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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 = -1; |
81 | int KompassSollWert = 0; |
81 | int KompassSollWert = 0; |
82 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
83 | char CalculateCompassTimer = 100; |
83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
84 | unsigned char KompassFusion = 32; |
85 | unsigned int KompassSignalSchlecht = 50; |
85 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned char MAX_GAS,MIN_GAS; |
86 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char HoehenReglerAktiv = 0; |
87 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char TrichterFlug = 0; |
88 | unsigned char TrichterFlug = 0; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long ErsatzKompass; |
90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int GierGyroFehler = 0; |
92 | int GierGyroFehler = 0; |
93 | char GyroFaktor,GyroFaktorGier; |
93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
95 | int DiffNick,DiffRoll; |
95 | int DiffNick,DiffRoll; |
96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
98 | volatile unsigned char SenderOkay = 0; |
98 | volatile unsigned char SenderOkay = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
100 | char MotorenEin = 0,StartTrigger = 0; |
100 | char MotorenEin = 0,StartTrigger = 0; |
101 | long HoehenWert = 0; |
101 | long HoehenWert = 0; |
102 | long SollHoehe = 0; |
102 | long SollHoehe = 0; |
- | 103 | int CompassGierSetpoint = 0; |
|
103 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
104 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
104 | //float Ki = FAKTOR_I; |
105 | //float Ki = FAKTOR_I; |
105 | int Ki = 10300 / 33; |
106 | int Ki = 10300 / 33; |
106 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
107 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
107 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
108 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
108 | 109 | ||
109 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
110 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
110 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
111 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
111 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
112 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
112 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
113 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
113 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
114 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
114 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
115 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
115 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
116 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
116 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
117 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
118 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
118 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
119 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
119 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
120 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
120 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
121 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
121 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
122 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
122 | unsigned char Parameter_UserParam1 = 0; |
123 | unsigned char Parameter_UserParam1 = 0; |
123 | unsigned char Parameter_UserParam2 = 0; |
124 | unsigned char Parameter_UserParam2 = 0; |
124 | unsigned char Parameter_UserParam3 = 0; |
125 | unsigned char Parameter_UserParam3 = 0; |
125 | unsigned char Parameter_UserParam4 = 0; |
126 | unsigned char Parameter_UserParam4 = 0; |
126 | unsigned char Parameter_UserParam5 = 0; |
127 | unsigned char Parameter_UserParam5 = 0; |
127 | unsigned char Parameter_UserParam6 = 0; |
128 | unsigned char Parameter_UserParam6 = 0; |
128 | unsigned char Parameter_UserParam7 = 0; |
129 | unsigned char Parameter_UserParam7 = 0; |
129 | unsigned char Parameter_UserParam8 = 0; |
130 | unsigned char Parameter_UserParam8 = 0; |
130 | unsigned char Parameter_ServoNickControl = 100; |
131 | unsigned char Parameter_ServoNickControl = 100; |
131 | unsigned char Parameter_ServoRollControl = 100; |
132 | unsigned char Parameter_ServoRollControl = 100; |
132 | unsigned char Parameter_LoopGasLimit = 70; |
133 | unsigned char Parameter_LoopGasLimit = 70; |
133 | unsigned char Parameter_AchsKopplung1 = 90; |
134 | unsigned char Parameter_AchsKopplung1 = 90; |
134 | unsigned char Parameter_AchsKopplung2 = 65; |
135 | unsigned char Parameter_AchsKopplung2 = 65; |
135 | unsigned char Parameter_CouplingYawCorrection = 64; |
136 | unsigned char Parameter_CouplingYawCorrection = 64; |
136 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
137 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
137 | unsigned char Parameter_DynamicStability = 100; |
138 | unsigned char Parameter_DynamicStability = 100; |
138 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
139 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
139 | unsigned char Parameter_J16Timing; // for the J16 Output |
140 | unsigned char Parameter_J16Timing; // for the J16 Output |
140 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
141 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
141 | unsigned char Parameter_J17Timing; // for the J17 Output |
142 | unsigned char Parameter_J17Timing; // for the J17 Output |
142 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
143 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
143 | unsigned char Parameter_NaviGpsGain; |
144 | unsigned char Parameter_NaviGpsGain; |
144 | unsigned char Parameter_NaviGpsP; |
145 | unsigned char Parameter_NaviGpsP; |
145 | unsigned char Parameter_NaviGpsI; |
146 | unsigned char Parameter_NaviGpsI; |
146 | unsigned char Parameter_NaviGpsD; |
147 | unsigned char Parameter_NaviGpsD; |
147 | unsigned char Parameter_NaviGpsACC; |
148 | unsigned char Parameter_NaviGpsACC; |
148 | unsigned char Parameter_NaviOperatingRadius; |
149 | unsigned char Parameter_NaviOperatingRadius; |
149 | unsigned char Parameter_NaviWindCorrection; |
150 | unsigned char Parameter_NaviWindCorrection; |
150 | unsigned char Parameter_NaviSpeedCompensation; |
151 | unsigned char Parameter_NaviSpeedCompensation; |
151 | unsigned char Parameter_ExternalControl; |
152 | unsigned char Parameter_ExternalControl; |
152 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
153 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
153 | unsigned char CareFree = 0; |
154 | unsigned char CareFree = 0; |
154 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
155 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
155 | 156 | ||
156 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
157 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
157 | int MaxStickNick = 0,MaxStickRoll = 0; |
158 | int MaxStickNick = 0,MaxStickRoll = 0; |
158 | unsigned int modell_fliegt = 0; |
159 | unsigned int modell_fliegt = 0; |
159 | volatile unsigned char FC_StatusFlags = 0; |
160 | volatile unsigned char FC_StatusFlags = 0; |
160 | long GIER_GRAD_FAKTOR = 1291; |
161 | long GIER_GRAD_FAKTOR = 1291; |
161 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
162 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
162 | signed int tmp_motorwert[MAX_MOTORS]; |
163 | signed int tmp_motorwert[MAX_MOTORS]; |
163 | char VarioCharacter = ' '; |
164 | char VarioCharacter = ' '; |
164 | 165 | ||
165 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
166 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
166 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
167 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
167 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
168 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
168 | 169 | ||
169 | 170 | ||
170 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
171 | // Debugwerte zuordnen |
172 | // Debugwerte zuordnen |
172 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | void CopyDebugValues(void) |
174 | void CopyDebugValues(void) |
174 | { |
175 | { |
175 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
176 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
176 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
177 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
177 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
178 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
178 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
179 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
179 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
180 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
180 | DebugOut.Analog[5] = HoehenWert/5; |
181 | DebugOut.Analog[5] = HoehenWert/5; |
181 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
182 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
182 | DebugOut.Analog[8] = KompassValue; |
183 | DebugOut.Analog[8] = KompassValue; |
183 | DebugOut.Analog[9] = UBat; |
184 | DebugOut.Analog[9] = UBat; |
184 | DebugOut.Analog[10] = SenderOkay; |
185 | DebugOut.Analog[10] = SenderOkay; |
185 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
186 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
186 | DebugOut.Analog[12] = Motor[0].SetPoint; |
187 | DebugOut.Analog[12] = Motor[0].SetPoint; |
187 | DebugOut.Analog[13] = Motor[1].SetPoint; |
188 | DebugOut.Analog[13] = Motor[1].SetPoint; |
188 | DebugOut.Analog[14] = Motor[2].SetPoint; |
189 | DebugOut.Analog[14] = Motor[2].SetPoint; |
189 | DebugOut.Analog[15] = Motor[3].SetPoint; |
190 | DebugOut.Analog[15] = Motor[3].SetPoint; |
190 | DebugOut.Analog[20] = ServoNickValue; |
191 | DebugOut.Analog[20] = ServoNickValue; |
191 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
192 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
192 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
193 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
193 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
194 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
194 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
195 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
195 | DebugOut.Analog[27] = KompassSollWert; |
196 | DebugOut.Analog[27] = KompassSollWert; |
196 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
197 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
197 | DebugOut.Analog[30] = GPS_Nick; |
198 | DebugOut.Analog[30] = GPS_Nick; |
198 | DebugOut.Analog[31] = GPS_Roll; |
199 | DebugOut.Analog[31] = GPS_Roll; |
199 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
200 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
200 | 201 | ||
201 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
202 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
202 | } |
203 | } |
203 | 204 | ||
204 | 205 | ||
205 | 206 | ||
206 | void Piep(unsigned char Anzahl, unsigned int dauer) |
207 | void Piep(unsigned char Anzahl, unsigned int dauer) |
207 | { |
208 | { |
208 | if(MotorenEin) return; //auf keinen Fall im Flug! |
209 | if(MotorenEin) return; //auf keinen Fall im Flug! |
209 | while(Anzahl--) |
210 | while(Anzahl--) |
210 | { |
211 | { |
211 | beeptime = dauer; |
212 | beeptime = dauer; |
212 | while(beeptime); |
213 | while(beeptime); |
213 | Delay_ms(dauer * 2); |
214 | Delay_ms(dauer * 2); |
214 | } |
215 | } |
215 | } |
216 | } |
216 | 217 | ||
217 | //############################################################################ |
218 | //############################################################################ |
218 | // Messwerte beim Ermitteln der Nullage |
219 | // Messwerte beim Ermitteln der Nullage |
219 | void CalibrierMittelwert(void) |
220 | void CalibrierMittelwert(void) |
220 | //############################################################################ |
221 | //############################################################################ |
221 | { |
222 | { |
222 | unsigned char i; |
223 | unsigned char i; |
223 | if(PlatinenVersion == 13) SucheGyroOffset(); |
224 | if(PlatinenVersion == 13) SucheGyroOffset(); |
224 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
225 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
225 | ANALOG_OFF; |
226 | ANALOG_OFF; |
226 | MesswertNick = AdWertNick; |
227 | MesswertNick = AdWertNick; |
227 | MesswertRoll = AdWertRoll; |
228 | MesswertRoll = AdWertRoll; |
228 | MesswertGier = AdWertGier; |
229 | MesswertGier = AdWertGier; |
229 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
230 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
230 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
231 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
231 | // ADC einschalten |
232 | // ADC einschalten |
232 | ANALOG_ON; |
233 | ANALOG_ON; |
233 | for(i=0;i<8;i++) |
234 | for(i=0;i<8;i++) |
234 | { |
235 | { |
235 | int tmp; |
236 | int tmp; |
236 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
237 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
237 | LIMIT_MIN_MAX(tmp, 0, 255); |
238 | LIMIT_MIN_MAX(tmp, 0, 255); |
238 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
239 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
239 | } |
240 | } |
240 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
241 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
241 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
242 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
242 | } |
243 | } |
243 | 244 | ||
244 | //############################################################################ |
245 | //############################################################################ |
245 | // Nullwerte ermitteln |
246 | // Nullwerte ermitteln |
246 | void SetNeutral(unsigned char AccAdjustment) |
247 | void SetNeutral(unsigned char AccAdjustment) |
247 | //############################################################################ |
248 | //############################################################################ |
248 | { |
249 | { |
249 | unsigned char i; |
250 | unsigned char i; |
250 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
251 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
251 | VersionInfo.HardwareError[0] = 0; |
252 | VersionInfo.HardwareError[0] = 0; |
252 | HEF4017R_ON; |
253 | HEF4017R_ON; |
253 | NeutralAccX = 0; |
254 | NeutralAccX = 0; |
254 | NeutralAccY = 0; |
255 | NeutralAccY = 0; |
255 | NeutralAccZ = 0; |
256 | NeutralAccZ = 0; |
256 | 257 | ||
257 | AdNeutralNick = 0; |
258 | AdNeutralNick = 0; |
258 | AdNeutralRoll = 0; |
259 | AdNeutralRoll = 0; |
259 | AdNeutralGier = 0; |
260 | AdNeutralGier = 0; |
260 | 261 | ||
261 | Parameter_AchsKopplung1 = 0; |
262 | Parameter_AchsKopplung1 = 0; |
262 | Parameter_AchsKopplung2 = 0; |
263 | Parameter_AchsKopplung2 = 0; |
263 | 264 | ||
264 | ExpandBaro = 0; |
265 | ExpandBaro = 0; |
265 | 266 | ||
266 | CalibrierMittelwert(); |
267 | CalibrierMittelwert(); |
267 | Delay_ms_Mess(100); |
268 | Delay_ms_Mess(100); |
268 | 269 | ||
269 | CalibrierMittelwert(); |
270 | CalibrierMittelwert(); |
270 | 271 | ||
271 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
272 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
272 | { |
273 | { |
273 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
274 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
274 | } |
275 | } |
275 | #define NEUTRAL_FILTER 32 |
276 | #define NEUTRAL_FILTER 32 |
276 | for(i=0; i<NEUTRAL_FILTER; i++) |
277 | for(i=0; i<NEUTRAL_FILTER; i++) |
277 | { |
278 | { |
278 | Delay_ms_Mess(10); |
