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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = -1; |
80 | int KompassValue = -1; |
81 | int KompassSollWert = 0; |
81 | int KompassSollWert = 0; |
82 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
83 | char CalculateCompassTimer = 100; |
83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
84 | unsigned char KompassFusion = 32; |
85 | unsigned int KompassSignalSchlecht = 50; |
85 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned char MAX_GAS,MIN_GAS; |
86 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char HoehenReglerAktiv = 0; |
87 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char TrichterFlug = 0; |
88 | unsigned char TrichterFlug = 0; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long ErsatzKompass; |
90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int GierGyroFehler = 0; |
92 | int GierGyroFehler = 0; |
93 | char GyroFaktor,GyroFaktorGier; |
93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
95 | int DiffNick,DiffRoll; |
95 | int DiffNick,DiffRoll; |
96 | //int 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 | long FromNC_AltitudeSetpoint = 0; |
103 | long FromNC_AltitudeSetpoint = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
- | 105 | unsigned char carefree_old = 50; // to make the Beep when switching |
|
105 | 106 | ||
106 | int CompassGierSetpoint = 0; |
107 | int CompassGierSetpoint = 0; |
107 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
108 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
108 | //float Ki = FAKTOR_I; |
109 | //float Ki = FAKTOR_I; |
109 | int Ki = 10300 / 33; |
110 | int Ki = 10300 / 33; |
110 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
111 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
111 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
112 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
112 | 113 | ||
113 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
114 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
114 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
115 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
115 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
116 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
116 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
117 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
117 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
118 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
118 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
119 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
119 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
120 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
120 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
121 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
121 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
122 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
122 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
125 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
125 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
126 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
126 | unsigned char Parameter_UserParam1 = 0; |
127 | unsigned char Parameter_UserParam1 = 0; |
127 | unsigned char Parameter_UserParam2 = 0; |
128 | unsigned char Parameter_UserParam2 = 0; |
128 | unsigned char Parameter_UserParam3 = 0; |
129 | unsigned char Parameter_UserParam3 = 0; |
129 | unsigned char Parameter_UserParam4 = 0; |
130 | unsigned char Parameter_UserParam4 = 0; |
130 | unsigned char Parameter_UserParam5 = 0; |
131 | unsigned char Parameter_UserParam5 = 0; |
131 | unsigned char Parameter_UserParam6 = 0; |
132 | unsigned char Parameter_UserParam6 = 0; |
132 | unsigned char Parameter_UserParam7 = 0; |
133 | unsigned char Parameter_UserParam7 = 0; |
133 | unsigned char Parameter_UserParam8 = 0; |
134 | unsigned char Parameter_UserParam8 = 0; |
134 | unsigned char Parameter_ServoNickControl = 100; |
135 | unsigned char Parameter_ServoNickControl = 100; |
135 | unsigned char Parameter_ServoRollControl = 100; |
136 | unsigned char Parameter_ServoRollControl = 100; |
136 | unsigned char Parameter_LoopGasLimit = 70; |
137 | unsigned char Parameter_LoopGasLimit = 70; |
137 | unsigned char Parameter_AchsKopplung1 = 90; |
138 | unsigned char Parameter_AchsKopplung1 = 90; |
138 | unsigned char Parameter_AchsKopplung2 = 65; |
139 | unsigned char Parameter_AchsKopplung2 = 65; |
139 | unsigned char Parameter_CouplingYawCorrection = 64; |
140 | unsigned char Parameter_CouplingYawCorrection = 64; |
140 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
141 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
141 | unsigned char Parameter_DynamicStability = 100; |
142 | unsigned char Parameter_DynamicStability = 100; |
142 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
143 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
143 | unsigned char Parameter_J16Timing; // for the J16 Output |
144 | unsigned char Parameter_J16Timing; // for the J16 Output |
144 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
145 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
