |
1644 | // Nick-Achse |
1648 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1645 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1649 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1646 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1650 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1647 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1651 | else SummeNick += DiffNick; // I-Anteil bei HH |
1648 | else SummeNick += DiffNick; // I-Anteil bei HH |
1652 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1649 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1653 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1650 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1654 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1651 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
1655 | // Motor Vorn |
1652 | // Motor Vorn |
1656 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1653 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1657 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1654 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1658 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1655 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1659 | 1656 | ||
1660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1657 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1661 | // Roll-Achse |
1658 | // Roll-Achse |
1662 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1659 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1663 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1660 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1664 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1661 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1665 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1662 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1666 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1663 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1667 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1664 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1668 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1665 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
1669 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1666 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1670 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1667 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1671 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1668 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1672 | 1669 | ||
1673 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1674 | // Universal Mixer |
1671 | // Universal Mixer |
1675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1676 | for(i=0; i<MAX_MOTORS; i++) |
1673 | for(i=0; i<MAX_MOTORS; i++) |
1677 | { |
1674 | { |
1678 | signed int tmp_int; |
1675 | signed int tmp_int; |
1679 | if(Mixer.Motor[i][0] > 0) |
1676 | if(Mixer.Motor[i][0] > 0) |
1680 | { |
1677 | { |
1681 | // Gas |
1678 | // Gas |
1682 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1679 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1683 | // Nick |
1680 | // Nick |
1684 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1681 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1685 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1682 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1686 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1683 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1687 | // Roll |
1684 | // Roll |
1688 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1685 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1689 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1686 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1690 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1687 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1691 | // Gier |
1688 | // Gier |
1692 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1689 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1693 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1690 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1694 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1691 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1695 | 1692 | ||
1696 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1693 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1697 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1694 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1698 | 1695 | ||
1699 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1696 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
1700 | Motor[i].SetPoint = tmp_int / 4; |
1697 | Motor[i].SetPoint = tmp_int / 4; |
1701 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1698 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1702 | tmp_motorwert[i] = tmp_int; |
1699 | tmp_motorwert[i] = tmp_int; |
1703 | } |
1700 | } |
1704 | else |
1701 | else |
1705 | { |
1702 | { |
1706 | Motor[i].SetPoint = 0; |
1703 | Motor[i].SetPoint = 0; |
1707 | Motor[i].SetPointLowerBits = 0; |
1704 | Motor[i].SetPointLowerBits = 0; |
1708 | } |
1705 | } |
1709 | } |
1706 | } |
1710 | } |
1707 | } |
1711 | 1708 |