279 | Delay_ms_Mess(10); |
279 | gier_neutral += AdWertGier; |
280 | gier_neutral += AdWertGier; |
280 | nick_neutral += AdWertNick; |
281 | nick_neutral += AdWertNick; |
281 | roll_neutral += AdWertRoll; |
282 | roll_neutral += AdWertRoll; |
282 | } |
283 | } |
283 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
284 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
284 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
285 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
285 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
286 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
286 | 287 | ||
287 | StartNeutralRoll = AdNeutralRoll; |
288 | StartNeutralRoll = AdNeutralRoll; |
288 | StartNeutralNick = AdNeutralNick; |
289 | StartNeutralNick = AdNeutralNick; |
289 | 290 | ||
290 | if(AccAdjustment) |
291 | if(AccAdjustment) |
291 | { |
292 | { |
292 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
293 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
293 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
294 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
294 | NeutralAccZ = Aktuell_az; |
295 | NeutralAccZ = Aktuell_az; |
295 | 296 | ||
296 | // Save ACC neutral settings to eeprom |
297 | // Save ACC neutral settings to eeprom |
297 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
298 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
298 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
299 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
299 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
300 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
300 | } |
301 | } |
301 | else |
302 | else |
302 | { |
303 | { |
303 | // restore from eeprom |
304 | // restore from eeprom |
304 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
305 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
305 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
306 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
306 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
307 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
307 | // strange settings? |
308 | // strange settings? |
308 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
309 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
309 | { |
310 | { |
310 | printf("\n\rACC not calibrated!\r\n"); |
311 | printf("\n\rACC not calibrated!\r\n"); |
311 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
312 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
312 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
313 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
313 | NeutralAccZ = Aktuell_az; |
314 | NeutralAccZ = Aktuell_az; |
314 | } |
315 | } |
315 | } |
316 | } |
316 | 317 | ||
317 | MesswertNick = 0; |
318 | MesswertNick = 0; |
318 | MesswertRoll = 0; |
319 | MesswertRoll = 0; |
319 | MesswertGier = 0; |
320 | MesswertGier = 0; |
320 | Delay_ms_Mess(100); |
321 | Delay_ms_Mess(100); |
321 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
322 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
322 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
323 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
323 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
324 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
324 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
325 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
325 | Mess_IntegralNick2 = IntegralNick; |
326 | Mess_IntegralNick2 = IntegralNick; |
326 | Mess_IntegralRoll2 = IntegralRoll; |
327 | Mess_IntegralRoll2 = IntegralRoll; |
327 | Mess_Integral_Gier = 0; |
328 | Mess_Integral_Gier = 0; |
328 | StartLuftdruck = Luftdruck; |
329 | StartLuftdruck = Luftdruck; |
329 | VarioMeter = 0; |
330 | VarioMeter = 0; |
330 | Mess_Integral_Hoch = 0; |
331 | Mess_Integral_Hoch = 0; |
331 | KompassSollWert = KompassValue; |
332 | KompassSollWert = KompassValue; |
332 | KompassSignalSchlecht = 100; |
333 | KompassSignalSchlecht = 100; |
333 | GPS_Neutral(); |
334 | GPS_Neutral(); |
334 | beeptime = 50; |
335 | beeptime = 50; |
335 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
336 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
336 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
337 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
337 | ExternHoehenValue = 0; |
338 | ExternHoehenValue = 0; |
338 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
339 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
339 | GierGyroFehler = 0; |
340 | GierGyroFehler = 0; |
340 | SendVersionToNavi = 1; |
341 | SendVersionToNavi = 1; |
341 | LED_Init(); |
342 | LED_Init(); |
342 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
343 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
343 | FromNaviCtrl_Value.Kalman_K = -1; |
344 | FromNaviCtrl_Value.Kalman_K = -1; |
344 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
345 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
345 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
346 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
346 | 347 | ||
347 | for(i=0;i<8;i++) |
348 | for(i=0;i<8;i++) |
348 | { |
349 | { |
349 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
350 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
350 | } |
351 | } |
351 | SenderOkay = 100; |
352 | SenderOkay = 100; |
352 | if(ServoActive) |
353 | if(ServoActive) |
353 | { |
354 | { |
354 | HEF4017R_ON; |
355 | HEF4017R_ON; |
355 | DDRD |=0x80; // enable J7 -> Servo signal |
356 | DDRD |=0x80; // enable J7 -> Servo signal |
356 | } |
357 | } |
357 | 358 | ||
358 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
359 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
359 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
360 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
360 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
361 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
361 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
362 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
362 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
363 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
363 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
364 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
364 | } |
365 | } |
365 | 366 | ||
366 | 367 | ||
367 | //############################################################################ |
368 | //############################################################################ |
368 | // Bearbeitet die Messwerte |
369 | // Bearbeitet die Messwerte |
369 | void Mittelwert(void) |
370 | void Mittelwert(void) |
370 | //############################################################################ |
371 | //############################################################################ |
371 | { |
372 | { |
372 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
373 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
373 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
374 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
374 | signed long winkel_nick, winkel_roll; |
375 | signed long winkel_nick, winkel_roll; |
375 | unsigned char i; |
- | |
376 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
376 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
377 | MesswertNick = (signed int) AdWertNickFilter / 8; |
377 | MesswertNick = (signed int) AdWertNickFilter / 8; |
378 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
378 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
379 | RohMesswertNick = MesswertNick; |
379 | RohMesswertNick = MesswertNick; |
380 | RohMesswertRoll = MesswertRoll; |
380 | RohMesswertRoll = MesswertRoll; |
381 | 381 | ||
382 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
382 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
383 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
383 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
384 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
384 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
385 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
385 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
386 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
386 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
387 | NaviAccNick += AdWertAccNick; |
387 | NaviAccNick += AdWertAccNick; |
388 | NaviAccRoll += AdWertAccRoll; |
388 | NaviAccRoll += AdWertAccRoll; |
389 | NaviCntAcc++; |
389 | NaviCntAcc++; |
390 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
390 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
391 | 391 | ||
392 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
392 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
393 | // ADC einschalten |
393 | // ADC einschalten |
394 | ANALOG_ON; |
394 | ANALOG_ON; |
395 | AdReady = 0; |
395 | AdReady = 0; |
396 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | 397 | ||
398 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
398 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
399 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
399 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
400 | else winkel_roll = Mess_IntegralRoll; |
400 | else winkel_roll = Mess_IntegralRoll; |
401 | 401 | ||
402 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
402 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
403 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
403 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
404 | else winkel_nick = Mess_IntegralNick; |
404 | else winkel_nick = Mess_IntegralNick; |
405 | 405 | ||
406 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
406 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
407 | Mess_Integral_Gier += MesswertGier; |
407 | Mess_Integral_Gier += MesswertGier; |
408 | ErsatzKompass += MesswertGier; |
408 | ErsatzKompass += MesswertGier; |
409 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
409 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
410 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
410 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
411 | { |
411 | { |
412 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
412 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
413 | tmpl3 *= Parameter_AchsKopplung2; //65 |
413 | tmpl3 *= Parameter_AchsKopplung2; //65 |
414 | tmpl3 /= 4096L; |
414 | tmpl3 /= 4096L; |
415 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
415 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
416 | tmpl4 *= Parameter_AchsKopplung2; //65 |
416 | tmpl4 *= Parameter_AchsKopplung2; //65 |
417 | tmpl4 /= 4096L; |
417 | tmpl4 /= 4096L; |
418 | KopplungsteilNickRoll = tmpl3; |
418 | KopplungsteilNickRoll = tmpl3; |
419 | KopplungsteilRollNick = tmpl4; |
419 | KopplungsteilRollNick = tmpl4; |
420 | tmpl4 -= tmpl3; |
420 | tmpl4 -= tmpl3; |
421 | ErsatzKompass += tmpl4; |
421 | ErsatzKompass += tmpl4; |
422 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
422 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
423 | 423 | ||
424 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
424 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
425 | tmpl *= Parameter_AchsKopplung1; // 90 |
425 | tmpl *= Parameter_AchsKopplung1; // 90 |
426 | tmpl /= 4096L; |
426 | tmpl /= 4096L; |
427 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
427 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
428 | tmpl2 *= Parameter_AchsKopplung1; |
428 | tmpl2 *= Parameter_AchsKopplung1; |
429 | tmpl2 /= 4096L; |
429 | tmpl2 /= 4096L; |
430 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
430 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
431 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
431 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
432 | } |
432 | } |
433 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
433 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
434 | TrimRoll = tmpl - tmpl2 / 100L; |
434 | TrimRoll = tmpl - tmpl2 / 100L; |
435 | TrimNick = -tmpl2 + tmpl / 100L; |
435 | TrimNick = -tmpl2 + tmpl / 100L; |
436 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
436 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
437 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
437 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
438 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
438 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
439 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
439 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
440 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
441 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
441 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
442 | if(Mess_IntegralRoll > Umschlag180Roll) |
442 | if(Mess_IntegralRoll > Umschlag180Roll) |
443 | { |
443 | { |
444 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
444 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
445 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
445 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
446 | } |
446 | } |
447 | if(Mess_IntegralRoll <-Umschlag180Roll) |
447 | if(Mess_IntegralRoll <-Umschlag180Roll) |
448 | { |
448 | { |
449 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
449 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
450 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
450 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
451 | } |
451 | } |
452 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
452 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
453 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
453 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
454 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
454 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
455 | if(Mess_IntegralNick > Umschlag180Nick) |
455 | if(Mess_IntegralNick > Umschlag180Nick) |
456 | { |
456 | { |
457 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
457 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
458 | Mess_IntegralNick2 = Mess_IntegralNick; |
458 | Mess_IntegralNick2 = Mess_IntegralNick; |
459 | } |
459 | } |
460 | if(Mess_IntegralNick <-Umschlag180Nick) |
460 | if(Mess_IntegralNick <-Umschlag180Nick) |
461 | { |
461 | { |
462 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
462 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
463 | Mess_IntegralNick2 = Mess_IntegralNick; |
463 | Mess_IntegralNick2 = Mess_IntegralNick; |
464 | } |
464 | } |
465 | 465 | ||
466 | Integral_Gier = Mess_Integral_Gier; |
466 | Integral_Gier = Mess_Integral_Gier; |
467 | IntegralNick = Mess_IntegralNick; |
467 | IntegralNick = Mess_IntegralNick; |
468 | IntegralRoll = Mess_IntegralRoll; |
468 | IntegralRoll = Mess_IntegralRoll; |
469 | IntegralNick2 = Mess_IntegralNick2; |
469 | IntegralNick2 = Mess_IntegralNick2; |
470 | IntegralRoll2 = Mess_IntegralRoll2; |
470 | IntegralRoll2 = Mess_IntegralRoll2; |
471 | 471 | ||
472 | #define D_LIMIT 128 |
472 | #define D_LIMIT 128 |
473 | 473 | ||
474 | MesswertNick = HiResNick / 8; |
474 | MesswertNick = HiResNick / 8; |
475 | MesswertRoll = HiResRoll / 8; |
475 | MesswertRoll = HiResRoll / 8; |
476 | 476 | ||
477 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
477 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
478 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
478 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
479 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
479 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
480 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
480 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