145 | unsigned char Parameter_J17Timing; // for the J17 Output |
146 | unsigned char Parameter_J17Timing; // for the J17 Output |
146 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
147 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
147 | unsigned char Parameter_NaviGpsGain; |
148 | unsigned char Parameter_NaviGpsGain; |
148 | unsigned char Parameter_NaviGpsP; |
149 | unsigned char Parameter_NaviGpsP; |
149 | unsigned char Parameter_NaviGpsI; |
150 | unsigned char Parameter_NaviGpsI; |
150 | unsigned char Parameter_NaviGpsD; |
151 | unsigned char Parameter_NaviGpsD; |
151 | unsigned char Parameter_NaviGpsACC; |
152 | unsigned char Parameter_NaviGpsACC; |
152 | unsigned char Parameter_NaviOperatingRadius; |
153 | unsigned char Parameter_NaviOperatingRadius; |
153 | unsigned char Parameter_NaviWindCorrection; |
154 | unsigned char Parameter_NaviWindCorrection; |
154 | unsigned char Parameter_NaviSpeedCompensation; |
155 | unsigned char Parameter_NaviSpeedCompensation; |
155 | unsigned char Parameter_ExternalControl; |
156 | unsigned char Parameter_ExternalControl; |
156 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
157 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
157 | unsigned char CareFree = 0; |
158 | unsigned char CareFree = 0; |
158 | 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}; |
159 | 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}; |
159 | 160 | ||
160 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
161 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
161 | int MaxStickNick = 0,MaxStickRoll = 0; |
162 | int MaxStickNick = 0,MaxStickRoll = 0; |
162 | unsigned int modell_fliegt = 0; |
163 | unsigned int modell_fliegt = 0; |
163 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
164 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
164 | long GIER_GRAD_FAKTOR = 1291; |
165 | long GIER_GRAD_FAKTOR = 1291; |
165 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
166 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
166 | signed int tmp_motorwert[MAX_MOTORS]; |
167 | signed int tmp_motorwert[MAX_MOTORS]; |
167 | char VarioCharacter = ' '; |
168 | char VarioCharacter = ' '; |
168 | 169 | ||
169 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
170 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
170 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
171 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
171 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
172 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
172 | 173 | ||
173 | 174 | ||
174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // Debugwerte zuordnen |
176 | // Debugwerte zuordnen |
176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
177 | void CopyDebugValues(void) |
178 | void CopyDebugValues(void) |
178 | { |
179 | { |
179 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
180 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
180 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
181 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
181 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
182 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
182 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
183 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
183 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
184 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
184 | DebugOut.Analog[5] = HoehenWert/5; |
185 | DebugOut.Analog[5] = HoehenWert/5; |
185 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
186 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
186 | DebugOut.Analog[8] = KompassValue; |
187 | DebugOut.Analog[8] = KompassValue; |
187 | DebugOut.Analog[9] = UBat; |
188 | DebugOut.Analog[9] = UBat; |
188 | DebugOut.Analog[10] = SenderOkay; |
189 | DebugOut.Analog[10] = SenderOkay; |
189 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
190 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
190 | DebugOut.Analog[12] = Motor[0].SetPoint; |
191 | DebugOut.Analog[12] = Motor[0].SetPoint; |
191 | DebugOut.Analog[13] = Motor[1].SetPoint; |
192 | DebugOut.Analog[13] = Motor[1].SetPoint; |
192 | DebugOut.Analog[14] = Motor[2].SetPoint; |
193 | DebugOut.Analog[14] = Motor[2].SetPoint; |
193 | DebugOut.Analog[15] = Motor[3].SetPoint; |
194 | DebugOut.Analog[15] = Motor[3].SetPoint; |
194 | DebugOut.Analog[20] = ServoNickValue; |
195 | DebugOut.Analog[20] = ServoNickValue; |
195 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
196 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
196 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
197 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
197 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
198 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
198 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
199 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
199 | DebugOut.Analog[27] = KompassSollWert; |
200 | DebugOut.Analog[27] = KompassSollWert; |
200 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
201 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
201 | DebugOut.Analog[30] = GPS_Nick; |