481 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
481 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
482 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
482 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
483 | 483 | ||
484 | if(Parameter_Gyro_D) |
484 | if(Parameter_Gyro_D) |
485 | { |
485 | { |
486 | d2Nick = HiResNick - oldNick; |
486 | d2Nick = HiResNick - oldNick; |
487 | oldNick = (oldNick + HiResNick)/2; |
487 | oldNick = (oldNick + HiResNick)/2; |
488 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
488 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
489 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
489 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
490 | 490 | ||
491 | d2Roll = HiResRoll - oldRoll; |
491 | d2Roll = HiResRoll - oldRoll; |
492 | oldRoll = (oldRoll + HiResRoll)/2; |
492 | oldRoll = (oldRoll + HiResRoll)/2; |
493 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
493 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
494 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
494 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
495 | 495 | ||
496 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
496 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
497 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
497 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
498 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
498 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
499 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
499 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
500 | } |
500 | } |
501 | 501 | ||
502 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
502 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
503 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
503 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
504 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
504 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
505 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
505 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
506 | 506 | ||
507 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
507 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
508 | { |
508 | { |
509 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
509 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
510 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
510 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
511 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
511 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
512 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
512 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
513 | } |
513 | } |
514 | } |
514 | } |
515 | 515 | ||
516 | //############################################################################ |
516 | //############################################################################ |
517 | // Senden der Motorwerte per I2C-Bus |
517 | // Senden der Motorwerte per I2C-Bus |
518 | void SendMotorData(void) |
518 | void SendMotorData(void) |
519 | //############################################################################ |
519 | //############################################################################ |
520 | { |
520 | { |
521 | unsigned char i; |
521 | unsigned char i; |
522 | if(!MotorenEin) |
522 | if(!MotorenEin) |
523 | { |
523 | { |
524 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
524 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
525 | for(i=0;i<MAX_MOTORS;i++) |
525 | for(i=0;i<MAX_MOTORS;i++) |
526 | { |
526 | { |
527 | if(!PC_MotortestActive) MotorTest[i] = 0; |
527 | if(!PC_MotortestActive) MotorTest[i] = 0; |
528 | Motor[i].SetPoint = MotorTest[i]; |
528 | Motor[i].SetPoint = MotorTest[i]; |
529 | Motor[i].SetPointLowerBits = 0; |
529 | Motor[i].SetPointLowerBits = 0; |
530 | /* |
530 | /* |
531 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
531 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
532 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
532 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
533 | */ |
533 | */ |
534 | } |
534 | } |
535 | if(PC_MotortestActive) PC_MotortestActive--; |
535 | if(PC_MotortestActive) PC_MotortestActive--; |
536 | } |
536 | } |
537 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
537 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
538 | 538 | ||
539 | if(I2C_TransferActive) |
539 | if(I2C_TransferActive) |
540 | { |
540 | { |
541 | I2C_TransferActive = 0; // enable for the next time |
541 | I2C_TransferActive = 0; // enable for the next time |
542 | } |
542 | } |
543 | else |
543 | else |
544 | { |
544 | { |
545 | motor_write = 0; |
545 | motor_write = 0; |
546 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
546 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
547 | } |
547 | } |
548 | } |
548 | } |
549 | 549 | ||
550 | 550 | ||
551 | 551 | ||
552 | //############################################################################ |
552 | //############################################################################ |
553 | // Trägt ggf. das Poti als Parameter ein |
553 | // Trägt ggf. das Poti als Parameter ein |
554 | void ParameterZuordnung(void) |
554 | void ParameterZuordnung(void) |
555 | //############################################################################ |
555 | //############################################################################ |
556 | { |
556 | { |
557 | unsigned char tmp,i; |
557 | unsigned char tmp,i; |
558 | static unsigned char carefree_old = 2; |
558 | static unsigned char carefree_old = 2; |
559 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
559 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
560 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
560 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
561 | for(i=0;i<8;i++) |
561 | for(i=0;i<8;i++) |
562 | { |
562 | { |
563 | int tmp2; |
563 | int tmp2; |
564 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
564 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
565 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
565 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
566 | if(tmp2 != Poti[i]) |
566 | if(tmp2 != Poti[i]) |
567 | { |
567 | { |
568 | Poti[i] += (tmp2 - Poti[i]) / 4; |
568 | Poti[i] += (tmp2 - Poti[i]) / 4; |
569 | if(Poti[i] > tmp2) Poti[i]--; |
569 | if(Poti[i] > tmp2) Poti[i]--; |
570 | else Poti[i]++; |
570 | else Poti[i]++; |
571 | } |
571 | } |
572 | } |
572 | } |
573 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
573 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
574 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
574 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
575 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
575 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
576 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
576 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
577 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
577 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
578 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
578 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
579 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
579 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
580 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
580 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
581 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
581 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
582 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
582 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
583 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
583 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
584 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
584 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
585 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
585 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
586 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
586 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
587 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
587 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
588 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
588 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
589 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
589 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
590 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
590 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
591 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
591 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
592 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
592 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
593 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
593 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
594 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
594 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
595 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
595 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
596 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
596 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
597 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
597 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
598 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
598 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
599 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
599 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
600 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
600 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
601 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
601 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
602 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
602 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
603 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
603 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
604 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
604 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
605 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
605 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
606 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
606 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
607 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
607 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
608 | Ki = 10300 / (Parameter_I_Faktor + 1); |
608 | Ki = 10300 / (Parameter_I_Faktor + 1); |
609 | MAX_GAS = EE_Parameter.Gas_Max; |
609 | MAX_GAS = EE_Parameter.Gas_Max; |
610 | MIN_GAS = EE_Parameter.Gas_Min; |
610 | MIN_GAS = EE_Parameter.Gas_Min; |
611 | 611 | ||
612 | tmp = EE_Parameter.OrientationModeControl; |
612 | tmp = EE_Parameter.OrientationModeControl; |
613 | if(tmp > 50) |
613 | if(tmp > 50) |
614 | { |
614 | { |
615 | #ifdef SWITCH_LEARNS_CAREFREE |
615 | #ifdef SWITCH_LEARNS_CAREFREE |
616 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
616 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
617 | #endif |
617 | #endif |
618 | CareFree = 1; |
618 | CareFree = 1; |
619 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
619 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
620 | if(carefree_old == 0 && CareFree) beeptime = 1000; |
620 | if(carefree_old == 0 && CareFree) beeptime = 1000; |
621 | if(carefree_old == 1 && !CareFree) beeptime = 200; |
621 | if(carefree_old == 1 && !CareFree) beeptime = 200; |
622 | carefree_old = CareFree; |
622 | carefree_old = CareFree; |
623 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
623 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
624 | } |
624 | } |
625 | else |
625 | else |
626 | { |
626 | { |
627 | CareFree = 0; |
627 | CareFree = 0; |
628 | carefree_old = 0; |
628 | carefree_old = 0; |
629 | } |
629 | } |
630 | 630 | ||
631 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
631 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
632 | { |
632 | { |
633 | beeptime = 15000; |
633 | beeptime = 15000; |
634 | BeepMuster = 0xA400; |
634 | BeepMuster = 0xA400; |
635 | CareFree = 0; |
635 | CareFree = 0; |
636 | } |
636 | } |
637 | 637 | ||
638 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
638 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
639 | } |
639 | } |
640 | 640 | ||
641 | //############################################################################ |
641 | //############################################################################ |
642 | // |
642 | // |
643 | void MotorRegler(void) |
643 | void MotorRegler(void) |
644 | //############################################################################ |
644 | //############################################################################ |
645 | { |
645 | { |
646 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
646 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
647 | int GierMischanteil,GasMischanteil; |
647 | int GierMischanteil,GasMischanteil; |
648 | static long sollGier = 0,tmp_long,tmp_long2; |
648 | static long sollGier = 0,tmp_long,tmp_long2; |
649 | static long IntegralFehlerNick = 0; |
649 | static long IntegralFehlerNick = 0; |
650 | static long IntegralFehlerRoll = 0; |
650 | static long IntegralFehlerRoll = 0; |
651 | static unsigned int RcLostTimer; |
651 | static unsigned int RcLostTimer; |
652 | static unsigned char delay_neutral = 0; |
652 | static unsigned char delay_neutral = 0; |
653 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
653 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
654 | static unsigned char calibration_done = 0; |
654 | static unsigned char calibration_done = 0; |
655 | static char NeueKompassRichtungMerken = 0; |
655 | static char NeueKompassRichtungMerken = 0; |
656 | static long ausgleichNick, ausgleichRoll; |
656 | static long ausgleichNick, ausgleichRoll; |
657 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
657 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
658 | unsigned char i; |
658 | unsigned char i; |
659 | Mittelwert(); |
659 | Mittelwert(); |
660 | GRN_ON; |
660 | GRN_ON; |
661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
661 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
662 | // Gaswert ermitteln |
662 | // Gaswert ermitteln |
663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
664 | GasMischanteil = StickGas; |
664 | GasMischanteil = StickGas; |
665 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
665 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
666 | 666 | ||
667 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
668 | // Empfang schlecht |
668 | // Empfang schlecht |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | if(SenderOkay < 100) |
670 | if(SenderOkay < 100) |
671 | { |
671 | { |
672 | if(RcLostTimer) RcLostTimer--; |
672 | if(RcLostTimer) RcLostTimer--; |
673 | else |
673 | else |
674 | { |
674 | { |
675 | MotorenEin = 0; |
675 | MotorenEin = 0; |
676 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
676 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
677 | } |
677 | } |
678 | ROT_ON; |
678 | ROT_ON; |
679 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
679 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
680 | { |
680 | { |
681 | GasMischanteil = EE_Parameter.NotGas; |
681 | GasMischanteil = EE_Parameter.NotGas; |
682 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
682 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
683 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