202 | DebugOut.Analog[30] = GPS_Nick; |
202 | DebugOut.Analog[31] = GPS_Roll; |
203 | DebugOut.Analog[31] = GPS_Roll; |
203 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
204 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
204 | 205 | ||
205 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
206 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
206 | } |
207 | } |
207 | 208 | ||
208 | 209 | ||
209 | 210 | ||
210 | void Piep(unsigned char Anzahl, unsigned int dauer) |
211 | void Piep(unsigned char Anzahl, unsigned int dauer) |
211 | { |
212 | { |
212 | if(MotorenEin) return; //auf keinen Fall im Flug! |
213 | if(MotorenEin) return; //auf keinen Fall im Flug! |
213 | while(Anzahl--) |
214 | while(Anzahl--) |
214 | { |
215 | { |
215 | beeptime = dauer; |
216 | beeptime = dauer; |
216 | while(beeptime); |
217 | while(beeptime); |
217 | Delay_ms(dauer * 2); |
218 | Delay_ms(dauer * 2); |
218 | } |
219 | } |
219 | } |
220 | } |
220 | 221 | ||
221 | //############################################################################ |
222 | //############################################################################ |
222 | // Messwerte beim Ermitteln der Nullage |
223 | // Messwerte beim Ermitteln der Nullage |
223 | void CalibrierMittelwert(void) |
224 | void CalibrierMittelwert(void) |
224 | //############################################################################ |
225 | //############################################################################ |
225 | { |
226 | { |
226 | unsigned char i; |
227 | unsigned char i; |
227 | if(PlatinenVersion == 13) SucheGyroOffset(); |
228 | if(PlatinenVersion == 13) SucheGyroOffset(); |
228 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
229 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
229 | ANALOG_OFF; |
230 | ANALOG_OFF; |
230 | MesswertNick = AdWertNick; |
231 | MesswertNick = AdWertNick; |
231 | MesswertRoll = AdWertRoll; |
232 | MesswertRoll = AdWertRoll; |
232 | MesswertGier = AdWertGier; |
233 | MesswertGier = AdWertGier; |
233 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
234 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
234 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
235 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
235 | // ADC einschalten |
236 | // ADC einschalten |
236 | ANALOG_ON; |
237 | ANALOG_ON; |
237 | for(i=0;i<8;i++) |
238 | for(i=0;i<8;i++) |
238 | { |
239 | { |
239 | int tmp; |
240 | int tmp; |
240 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
241 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
241 | LIMIT_MIN_MAX(tmp, 0, 255); |
242 | LIMIT_MIN_MAX(tmp, 0, 255); |
242 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
243 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
243 | } |
244 | } |
244 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
245 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
245 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
246 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
246 | } |
247 | } |
247 | 248 | ||
248 | //############################################################################ |
249 | //############################################################################ |
249 | // Nullwerte ermitteln |
250 | // Nullwerte ermitteln |
250 | void SetNeutral(unsigned char AccAdjustment) |
251 | void SetNeutral(unsigned char AccAdjustment) |
251 | //############################################################################ |
252 | //############################################################################ |
252 | { |
253 | { |
253 | unsigned char i; |
254 | unsigned char i; |
254 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
255 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
255 | VersionInfo.HardwareError[0] = 0; |
256 | VersionInfo.HardwareError[0] = 0; |
256 | HEF4017R_ON; |
257 | HEF4017R_ON; |
257 | NeutralAccX = 0; |
258 | NeutralAccX = 0; |
258 | NeutralAccY = 0; |
259 | NeutralAccY = 0; |
259 | NeutralAccZ = 0; |
260 | NeutralAccZ = 0; |
260 | 261 | ||
261 | AdNeutralNick = 0; |
262 | AdNeutralNick = 0; |
262 | AdNeutralRoll = 0; |
263 | AdNeutralRoll = 0; |
263 | AdNeutralGier = 0; |
264 | AdNeutralGier = 0; |
264 | 265 | ||
265 | Parameter_AchsKopplung1 = 0; |
266 | Parameter_AchsKopplung1 = 0; |
266 | Parameter_AchsKopplung2 = 0; |
267 | Parameter_AchsKopplung2 = 0; |
267 | 268 | ||
268 | ExpandBaro = 0; |
269 | ExpandBaro = 0; |
269 | 270 | ||
270 | CalibrierMittelwert(); |
271 | CalibrierMittelwert(); |
271 | Delay_ms_Mess(100); |
272 | Delay_ms_Mess(100); |
272 | 273 | ||
273 | CalibrierMittelwert(); |
274 | CalibrierMittelwert(); |
274 | 275 | ||
275 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
276 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
276 | { |
277 | { |
277 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
278 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
278 | } |
279 | } |
279 | #define NEUTRAL_FILTER 32 |
280 | #define NEUTRAL_FILTER 32 |
280 | for(i=0; i<NEUTRAL_FILTER; i++) |
281 | for(i=0; i<NEUTRAL_FILTER; i++) |
281 | { |
282 | { |
282 | Delay_ms_Mess(10); |
283 | Delay_ms_Mess(10); |
283 | gier_neutral += AdWertGier; |