683 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
684 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
684 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
685 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
685 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
686 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
686 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
687 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
687 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
688 | } |
688 | } |
689 | else MotorenEin = 0; |
689 | else MotorenEin = 0; |
690 | } |
690 | } |
691 | else |
691 | else |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
693 | // Emfang gut |
693 | // Emfang gut |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
695 | if(SenderOkay > 140) |
695 | if(SenderOkay > 140) |
696 | { |
696 | { |
697 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
697 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
698 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
698 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
699 | if(GasMischanteil > 40 && MotorenEin) |
699 | if(GasMischanteil > 40 && MotorenEin) |
700 | { |
700 | { |
701 | if(modell_fliegt < 0xffff) modell_fliegt++; |
701 | if(modell_fliegt < 0xffff) modell_fliegt++; |
702 | } |
702 | } |
703 | if((modell_fliegt < 256)) |
703 | if((modell_fliegt < 256)) |
704 | { |
704 | { |
705 | SummeNick = 0; |
705 | SummeNick = 0; |
706 | SummeRoll = 0; |
706 | SummeRoll = 0; |
707 | sollGier = 0; |
707 | sollGier = 0; |
708 | Mess_Integral_Gier = 0; |
708 | Mess_Integral_Gier = 0; |
709 | NeueKompassRichtungMerken = 250; |
- | |
710 | } else FC_StatusFlags |= FC_STATUS_FLY; |
709 | } else FC_StatusFlags |= FC_STATUS_FLY; |
711 | 710 | ||
712 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
711 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
713 | { |
712 | { |
714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
715 | // auf Nullwerte kalibrieren |
714 | // auf Nullwerte kalibrieren |
716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
717 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
716 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
718 | { |
717 | { |
719 | if(++delay_neutral > 200) // nicht sofort |
718 | if(++delay_neutral > 200) // nicht sofort |
720 | { |
719 | { |
721 | GRN_OFF; |
720 | GRN_OFF; |
722 | MotorenEin = 0; |
721 | MotorenEin = 0; |
723 | delay_neutral = 0; |
722 | delay_neutral = 0; |
724 | modell_fliegt = 0; |
723 | modell_fliegt = 0; |
725 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
724 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
726 | { |
725 | { |
727 | unsigned char setting=1; |
726 | unsigned char setting=1; |
728 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
727 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
729 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
728 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
729 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
733 | SetActiveParamSet(setting); // aktiven Datensatz merken |
732 | SetActiveParamSet(setting); // aktiven Datensatz merken |
734 | } |
733 | } |
735 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
734 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
736 | { |
735 | { |
737 | WinkelOut.CalcState = 1; |
736 | WinkelOut.CalcState = 1; |
738 | beeptime = 1000; |
737 | beeptime = 1000; |
739 | } |
738 | } |
740 | else |
739 | else |
741 | { |
740 | { |
742 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
741 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
743 | LipoDetection(0); |
742 | LipoDetection(0); |
744 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
743 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
745 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
744 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
746 | { |
745 | { |
747 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
746 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
748 | } |
747 | } |
749 | ServoActive = 0; |
748 | ServoActive = 0; |
750 | SetNeutral(0); |
749 | SetNeutral(0); |
751 | calibration_done = 1; |
750 | calibration_done = 1; |
752 | ServoActive = 1; |
751 | ServoActive = 1; |
753 | DDRD |=0x80; // enable J7 -> Servo signal |
752 | DDRD |=0x80; // enable J7 -> Servo signal |
754 | Piep(GetActiveParamSet(),120); |
753 | Piep(GetActiveParamSet(),120); |
755 | } |
754 | } |
756 | } |
755 | } |
757 | } |
756 | } |
758 | else |
757 | else |
759 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
758 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
760 | { |
759 | { |
761 | if(++delay_neutral > 200) // nicht sofort |
760 | if(++delay_neutral > 200) // nicht sofort |
762 | { |
761 | { |
763 | GRN_OFF; |
762 | GRN_OFF; |
764 | MotorenEin = 0; |
763 | MotorenEin = 0; |
765 | delay_neutral = 0; |
764 | delay_neutral = 0; |
766 | modell_fliegt = 0; |
765 | modell_fliegt = 0; |
767 | SetNeutral(1); |
766 | SetNeutral(1); |
768 | calibration_done = 1; |
767 | calibration_done = 1; |
769 | Piep(GetActiveParamSet(),120); |
768 | Piep(GetActiveParamSet(),120); |
770 | } |
769 | } |
771 | } |
770 | } |
772 | else delay_neutral = 0; |
771 | else delay_neutral = 0; |
773 | } |
772 | } |
774 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
775 | // Gas ist unten |
774 | // Gas ist unten |
776 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
777 | 776 | ||
778 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
777 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
779 | { |
778 | { |
780 | // Motoren Starten |
779 | // Motoren Starten |
781 | if(!MotorenEin) |
780 | if(!MotorenEin) |
782 | { |
781 | { |
783 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
782 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
784 | { |
783 | { |
785 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
784 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
786 | // Einschalten |
785 | // Einschalten |
787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
788 | if(++delay_einschalten > 200) |
787 | if(++delay_einschalten > 200) |
789 | { |
788 | { |
790 | delay_einschalten = 0; |
789 | delay_einschalten = 0; |
791 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
790 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
792 | { |
791 | { |
793 | modell_fliegt = 1; |
792 | modell_fliegt = 1; |
794 | MotorenEin = 1; |
793 | MotorenEin = 1; |
795 | sollGier = 0; |
794 | sollGier = 0; |
796 | Mess_Integral_Gier = 0; |
795 | Mess_Integral_Gier = 0; |
797 | Mess_Integral_Gier2 = 0; |
796 | Mess_Integral_Gier2 = 0; |
798 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
797 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
799 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
798 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
800 | Mess_IntegralNick2 = IntegralNick; |
799 | Mess_IntegralNick2 = IntegralNick; |
801 | Mess_IntegralRoll2 = IntegralRoll; |
800 | Mess_IntegralRoll2 = IntegralRoll; |
802 | SummeNick = 0; |
801 | SummeNick = 0; |
803 | SummeRoll = 0; |
802 | SummeRoll = 0; |
804 | FC_StatusFlags |= FC_STATUS_START; |
803 | FC_StatusFlags |= FC_STATUS_START; |
805 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
804 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
- | 805 | NeueKompassRichtungMerken = 100; // 2 sekunden |
|
806 | } |
806 | } |
807 | else |
807 | else |
808 | { |
808 | { |
809 | beeptime = 1500; // indicate missing calibration |
809 | beeptime = 1500; // indicate missing calibration |
810 | } |
810 | } |
811 | } |
811 | } |
812 | } |
812 | } |
813 | else delay_einschalten = 0; |
813 | else delay_einschalten = 0; |
814 | } |
814 | } |
815 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
815 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
816 | // Auschalten |
816 | // Auschalten |
817 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
817 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
818 | else // only if motors are running |
818 | else // only if motors are running |
819 | { |
819 | { |
820 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
820 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
821 | { |
821 | { |
822 | if(++delay_ausschalten > 200) // nicht sofort |
822 | if(++delay_ausschalten > 200) // nicht sofort |
823 | { |
823 | { |
824 | MotorenEin = 0; |
824 | MotorenEin = 0; |
825 | delay_ausschalten = 0; |
825 | delay_ausschalten = 0; |
826 | modell_fliegt = 0; |
826 | modell_fliegt = 0; |
827 | } |
827 | } |
828 | } |
828 | } |
829 | else delay_ausschalten = 0; |
829 | else delay_ausschalten = 0; |
830 | } |
830 | } |
831 | } |
831 | } |
832 | } |
832 | } |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
834 | // neue Werte von der Funke |
834 | // neue Werte von der Funke |
835 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
835 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
836 | 836 | ||
837 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
837 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
838 | { |
838 | { |
839 | static int stick_nick,stick_roll; |
839 | static int stick_nick,stick_roll; |
840 | ParameterZuordnung(); |
840 | ParameterZuordnung(); |
841 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
841 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
842 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
842 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
843 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
843 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
844 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
844 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
845 | 845 | ||
846 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
846 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
847 | // CareFree und freie Wahl der vorderen Richtung |
847 | // CareFree und freie Wahl der vorderen Richtung |
848 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
848 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | if(CareFree) |
849 | if(CareFree) |
850 | { |
850 | { |
851 | signed int nick, roll; |
851 | signed int nick, roll; |
852 | nick = stick_nick / 4; |
852 | nick = stick_nick / 4; |
853 | roll = stick_roll / 4; |
853 | roll = stick_roll / 4; |
854 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
854 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
855 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
855 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
856 | } |
856 | } |
857 | else |
857 | else |
858 | { |
858 | { |
859 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
859 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
860 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
860 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
861 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
861 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
862 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
862 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
863 | } |
863 | } |
864 | 864 | ||
865 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
865 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
866 | if(StickGier > 2) StickGier -= 2; else |
866 | if(StickGier > 4) StickGier -= 4; else |
867 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
867 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
868 | 868 | ||
869 | StickNick -= (GPS_Nick + GPS_Nick2); |
869 | StickNick -= (GPS_Nick + GPS_Nick2); |
870 | StickRoll -= (GPS_Roll + GPS_Roll2); |
870 | StickRoll -= (GPS_Roll + GPS_Roll2); |
871 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
871 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
872 | 872 | ||
873 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
873 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
874 | IntegralFaktor = Parameter_Gyro_I; |
874 | IntegralFaktor = Parameter_Gyro_I; |
875 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
875 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
876 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
876 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
877 | 877 | ||
878 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
878 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
879 | //+ Analoge Steuerung per Seriell |
879 | //+ Analoge Steuerung per Seriell |
880 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
880 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
881 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
881 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
882 | { |
882 | { |
883 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
883 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
884 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
884 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
885 | StickGier += ExternControl.Gier; |
885 | StickGier += ExternControl.Gier; |
886 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
886 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
887 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
887 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
888 | } |
888 | } |
889 | if(StickGas < 0) StickGas = 0; |
889 | if(StickGas < 0) StickGas = 0; |
890 | 890 | ||
891 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
891 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
892 | 892 | ||
893 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
893 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
894 | { |
894 | { |
895 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
895 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
896 | if(MaxStickNick > 100) MaxStickNick = 100; |
896 | if(MaxStickNick > 100) MaxStickNick = 100; |
897 | } |
897 | } |
898 | else MaxStickNick--; |
898 | else MaxStickNick--; |
899 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
899 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
900 | { |
900 | { |
901 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
901 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
902 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
902 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
903 | } |
903 | } |
904 | else MaxStickRoll--; |
904 | else MaxStickRoll--; |
905 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
905 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
906 | 906 | ||
907 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
907 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
908 | // Looping? |
908 | // Looping? |
909 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
909 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
910 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
910 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
911 | else |
911 | else |
912 | { |
912 | { |
913 | { |
913 | { |
914 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
914 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
915 | } |
915 | } |
916 | } |
916 | } |
917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
918 | else |
918 | else |
919 | { |
919 | { |
920 | if(Looping_Rechts) // Hysterese |
920 | if(Looping_Rechts) // Hysterese |
921 | { |
921 | { |
922 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
922 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
923 | } |
923 | } |
924 | } |
924 | } |
925 | 925 | ||
926 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
926 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
927 | else |
927 | else |
928 | { |
928 | { |
929 | if(Looping_Oben) // Hysterese |
929 | if(Looping_Oben) // Hysterese |
930 | { |
930 | { |
931 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
931 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
932 | } |
932 | } |
933 | } |
933 | } |
934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
935 | else |
935 | else |
936 | { |
936 | { |
937 | if(Looping_Unten) // Hysterese |
937 | if(Looping_Unten) // Hysterese |
938 | { |
938 | { |
939 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
939 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
940 | } |
940 | } |
941 | } |
941 | } |
942 | 942 | ||
943 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
943 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
944 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
944 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
945 | } // Ende neue Funken-Werte |
945 | } // Ende neue Funken-Werte |
946 | 946 | ||
947 | if(Looping_Roll || Looping_Nick) |
947 | if(Looping_Roll || Looping_Nick) |
948 | { |
948 | { |
949 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
949 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
950 | TrichterFlug = 1; |
950 | TrichterFlug = 1; |
951 | } |
951 | } |
952 | 952 | ||
953 | 953 | ||
954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
954 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
955 | // Bei Empfangsausfall im Flug |
955 | // Bei Empfangsausfall im Flug |
956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
957 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
957 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
958 | { |
958 | { |
959 | StickGier = 0; |
959 | StickGier = 0; |
960 | StickNick = 0; |
960 | StickNick = 0; |
961 | StickRoll = 0; |
961 | StickRoll = 0; |
962 | GyroFaktor = 90; |
962 | GyroFaktor = 90; |
963 | IntegralFaktor = 120; |
963 | IntegralFaktor = 120; |
964 | GyroFaktorGier = 90; |
964 | GyroFaktorGier = 90; |
965 | IntegralFaktorGier = 120; |
965 | IntegralFaktorGier = 120; |
966 | Looping_Roll = 0; |
966 | Looping_Roll = 0; |
967 | Looping_Nick = 0; |
967 | Looping_Nick = 0; |
968 | } |
968 | } |
969 | 969 | ||
970 | 970 | ||
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
971 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
972 | // Integrale auf ACC-Signal abgleichen |
972 | // Integrale auf ACC-Signal abgleichen |
973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
974 | #define ABGLEICH_ANZAHL 256L |
974 | #define ABGLEICH_ANZAHL 256L |
975 | 975 | ||
976 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
976 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
977 | MittelIntegralRoll += IntegralRoll; |
977 | MittelIntegralRoll += IntegralRoll; |
978 | MittelIntegralNick2 += IntegralNick2; |
978 | MittelIntegralNick2 += IntegralNick2; |
979 | MittelIntegralRoll2 += IntegralRoll2; |
979 | MittelIntegralRoll2 += IntegralRoll2; |
980 | 980 | ||
981 | if(Looping_Nick || Looping_Roll) |
981 | if(Looping_Nick || Looping_Roll) |
982 | { |
982 | { |
983 | IntegralAccNick = 0; |
983 | IntegralAccNick = 0; |
984 | IntegralAccRoll = 0; |
984 | IntegralAccRoll = 0; |
985 | MittelIntegralNick = 0; |
985 | MittelIntegralNick = 0; |
986 | MittelIntegralRoll = 0; |
986 | MittelIntegralRoll = 0; |
987 | MittelIntegralNick2 = 0; |
987 | MittelIntegralNick2 = 0; |
988 | MittelIntegralRoll2 = 0; |
988 | MittelIntegralRoll2 = 0; |
989 | Mess_IntegralNick2 = Mess_IntegralNick; |
989 | Mess_IntegralNick2 = Mess_IntegralNick; |
990 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
990 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
991 | ZaehlMessungen = 0; |
991 | ZaehlMessungen = 0; |
992 | LageKorrekturNick = 0; |
992 | LageKorrekturNick = 0; |
993 | LageKorrekturRoll = 0; |
993 | LageKorrekturRoll = 0; |
994 | } |
994 | } |
995 | 995 | ||
996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
997 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
997 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
998 | { |
998 | { |
999 | long tmp_long, tmp_long2; |
999 | long tmp_long, tmp_long2; |
1000 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1000 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1001 | { |
1001 | { |
1002 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1002 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1003 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1003 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1004 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1004 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1005 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1005 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1006 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1006 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1007 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1007 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1008 | { |
1008 | { |
1009 | tmp_long /= 2; |
1009 | tmp_long /= 2; |
1010 | tmp_long2 /= 2; |
1010 | tmp_long2 /= 2; |
1011 | } |
1011 | } |
1012 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1012 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1013 | { |
1013 | { |
1014 | tmp_long /= 3; |
1014 | tmp_long /= 3; |
1015 | tmp_long2 /= 3; |
1015 | tmp_long2 /= 3; |
1016 | } |
1016 | } |
1017 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1017 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1018 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1018 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1019 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1019 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1020 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1020 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1021 | } |
1021 | } |
1022 | else |
1022 | else |
1023 | { |
1023 | { |
1024 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1024 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1025 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1025 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1026 | tmp_long /= 16; |
1026 | tmp_long /= 16; |
1027 | tmp_long2 /= 16; |
1027 | tmp_long2 /= 16; |
1028 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1028 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1029 | { |
1029 | { |
1030 | tmp_long /= 3; |
1030 | tmp_long /= 3; |
1031 | tmp_long2 /= 3; |
1031 | tmp_long2 /= 3; |
1032 | } |
1032 | } |
1033 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1033 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1034 | { |
1034 | { |
1035 | tmp_long /= 3; |
1035 | tmp_long /= 3; |
1036 | tmp_long2 /= 3; |
1036 | tmp_long2 /= 3; |
1037 | } |
1037 | } |
1038 | KompassFusion = 25; |
1038 | KompassFusion = 25; |
1039 | #define AUSGLEICH 32 |
1039 | #define AUSGLEICH 32 |
1040 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1040 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1041 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1041 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1042 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1042 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1043 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1043 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1044 | } |
1044 | } |
1045 | 1045 | ||
1046 | Mess_IntegralNick -= tmp_long; |
1046 | Mess_IntegralNick -= tmp_long; |
1047 | Mess_IntegralRoll -= tmp_long2; |
1047 | Mess_IntegralRoll -= tmp_long2; |
1048 | } |
1048 | } |
1049 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1049 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1050 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1050 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1051 | { |
1051 | { |
1052 | static int cnt = 0; |
1052 | static int cnt = 0; |
1053 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1053 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1054 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1054 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1055 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1055 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1056 | { |
1056 | { |
1057 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1057 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1058 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1058 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1059 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1059 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1060 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1060 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1061 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1061 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1062 | #define MAX_I 0 |
1062 | #define MAX_I 0 |
1063 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1063 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1064 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1064 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1065 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1065 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1066 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1066 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1067 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1067 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1068 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1068 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1069 | 1069 | ||
1070 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1070 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1071 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1071 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1072 | 1072 | ||
1073 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1073 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1074 | { |
1074 | { |
1075 | LageKorrekturNick /= 2; |
1075 | LageKorrekturNick /= 2; |
1076 | LageKorrekturRoll /= 2; |
1076 | LageKorrekturRoll /= 2; |
1077 | } |
1077 | } |
1078 | 1078 | ||
1079 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1079 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1080 | // Gyro-Drift ermitteln |
1080 | // Gyro-Drift ermitteln |
1081 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1081 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1082 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1082 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1083 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1083 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1084 | tmp_long = IntegralNick2 - IntegralNick; |
1084 | tmp_long = IntegralNick2 - IntegralNick; |
1085 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1085 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1086 | 1086 | ||
1087 | IntegralFehlerNick = tmp_long; |
1087 | IntegralFehlerNick = tmp_long; |
1088 | IntegralFehlerRoll = tmp_long2; |
1088 | IntegralFehlerRoll = tmp_long2; |
1089 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1089 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1090 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1090 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1091 | 1091 | ||
1092 | if(EE_Parameter.Driftkomp) |
1092 | if(EE_Parameter.Driftkomp) |
1093 | { |
1093 | { |
1094 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1094 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1095 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1095 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1096 | } |
1096 | } |
1097 | GierGyroFehler = 0; |
1097 | GierGyroFehler = 0; |
1098 | 1098 | ||
1099 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1099 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1100 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1100 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1101 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1101 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1102 | #define BEWEGUNGS_LIMIT 20000 |
1102 | #define BEWEGUNGS_LIMIT 20000 |
1103 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1103 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1104 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1104 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1105 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1105 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1106 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1106 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1107 | { |
1107 | { |
1108 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1108 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1109 | { |
1109 | { |
1110 | if(last_n_p) |
1110 | if(last_n_p) |
1111 | { |
1111 | { |
1112 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1112 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1113 | ausgleichNick = IntegralFehlerNick / 8; |
1113 | ausgleichNick = IntegralFehlerNick / 8; |
1114 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1114 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1115 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1115 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1116 | } |
1116 | } |
1117 | else last_n_p = 1; |
1117 | else last_n_p = 1; |
1118 | } else last_n_p = 0; |
1118 | } else last_n_p = 0; |
1119 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1119 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1120 | { |
1120 | { |
1121 | if(last_n_n) |
1121 | if(last_n_n) |
1122 | { |
1122 | { |
1123 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1123 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1124 | ausgleichNick = IntegralFehlerNick / 8; |
1124 | ausgleichNick = IntegralFehlerNick / 8; |
1125 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1125 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1126 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1126 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1127 | } |
1127 | } |
1128 | else last_n_n = 1; |
1128 | else last_n_n = 1; |
1129 | } else last_n_n = 0; |
1129 | } else last_n_n = 0; |
1130 | } |
1130 | } |
1131 | else |
1131 | else |
1132 | { |
1132 | { |
1133 | cnt = 0; |
1133 | cnt = 0; |
1134 | KompassSignalSchlecht = 100; |
1134 | KompassSignalSchlecht = 100; |
1135 | } |
1135 | } |
1136 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1136 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1137 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1137 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1138 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1138 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1139 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1139 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1140 | 1140 | ||
1141 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1141 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1142 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1142 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1143 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1143 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1144 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1144 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1145 | { |
1145 | { |
1146 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1146 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1147 | { |
1147 | { |
1148 | if(last_r_p) |
1148 | if(last_r_p) |
1149 | { |
1149 | { |
1150 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1150 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1151 | ausgleichRoll = IntegralFehlerRoll / 8; |
1151 | ausgleichRoll = IntegralFehlerRoll / 8; |