284 | gier_neutral += AdWertGier; |
284 | nick_neutral += AdWertNick; |
285 | nick_neutral += AdWertNick; |
285 | roll_neutral += AdWertRoll; |
286 | roll_neutral += AdWertRoll; |
286 | } |
287 | } |
287 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
288 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
288 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
289 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
289 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
290 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
290 | 291 | ||
291 | StartNeutralRoll = AdNeutralRoll; |
292 | StartNeutralRoll = AdNeutralRoll; |
292 | StartNeutralNick = AdNeutralNick; |
293 | StartNeutralNick = AdNeutralNick; |
293 | 294 | ||
294 | if(AccAdjustment) |
295 | if(AccAdjustment) |
295 | { |
296 | { |
296 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
297 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
297 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
298 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
298 | NeutralAccZ = Aktuell_az; |
299 | NeutralAccZ = Aktuell_az; |
299 | 300 | ||
300 | // Save ACC neutral settings to eeprom |
301 | // Save ACC neutral settings to eeprom |
301 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
302 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
302 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
303 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
303 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
304 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
304 | } |
305 | } |
305 | else |
306 | else |
306 | { |
307 | { |
307 | // restore from eeprom |
308 | // restore from eeprom |
308 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
309 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
309 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
310 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
310 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
311 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
311 | // strange settings? |
312 | // strange settings? |
312 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
313 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
313 | { |
314 | { |
314 | printf("\n\rACC not calibrated!\r\n"); |
315 | printf("\n\rACC not calibrated!\r\n"); |
315 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
316 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
316 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
317 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
317 | NeutralAccZ = Aktuell_az; |
318 | NeutralAccZ = Aktuell_az; |
318 | } |
319 | } |
319 | } |
320 | } |
320 | 321 | ||
321 | MesswertNick = 0; |
322 | MesswertNick = 0; |
322 | MesswertRoll = 0; |
323 | MesswertRoll = 0; |
323 | MesswertGier = 0; |
324 | MesswertGier = 0; |
324 | Delay_ms_Mess(100); |
325 | Delay_ms_Mess(100); |
325 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
326 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
326 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
327 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
327 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
328 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
328 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
329 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
329 | Mess_IntegralNick2 = IntegralNick; |
330 | Mess_IntegralNick2 = IntegralNick; |
330 | Mess_IntegralRoll2 = IntegralRoll; |
331 | Mess_IntegralRoll2 = IntegralRoll; |
331 | Mess_Integral_Gier = 0; |
332 | Mess_Integral_Gier = 0; |
332 | StartLuftdruck = Luftdruck; |
333 | StartLuftdruck = Luftdruck; |
333 | VarioMeter = 0; |
334 | VarioMeter = 0; |
334 | Mess_Integral_Hoch = 0; |
335 | Mess_Integral_Hoch = 0; |
335 | KompassSollWert = KompassValue; |
336 | KompassSollWert = KompassValue; |
336 | KompassSignalSchlecht = 100; |
337 | KompassSignalSchlecht = 100; |
337 | GPS_Neutral(); |
338 | GPS_Neutral(); |
338 | beeptime = 50; |
339 | beeptime = 50; |
339 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
340 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
340 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
341 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
341 | ExternHoehenValue = 0; |
342 | ExternHoehenValue = 0; |
342 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
343 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
343 | GierGyroFehler = 0; |
344 | GierGyroFehler = 0; |
344 | SendVersionToNavi = 1; |
345 | SendVersionToNavi = 1; |
345 | LED_Init(); |
346 | LED_Init(); |
346 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
347 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
347 | FromNaviCtrl_Value.Kalman_K = -1; |
348 | FromNaviCtrl_Value.Kalman_K = -1; |
348 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
349 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
349 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
350 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
350 | - | ||
351 | for(i=0;i<8;i++) |
351 | for(i=0;i<8;i++) |
352 | { |
352 | { |
353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