1152 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1152 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1153 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1153 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1154 | } |
1154 | } |
1155 | else last_r_p = 1; |
1155 | else last_r_p = 1; |
1156 | } else last_r_p = 0; |
1156 | } else last_r_p = 0; |
1157 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1157 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1158 | { |
1158 | { |
1159 | if(last_r_n) |
1159 | if(last_r_n) |
1160 | { |
1160 | { |
1161 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1161 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1162 | ausgleichRoll = IntegralFehlerRoll / 8; |
1162 | ausgleichRoll = IntegralFehlerRoll / 8; |
1163 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1163 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1164 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1164 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1165 | } |
1165 | } |
1166 | else last_r_n = 1; |
1166 | else last_r_n = 1; |
1167 | } else last_r_n = 0; |
1167 | } else last_r_n = 0; |
1168 | } else |
1168 | } else |
1169 | { |
1169 | { |
1170 | cnt = 0; |
1170 | cnt = 0; |
1171 | KompassSignalSchlecht = 100; |
1171 | KompassSignalSchlecht = 100; |
1172 | } |
1172 | } |
1173 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1173 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1174 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1174 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1175 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1175 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1176 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1176 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1177 | } |
1177 | } |
1178 | else |
1178 | else |
1179 | { |
1179 | { |
1180 | LageKorrekturRoll = 0; |
1180 | LageKorrekturRoll = 0; |
1181 | LageKorrekturNick = 0; |
1181 | LageKorrekturNick = 0; |
1182 | TrichterFlug = 0; |
1182 | TrichterFlug = 0; |
1183 | } |
1183 | } |
1184 | 1184 | ||
1185 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1185 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1187 | MittelIntegralNick_Alt = MittelIntegralNick; |
1187 | MittelIntegralNick_Alt = MittelIntegralNick; |
1188 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1188 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1190 | IntegralAccNick = 0; |
1190 | IntegralAccNick = 0; |
1191 | IntegralAccRoll = 0; |
1191 | IntegralAccRoll = 0; |
1192 | IntegralAccZ = 0; |
1192 | IntegralAccZ = 0; |
1193 | MittelIntegralNick = 0; |
1193 | MittelIntegralNick = 0; |
1194 | MittelIntegralRoll = 0; |
1194 | MittelIntegralRoll = 0; |
1195 | MittelIntegralNick2 = 0; |
1195 | MittelIntegralNick2 = 0; |
1196 | MittelIntegralRoll2 = 0; |
1196 | MittelIntegralRoll2 = 0; |
1197 | ZaehlMessungen = 0; |
1197 | ZaehlMessungen = 0; |
1198 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1198 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1199 | 1199 | ||
1200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1200 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1201 | // Gieren |
1201 | // Gieren |
1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | if(abs(StickGier) > 15) // war 35 |
1203 | if(abs(StickGier) > 3) // war 15 |
1204 | { |
1204 | { |
1205 | // KompassSignalSchlecht = 1000; |
1205 | // KompassSignalSchlecht = 1000; |
1206 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1206 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1207 | { |
1207 | { |
1208 | NeueKompassRichtungMerken = 250; |
1208 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1209 | }; |
1209 | }; |
1210 | } |
1210 | } |
1211 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1211 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1212 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1212 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
- | 1213 | tmp_int += CompassGierSetpoint; |
|
1213 | sollGier = tmp_int; |
1214 | sollGier = tmp_int; |
1214 | Mess_Integral_Gier -= tmp_int; |
1215 | Mess_Integral_Gier -= tmp_int; |
1215 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1216 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1216 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1217 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1217 | 1218 | ||
1218 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1219 | // Kompass |
1220 | // Kompass |
1220 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1221 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1222 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1222 | { |
1223 | { |
1223 | if(CalculateCompassTimer-- == 1) |
1224 | if(CalculateCompassTimer-- == 1) |
1224 | { |
1225 | { |
1225 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1226 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1226 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1227 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1227 | - | ||
1228 | // max. Korrekturwert schätzen |
1228 | // max. Korrekturwert schätzen |
1229 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1229 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1230 | v = abs(IntegralRoll /512); |
1230 | v = abs(IntegralRoll /512); |
1231 | if(v > w) w = v; // grösste Neigung ermitteln |
1231 | if(v > w) w = v; // grösste Neigung ermitteln |
1232 | korrektur = w / 4 + 1; |
1232 | korrektur = w / 4 + 1; |
1233 | // Kompassfehlerwert bestimmen |
1233 | // Kompassfehlerwert bestimmen |
1234 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1234 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1235 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1235 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1236 | 1236 | ||
1237 | // Kompasswert einloggen |
1237 | // Kompasswert einloggen |
1238 | if(!KompassSignalSchlecht && w < 25) |
1238 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
- | 1239 | else |
|
- | 1240 | if(w < 25) |
|
1239 | { |
1241 | { |
1240 | GierGyroFehler += fehler; |
1242 | GierGyroFehler += fehler; |
1241 | if(NeueKompassRichtungMerken) |
1243 | if(NeueKompassRichtungMerken) |
1242 | { |
1244 | { |
1243 | if(--NeueKompassRichtungMerken == 0) |
1245 | if(--NeueKompassRichtungMerken == 0) |
1244 | { |
1246 | { |
1245 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1247 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1246 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1248 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1247 | } |
1249 | } |
1248 | } |
1250 | } |
1249 | } |
1251 | } |
1250 | // Kompass fusionieren |
1252 | // Kompass fusionieren |
1251 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1253 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1252 | - | ||
1253 | DebugOut.Analog[16] = fehler; |
- | |
1254 | DebugOut.Analog[17] = korrektur; |
- | |
1255 | DebugOut.Analog[18] = KompassFusion; |
- | |
1256 | DebugOut.Analog[19] = KompassSignalSchlecht; |
- | |
1257 | DebugOut.Analog[24] = FromNaviCtrl_Value.Kalman_K; |
- | |
1258 | 1254 | ||
1259 | // MK drehen |
- | |
1260 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
- | |
1261 | else |
1255 | // MK Gieren |
1262 | if(!NeueKompassRichtungMerken) |
1256 | if(!NeueKompassRichtungMerken) |
1263 | { |
1257 | { |
- | 1258 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
|
1264 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1259 | DebugOut.Analog[19] = r; |
- | 1260 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
|
- | 1261 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
|
- | 1262 | CompassGierSetpoint = v / 16; |
|
1265 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1263 | } |
- | 1264 | else CompassGierSetpoint = 0; |
|
- | 1265 | ||
1266 | Mess_Integral_Gier += v; |
1266 | /* |
1267 | DebugOut.Analog[25] = v; |
1267 | DebugOut.Analog[16] = fehler; |
1268 | //DebugOut.Analog[26] = r; |
1268 | DebugOut.Analog[17] = korrektur; |
- | 1269 | */ |
|
- | 1270 | DebugOut.Analog[25] = CompassGierSetpoint; |
|
1269 | } |
1271 | DebugOut.Analog[18] = KompassFusion; |
1270 | 1272 | ||
1271 | /* |
1273 | /* |
1272 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1274 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1273 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1275 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1274 | if(w >= 0) |
1276 | if(w >= 0) |
1275 | { |
1277 | { |
1276 | if(!KompassSignalSchlecht) |
1278 | if(!KompassSignalSchlecht) |
1277 | { |
1279 | { |
1278 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1280 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1279 | DebugOut.Analog[16] = korrektur; |
1281 | DebugOut.Analog[16] = korrektur; |
1280 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1282 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1281 | v = (r * w) / v; // nach Kompass ausrichten |
1283 | v = (r * w) / v; // nach Kompass ausrichten |
1282 | w = 3 * Parameter_KompassWirkung; |
1284 | w = 3 * Parameter_KompassWirkung; |
1283 | if(v > w) v = w; // Begrenzen |
1285 | if(v > w) v = w; // Begrenzen |
1284 | else |
1286 | else |
1285 | if(v < -w) v = -w; |
1287 | if(v < -w) v = -w; |
1286 | // Mess_Integral_Gier += v; |
1288 | // Mess_Integral_Gier += v; |
1287 | } |
1289 | } |
1288 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1290 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1289 | } |
1291 | } |
1290 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1292 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1291 | */ |
1293 | */ |
1292 | } // CalculateCompassTimer |
1294 | } // CalculateCompassTimer |
1293 | } |
1295 | } |
- | 1296 | else CompassGierSetpoint = 0; |
|
1294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1297 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1295 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1298 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1296 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1299 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1297 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1300 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1298 | 1301 | ||
1299 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1302 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1300 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1303 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1301 | 1304 | ||
1302 | #define TRIM_MAX 200 |
1305 | #define TRIM_MAX 200 |
1303 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1306 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1304 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1307 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1305 | 1308 | ||
1306 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1309 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1307 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1310 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1308 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1311 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1309 | 1312 | ||
1310 | // Maximalwerte abfangen |
1313 | // Maximalwerte abfangen |
1311 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1314 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1312 | #define MAX_SENSOR (4096) |
1315 | #define MAX_SENSOR (4096) |
1313 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1316 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1314 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1317 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1315 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1318 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1316 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1319 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1317 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1320 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1318 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1321 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1319 | 1322 | ||
1320 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1323 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1321 | // Höhenregelung |
1324 | // Höhenregelung |
1322 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1325 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1323 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1326 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1324 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1327 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1325 | GasMischanteil *= STICK_GAIN; |
1328 | GasMischanteil *= STICK_GAIN; |
1326 | // if height control is activated |
1329 | // if height control is activated |
1327 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1330 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1328 | { |
1331 | { |
1329 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1332 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1330 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1333 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1331 | 1334 | ||
1332 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1335 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1333 | #define OPA_OFFSET_STEP 15 |
1336 | #define OPA_OFFSET_STEP 15 |
1334 | #else |
1337 | #else |
1335 | #define OPA_OFFSET_STEP 10 |
1338 | #define OPA_OFFSET_STEP 10 |
1336 | #endif |
1339 | #endif |
1337 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1340 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1338 | static int HeightTrimming = 0; // rate for change of height setpoint |
1341 | static int HeightTrimming = 0; // rate for change of height setpoint |
1339 | static int FilterHCGas = 0; |
1342 | static int FilterHCGas = 0; |
1340 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1343 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1341 | static unsigned long HoverGasFilter = 0; |
1344 | static unsigned long HoverGasFilter = 0; |
1342 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1345 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1343 | int CosAttitude; // for projection of hoover gas |
1346 | int CosAttitude; // for projection of hoover gas |
1344 | 1347 | ||
1345 | // get the current hooverpoint |
1348 | // get the current hooverpoint |
1346 | DebugOut.Analog[21] = HoverGas; |
1349 | DebugOut.Analog[21] = HoverGas; |
1347 | 1350 | ||
1348 | // Expand the measurement |
1351 | // Expand the measurement |
1349 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1352 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1350 | if(!BaroExpandActive) |
1353 | if(!BaroExpandActive) |
1351 | { |
1354 | { |
1352 | if(MessLuftdruck > 920) |
1355 | if(MessLuftdruck > 920) |
1353 | { // increase offset |
1356 | { // increase offset |
1354 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1357 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1355 | { |
1358 | { |
1356 | ExpandBaro -= 1; |
1359 | ExpandBaro -= 1; |
1357 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1360 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1358 | beeptime = 300; |
1361 | beeptime = 300; |
1359 | BaroExpandActive = 350; |
1362 | BaroExpandActive = 350; |
1360 | } |
1363 | } |
1361 | else |
1364 | else |
1362 | { |
1365 | { |
1363 | BaroAtLowerLimit = 1; |
1366 | BaroAtLowerLimit = 1; |
1364 | } |
1367 | } |
1365 | } |
1368 | } |
1366 | // measurement of air pressure close to lower limit and |
1369 | // measurement of air pressure close to lower limit and |
1367 | else |
1370 | else |
1368 | if(MessLuftdruck < 100) |
1371 | if(MessLuftdruck < 100) |
1369 | { // decrease offset |
1372 | { // decrease offset |
1370 | if(OCR0A > OPA_OFFSET_STEP) |
1373 | if(OCR0A > OPA_OFFSET_STEP) |
1371 | { |
1374 | { |
1372 | ExpandBaro += 1; |
1375 | ExpandBaro += 1; |
1373 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1376 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1374 | beeptime = 300; |
1377 | beeptime = 300; |
1375 | BaroExpandActive = 350; |
1378 | BaroExpandActive = 350; |
1376 | } |
1379 | } |
1377 | else |
1380 | else |
1378 | { |
1381 | { |
1379 | BaroAtUpperLimit = 1; |
1382 | BaroAtUpperLimit = 1; |
1380 | } |
1383 | } |
1381 | } |
1384 | } |
1382 | else |
1385 | else |
1383 | { |
1386 | { |
1384 | BaroAtUpperLimit = 0; |
1387 | BaroAtUpperLimit = 0; |
1385 | BaroAtLowerLimit = 0; |
1388 | BaroAtLowerLimit = 0; |
1386 | } |
1389 | } |
1387 | } |
1390 | } |
1388 | else // delay, because of expanding the Baro-Range |
1391 | else // delay, because of expanding the Baro-Range |
1389 | { |
1392 | { |
1390 | // now clear the D-values |
1393 | // now clear the D-values |
1391 | SummenHoehe = HoehenWert * SM_FILTER; |
1394 | SummenHoehe = HoehenWert * SM_FILTER; |
1392 | VarioMeter = 0; |
1395 | VarioMeter = 0; |
1393 | BaroExpandActive--; |
1396 | BaroExpandActive--; |
1394 | } |
1397 | } |
1395 | 1398 | ||
1396 | // if height control is activated by an rc channel |
1399 | // if height control is activated by an rc channel |
1397 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1400 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1398 | { // check if parameter is less than activation threshold |
1401 | { // check if parameter is less than activation threshold |
1399 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1402 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1400 | { //height control not active |
1403 | { //height control not active |
1401 | if(!delay--) |
1404 | if(!delay--) |
1402 | { |
1405 | { |
1403 | HoehenReglerAktiv = 0; // disable height control |
1406 | HoehenReglerAktiv = 0; // disable height control |
1404 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1407 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1405 | delay = 1; |
1408 | delay = 1; |
1406 | } |
1409 | } |
1407 | } |
1410 | } |
1408 | else |
1411 | else |
1409 | { //height control is activated |
1412 | { //height control is activated |
1410 | HoehenReglerAktiv = 1; // enable height control |
1413 | HoehenReglerAktiv = 1; // enable height control |
1411 | delay = 200; |
1414 | delay = 200; |
1412 | } |
1415 | } |
1413 | } |
1416 | } |
1414 | else // no switchable height control |
1417 | else // no switchable height control |
1415 | { |
1418 | { |
1416 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1419 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1417 | HoehenReglerAktiv = 1; |
1420 | HoehenReglerAktiv = 1; |
1418 | } |
1421 | } |
1419 | 1422 | ||
1420 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1423 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1421 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1424 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1422 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1425 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1423 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1426 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1424 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1427 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1425 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1428 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1426 | VarioCharacter = ' '; |
1429 | VarioCharacter = ' '; |
1427 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1430 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1428 | { |
1431 | { |
1429 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1432 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1430 | // Holger original version |
1433 | // Holger original version |
1431 | // start of height control algorithm |
1434 | // start of height control algorithm |
1432 | // the height control is only an attenuation of the actual gas stick. |
1435 | // the height control is only an attenuation of the actual gas stick. |
1433 | // I.e. it will work only if the gas stick is higher than the hover gas |
1436 | // I.e. it will work only if the gas stick is higher than the hover gas |
1434 | // and the hover height will be allways larger than height setpoint. |
1437 | // and the hover height will be allways larger than height setpoint. |
1435 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1438 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1436 | { // old version |
1439 | { // old version |
1437 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1440 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1438 | HeightTrimming = 0; |
1441 | HeightTrimming = 0; |
1439 | // set both flags to indicate no vario mode |
1442 | // set both flags to indicate no vario mode |
1440 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1443 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1441 | } |
1444 | } |
1442 | else |
1445 | else |
1443 | { |
1446 | { |
1444 | // alternative height control |
1447 | // alternative height control |
1445 | // PD-Control with respect to hoover point |
1448 | // PD-Control with respect to hoover point |
1446 | // the thrust loss out of horizontal attitude is compensated |
1449 | // the thrust loss out of horizontal attitude is compensated |
1447 | // the setpoint will be fine adjusted with the gas stick position |
1450 | // the setpoint will be fine adjusted with the gas stick position |
1448 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1451 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1449 | { // gas stick is above hoover point |
1452 | { // gas stick is above hoover point |
1450 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1453 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1451 | { |
1454 | { |
1452 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1455 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1453 | { |
1456 | { |
1454 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1457 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1455 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1458 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1456 | } |
1459 | } |
1457 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1460 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1458 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1461 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1459 | VarioCharacter = '+'; |
1462 | VarioCharacter = '+'; |
1460 | } // gas stick is below hoover point |
1463 | } // gas stick is below hoover point |
1461 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1464 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1462 | { |
1465 | { |
1463 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1466 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1464 | { |
1467 | { |
1465 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1468 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1466 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1469 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1467 | } |
1470 | } |
1468 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1471 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1469 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1472 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1470 | VarioCharacter = '-'; |
1473 | VarioCharacter = '-'; |
1471 | } |
1474 | } |
1472 | else // Gas Stick in Hover Range |
1475 | else // Gas Stick in Hover Range |
1473 | { |
1476 | { |
1474 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1477 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1475 | { |
1478 | { |
1476 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1479 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1477 | HeightTrimming = 0; |
1480 | HeightTrimming = 0; |
1478 | SollHoehe = HoehenWert; // update setpoint to current height |
1481 | SollHoehe = HoehenWert; // update setpoint to current height |
1479 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1482 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1480 | if(!StartTrigger && HoehenWert > 50) |
1483 | if(!StartTrigger && HoehenWert > 50) |
1481 | { |
1484 | { |
1482 | StartTrigger = 1; |
1485 | StartTrigger = 1; |
1483 | } |
1486 | } |
1484 | } |
1487 | } |
1485 | VarioCharacter = '='; |
1488 | VarioCharacter = '='; |
1486 | } |
1489 | } |
1487 | // Trim height set point |
1490 | // Trim height set point |
1488 | if(abs(HeightTrimming) > 512) |
1491 | if(abs(HeightTrimming) > 512) |
1489 | { |
1492 | { |
1490 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1493 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1491 | HeightTrimming = 0; |
1494 | HeightTrimming = 0; |
1492 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1495 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1493 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1496 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1494 | //update hoover gas stick value when setpoint is shifted |
1497 | //update hoover gas stick value when setpoint is shifted |
1495 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1498 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1496 | { |
1499 | { |
1497 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1500 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1498 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1501 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1499 | if(StickGasHover < 70) StickGasHover = 70; |
1502 | if(StickGasHover < 70) StickGasHover = 70; |
1500 | else if(StickGasHover > 150) StickGasHover = 150; |
1503 | else if(StickGasHover > 150) StickGasHover = 150; |
1501 | } |
1504 | } |
1502 | } |
1505 | } |
1503 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1506 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1504 | } //if FCFlags & MKFCFLAG_FLY |
1507 | } //if FCFlags & MKFCFLAG_FLY |
1505 | else |
1508 | else |
1506 | { |
1509 | { |
1507 | SollHoehe = HoehenWert - 400; |
1510 | SollHoehe = HoehenWert - 400; |
1508 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1511 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1509 | else StickGasHover = 120; |
1512 | else StickGasHover = 120; |
1510 | HoverGas = GasMischanteil; |
1513 | HoverGas = GasMischanteil; |
1511 | } |
1514 | } |
1512 | HCGas = HoverGas; // take hover gas (neutral point) |
1515 | HCGas = HoverGas; // take hover gas (neutral point) |
1513 | } |
1516 | } |
1514 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1517 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1515 | { |
1518 | { |
1516 | // from this point the Heigth Control Algorithm is identical for both versions |
1519 | // from this point the Heigth Control Algorithm is identical for both versions |
1517 | if(BaroExpandActive) // baro range expanding active |
1520 | if(BaroExpandActive) // baro range expanding active |
1518 | { |
1521 | { |
1519 | HCGas = HoverGas; // hover while expanding baro adc range |
1522 | HCGas = HoverGas; // hover while expanding baro adc range |
1520 | HeightDeviation = 0; |
1523 | HeightDeviation = 0; |
1521 | } // EOF // baro range expanding active |
1524 | } // EOF // baro range expanding active |
1522 | else // valid data from air pressure sensor |
1525 | else // valid data from air pressure sensor |
1523 | { |
1526 | { |
1524 | // ------------------------- P-Part ---------------------------- |
1527 | // ------------------------- P-Part ---------------------------- |
1525 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1528 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1526 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1529 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1527 | HeightDeviation = (int)(tmp_long); // positive when too high |
1530 | HeightDeviation = (int)(tmp_long); // positive when too high |
1528 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1531 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1529 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1532 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1530 | GasReduction = tmp_long; |
1533 | GasReduction = tmp_long; |
1531 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1534 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1532 | tmp_int = VarioMeter / 8; |
1535 | tmp_int = VarioMeter / 8; |
1533 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1536 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1534 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1537 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1535 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1538 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1536 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1539 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1537 | else |
1540 | else |
1538 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1541 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1539 | GasReduction += tmp_int; |
1542 | GasReduction += tmp_int; |
1540 | } // EOF no baro range expanding |
1543 | } // EOF no baro range expanding |
1541 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1544 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1542 | if(Parameter_Hoehe_ACC_Wirkung) |
1545 | if(Parameter_Hoehe_ACC_Wirkung) |
1543 | { |
1546 | { |
1544 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1547 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1545 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1548 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1546 | GasReduction += tmp_long; |
1549 | GasReduction += tmp_long; |
1547 | } |
1550 | } |
1548 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1551 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1549 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1552 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1550 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1553 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1551 | GasReduction += tmp_int; |
1554 | GasReduction += tmp_int; |
1552 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1555 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1553 | // ------------------------ ---------------------------------- |
1556 | // ------------------------ ---------------------------------- |
1554 | HCGas -= GasReduction; |
1557 | HCGas -= GasReduction; |
1555 | // limit deviation from hoover point within the target region |
1558 | // limit deviation from hoover point within the target region |
1556 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1559 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1557 | { |
1560 | { |
1558 | unsigned int tmp; |
1561 | unsigned int tmp; |
1559 | tmp = abs(HeightDeviation); |
1562 | tmp = abs(HeightDeviation); |
1560 | if(tmp <= 60) |
1563 | if(tmp <= 60) |
1561 | { |
1564 | { |
1562 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1565 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1563 | } |
1566 | } |
1564 | else |
1567 | else |
1565 | { |
1568 | { |
1566 | tmp = (tmp - 60) / 32; |
1569 | tmp = (tmp - 60) / 32; |
1567 | if(tmp > 15) tmp = 15; |
1570 | if(tmp > 15) tmp = 15; |
1568 | if(HeightDeviation > 0) |
1571 | if(HeightDeviation > 0) |
1569 | { |
1572 | { |
1570 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1573 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1571 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1574 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1572 | } |