354 | } |
354 | } |
355 | SenderOkay = 100; |
355 | SenderOkay = 100; |
356 | if(ServoActive) |
356 | if(ServoActive) |
357 | { |
357 | { |
358 | HEF4017R_ON; |
358 | HEF4017R_ON; |
359 | DDRD |=0x80; // enable J7 -> Servo signal |
359 | DDRD |=0x80; // enable J7 -> Servo signal |
360 | } |
360 | } |
361 | 361 | ||
362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
- | 368 | carefree_old = 70; |
|
368 | } |
369 | } |
369 | 370 | ||
370 | 371 | ||
371 | //############################################################################ |
372 | //############################################################################ |
372 | // Bearbeitet die Messwerte |
373 | // Bearbeitet die Messwerte |
373 | void Mittelwert(void) |
374 | void Mittelwert(void) |
374 | //############################################################################ |
375 | //############################################################################ |
375 | { |
376 | { |
376 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
377 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
377 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
378 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
378 | signed long winkel_nick, winkel_roll; |
379 | signed long winkel_nick, winkel_roll; |
379 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
380 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
380 | MesswertNick = (signed int) AdWertNickFilter / 8; |
381 | MesswertNick = (signed int) AdWertNickFilter / 8; |
381 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
382 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
382 | RohMesswertNick = MesswertNick; |
383 | RohMesswertNick = MesswertNick; |
383 | RohMesswertRoll = MesswertRoll; |
384 | RohMesswertRoll = MesswertRoll; |
384 | 385 | ||
385 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
386 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
386 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
387 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
387 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
388 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
388 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
389 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
389 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
390 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
390 | NaviAccNick += AdWertAccNick; |
391 | NaviAccNick += AdWertAccNick; |
391 | NaviAccRoll += AdWertAccRoll; |
392 | NaviAccRoll += AdWertAccRoll; |
392 | NaviCntAcc++; |
393 | NaviCntAcc++; |
393 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
394 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
394 | 395 | ||
395 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | // ADC einschalten |
397 | // ADC einschalten |
397 | ANALOG_ON; |
398 | ANALOG_ON; |
398 | AdReady = 0; |
399 | AdReady = 0; |
399 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
400 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
400 | 401 | ||
401 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
402 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
402 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
403 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
403 | else winkel_roll = Mess_IntegralRoll; |
404 | else winkel_roll = Mess_IntegralRoll; |
404 | 405 | ||
405 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
406 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
406 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
407 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
407 | else winkel_nick = Mess_IntegralNick; |
408 | else winkel_nick = Mess_IntegralNick; |
408 | 409 | ||
409 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
410 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
410 | Mess_Integral_Gier += MesswertGier; |
411 | Mess_Integral_Gier += MesswertGier; |
411 | ErsatzKompass += MesswertGier; |
412 | ErsatzKompass += MesswertGier; |
412 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
413 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
413 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
414 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
414 | { |
415 | { |
415 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
416 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
416 | tmpl3 *= Parameter_AchsKopplung2; //65 |
417 | tmpl3 *= Parameter_AchsKopplung2; //65 |
417 | tmpl3 /= 4096L; |
418 | tmpl3 /= 4096L; |
418 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
419 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
419 | tmpl4 *= Parameter_AchsKopplung2; //65 |
420 | tmpl4 *= Parameter_AchsKopplung2; //65 |
420 | tmpl4 /= 4096L; |
421 | tmpl4 /= 4096L; |
421 | KopplungsteilNickRoll = tmpl3; |
422 | KopplungsteilNickRoll = tmpl3; |
422 | KopplungsteilRollNick = tmpl4; |
423 | KopplungsteilRollNick = tmpl4; |
423 | tmpl4 -= tmpl3; |
424 | tmpl4 -= tmpl3; |
424 | ErsatzKompass += tmpl4; |
425 | ErsatzKompass += tmpl4; |
425 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
426 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
426 | 427 | ||
427 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