1575 | } |
1573 | else |
1576 | else |
1574 | { |
1577 | { |
1575 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1578 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1576 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1579 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1577 | } |
1580 | } |
1578 | } |
1581 | } |
1579 | } |
1582 | } |
1580 | // strech control output by inverse attitude projection 1/cos |
1583 | // strech control output by inverse attitude projection 1/cos |
1581 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1584 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1582 | tmp_long2 = (int32_t)HCGas; |
1585 | tmp_long2 = (int32_t)HCGas; |
1583 | tmp_long2 *= 8192L; |
1586 | tmp_long2 *= 8192L; |
1584 | tmp_long2 /= CosAttitude; |
1587 | tmp_long2 /= CosAttitude; |
1585 | HCGas = (int16_t)tmp_long2; |
1588 | HCGas = (int16_t)tmp_long2; |
1586 | // update height control gas averaging |
1589 | // update height control gas averaging |
1587 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1590 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1588 | // limit height control gas pd-control output |
1591 | // limit height control gas pd-control output |
1589 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1592 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1590 | // set GasMischanteil to HeightControlGasFilter |
1593 | // set GasMischanteil to HeightControlGasFilter |
1591 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1594 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1592 | { // old version |
1595 | { // old version |
1593 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1596 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1594 | GasMischanteil = FilterHCGas; |
1597 | GasMischanteil = FilterHCGas; |
1595 | } |
1598 | } |
1596 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1599 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1597 | } |
1600 | } |
1598 | }// EOF height control active |
1601 | }// EOF height control active |
1599 | else // HC not active |
1602 | else // HC not active |
1600 | { |
1603 | { |
1601 | //update hoover gas stick value when HC is not active |
1604 | //update hoover gas stick value when HC is not active |
1602 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1605 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1603 | { |
1606 | { |
1604 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1607 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1605 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1608 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1606 | } |
1609 | } |
1607 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1610 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1608 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1611 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1609 | FilterHCGas = GasMischanteil; |
1612 | FilterHCGas = GasMischanteil; |
1610 | // set both flags to indicate no vario mode |
1613 | // set both flags to indicate no vario mode |
1611 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1614 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1612 | } |
1615 | } |
1613 | 1616 | ||
1614 | // Hover gas estimation by averaging gas control output on small z-velocities |
1617 | // Hover gas estimation by averaging gas control output on small z-velocities |
1615 | // this is done only if height contol option is selected in global config and aircraft is flying |
1618 | // this is done only if height contol option is selected in global config and aircraft is flying |
1616 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1619 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1617 | { |
1620 | { |
1618 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1621 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1619 | if(StartTrigger == 1) StartTrigger = 2; |
1622 | if(StartTrigger == 1) StartTrigger = 2; |
1620 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1623 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1621 | tmp_long2 *= CosAttitude; // apply attitude projection |
1624 | tmp_long2 *= CosAttitude; // apply attitude projection |
1622 | tmp_long2 /= 8192; |
1625 | tmp_long2 /= 8192; |
1623 | // average vertical projected thrust |
1626 | // average vertical projected thrust |
1624 | if(modell_fliegt < 4000) // the first 8 seconds |
1627 | if(modell_fliegt < 4000) // the first 8 seconds |
1625 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1628 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1626 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1629 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1627 | HoverGasFilter += 16L * tmp_long2; |
1630 | HoverGasFilter += 16L * tmp_long2; |
1628 | } |
1631 | } |
1629 | if(modell_fliegt < 8000) // the first 16 seconds |
1632 | if(modell_fliegt < 8000) // the first 16 seconds |
1630 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1633 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1631 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1634 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1632 | HoverGasFilter += 4L * tmp_long2; |
1635 | HoverGasFilter += 4L * tmp_long2; |
1633 | } |
1636 | } |
1634 | else //later |
1637 | else //later |
1635 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1638 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1636 | { |
1639 | { |
1637 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1640 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1638 | HoverGasFilter += tmp_long2; |
1641 | HoverGasFilter += tmp_long2; |
1639 | } |
1642 | } |
1640 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1643 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1641 | if(EE_Parameter.Hoehe_HoverBand) |
1644 | if(EE_Parameter.Hoehe_HoverBand) |
1642 | { |
1645 | { |
1643 | int16_t band; |
1646 | int16_t band; |
1644 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1647 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1645 | HoverGasMin = HoverGas - band; |
1648 | HoverGasMin = HoverGas - band; |
1646 | HoverGasMax = HoverGas + band; |
1649 | HoverGasMax = HoverGas + band; |
1647 | } |
1650 | } |
1648 | else |
1651 | else |
1649 | { // no limit |
1652 | { // no limit |
1650 | HoverGasMin = 0; |
1653 | HoverGasMin = 0; |
1651 | HoverGasMax = 1023; |
1654 | HoverGasMax = 1023; |
1652 | } |
1655 | } |
1653 | } |
1656 | } |
1654 | else |
1657 | else |
1655 | { |
1658 | { |
1656 | StartTrigger = 0; |
1659 | StartTrigger = 0; |
1657 | HoverGasFilter = 0; |
1660 | HoverGasFilter = 0; |
1658 | HoverGas = 0; |
1661 | HoverGas = 0; |
1659 | } |
1662 | } |
1660 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1663 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1661 | else |
1664 | else |
1662 | { |
1665 | { |
1663 | // set undefined state to indicate vario off |
1666 | // set undefined state to indicate vario off |
1664 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1667 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1665 | } // EOF no height control |
1668 | } // EOF no height control |
1666 | 1669 | ||
1667 | // limit gas to parameter setting |
1670 | // limit gas to parameter setting |
1668 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1671 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1669 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1672 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1670 | 1673 | ||
1671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1674 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1672 | // all BL-Ctrl connected? |
1675 | // all BL-Ctrl connected? |
1673 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1674 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1677 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1675 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1678 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1676 | { |
1679 | { |
1677 | modell_fliegt = 1; |
1680 | modell_fliegt = 1; |
1678 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1681 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1679 | } |
1682 | } |
1680 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1681 | // + Mischer und PI-Regler |
1684 | // + Mischer und PI-Regler |
1682 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1683 | DebugOut.Analog[7] = GasMischanteil; |
1686 | DebugOut.Analog[7] = GasMischanteil; |
1684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1687 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1685 | // Gier-Anteil |
1688 | // Gier-Anteil |
1686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1689 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1687 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1690 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1688 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1691 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1689 | if(GasMischanteil > MIN_GIERGAS) |
1692 | if(GasMischanteil > MIN_GIERGAS) |
1690 | { |
1693 | { |
1691 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1694 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1692 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1695 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1693 | } |
1696 | } |
1694 | else |
1697 | else |
1695 | { |
1698 | { |
1696 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1699 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1697 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1700 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1698 | } |
1701 | } |
1699 | tmp_int = MAX_GAS*STICK_GAIN; |
1702 | tmp_int = MAX_GAS*STICK_GAIN; |
1700 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1703 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1701 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1704 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1702 | 1705 | ||
1703 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1704 | // Nick-Achse |
1707 | // Nick-Achse |
1705 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1708 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1706 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1709 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1707 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1710 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1708 | else SummeNick += DiffNick; // I-Anteil bei HH |
1711 | else SummeNick += DiffNick; // I-Anteil bei HH |
1709 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1712 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1710 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1713 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1711 | 1714 | ||
1712 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1715 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1713 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1716 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1714 | pd_ergebnis_nick += SummeNick / Ki; |
1717 | pd_ergebnis_nick += SummeNick / Ki; |
1715 | 1718 | ||
1716 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1719 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1717 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1720 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1718 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1721 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1719 | 1722 | ||
1720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1721 | // Roll-Achse |
1724 | // Roll-Achse |
1722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1725 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1723 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1726 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1724 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1727 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1725 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1728 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1726 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1729 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1727 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1730 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1728 | 1731 | ||
1729 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1732 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1730 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1733 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1731 | pd_ergebnis_roll += SummeRoll / Ki; |
1734 | pd_ergebnis_roll += SummeRoll / Ki; |
1732 | 1735 | ||
1733 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1736 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1734 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1737 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1735 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1738 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1736 | 1739 | ||
1737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1738 | // Universal Mixer |
1741 | // Universal Mixer |
1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1740 | for(i=0; i<MAX_MOTORS; i++) |
1743 | for(i=0; i<MAX_MOTORS; i++) |
1741 | { |
1744 | { |
1742 | signed int tmp_int; |
1745 | signed int tmp_int; |
1743 | if(Mixer.Motor[i][0] > 0) |
1746 | if(Mixer.Motor[i][0] > 0) |
1744 | { |
1747 | { |
1745 | // Gas |
1748 | // Gas |
1746 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1749 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1747 | // Nick |
1750 | // Nick |
1748 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1751 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1749 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1752 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1750 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1753 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1751 | // Roll |
1754 | // Roll |
1752 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1755 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1753 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1756 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1754 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1757 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1755 | // Gier |
1758 | // Gier |
1756 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1759 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1757 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1760 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1758 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1761 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1759 | 1762 | ||
1760 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1763 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1761 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1764 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1762 | 1765 | ||
1763 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1766 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1764 | Motor[i].SetPoint = tmp_int / 4; |
1767 | Motor[i].SetPoint = tmp_int / 4; |
1765 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1768 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1766 | tmp_motorwert[i] = tmp_int; |
1769 | tmp_motorwert[i] = tmp_int; |
1767 | } |
1770 | } |
1768 | else |
1771 | else |
1769 | { |
1772 | { |
1770 | Motor[i].SetPoint = 0; |
1773 | Motor[i].SetPoint = 0; |
1771 | Motor[i].SetPointLowerBits = 0; |
1774 | Motor[i].SetPointLowerBits = 0; |
1772 | } |
1775 | } |
1773 | } |
1776 | } |
1774 | } |
1777 | } |
1775 | 1778 |