428 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
428 | tmpl *= Parameter_AchsKopplung1; // 90 |
429 | tmpl *= Parameter_AchsKopplung1; // 90 |
429 | tmpl /= 4096L; |
430 | tmpl /= 4096L; |
430 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
431 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
431 | tmpl2 *= Parameter_AchsKopplung1; |
432 | tmpl2 *= Parameter_AchsKopplung1; |
432 | tmpl2 /= 4096L; |
433 | tmpl2 /= 4096L; |
433 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
434 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
434 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
435 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
435 | } |
436 | } |
436 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
437 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
437 | TrimRoll = tmpl - tmpl2 / 100L; |
438 | TrimRoll = tmpl - tmpl2 / 100L; |
438 | TrimNick = -tmpl2 + tmpl / 100L; |
439 | TrimNick = -tmpl2 + tmpl / 100L; |
439 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
441 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
441 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
442 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
442 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
443 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
443 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
444 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
444 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
445 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
445 | if(Mess_IntegralRoll > Umschlag180Roll) |
446 | if(Mess_IntegralRoll > Umschlag180Roll) |
446 | { |
447 | { |
447 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
448 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
448 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
449 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
449 | } |
450 | } |
450 | if(Mess_IntegralRoll <-Umschlag180Roll) |
451 | if(Mess_IntegralRoll <-Umschlag180Roll) |
451 | { |
452 | { |
452 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
453 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
453 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
454 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
454 | } |
455 | } |
455 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
457 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
457 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
458 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
458 | if(Mess_IntegralNick > Umschlag180Nick) |
459 | if(Mess_IntegralNick > Umschlag180Nick) |
459 | { |
460 | { |
460 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
461 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
461 | Mess_IntegralNick2 = Mess_IntegralNick; |
462 | Mess_IntegralNick2 = Mess_IntegralNick; |
462 | } |
463 | } |
463 | if(Mess_IntegralNick <-Umschlag180Nick) |
464 | if(Mess_IntegralNick <-Umschlag180Nick) |
464 | { |
465 | { |
465 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
466 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
466 | Mess_IntegralNick2 = Mess_IntegralNick; |
467 | Mess_IntegralNick2 = Mess_IntegralNick; |
467 | } |
468 | } |
468 | 469 | ||
469 | Integral_Gier = Mess_Integral_Gier; |
470 | Integral_Gier = Mess_Integral_Gier; |
470 | IntegralNick = Mess_IntegralNick; |
471 | IntegralNick = Mess_IntegralNick; |
471 | IntegralRoll = Mess_IntegralRoll; |
472 | IntegralRoll = Mess_IntegralRoll; |
472 | IntegralNick2 = Mess_IntegralNick2; |
473 | IntegralNick2 = Mess_IntegralNick2; |
473 | IntegralRoll2 = Mess_IntegralRoll2; |
474 | IntegralRoll2 = Mess_IntegralRoll2; |
474 | 475 | ||
475 | #define D_LIMIT 128 |
476 | #define D_LIMIT 128 |
476 | 477 | ||
477 | MesswertNick = HiResNick / 8; |
478 | MesswertNick = HiResNick / 8; |
478 | MesswertRoll = HiResRoll / 8; |
479 | MesswertRoll = HiResRoll / 8; |
479 | 480 | ||
480 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
481 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
481 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
482 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
482 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
483 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
483 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
484 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
484 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
485 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
485 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
486 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
486 | 487 | ||
487 | if(Parameter_Gyro_D) |
488 | if(Parameter_Gyro_D) |
488 | { |
489 | { |
489 | d2Nick = HiResNick - oldNick; |
490 | d2Nick = HiResNick - oldNick; |
490 | oldNick = (oldNick + HiResNick)/2; |
491 | oldNick = (oldNick + HiResNick)/2; |
491 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
492 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
492 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
493 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
493 | 494 | ||
494 | d2Roll = HiResRoll - oldRoll; |
495 | d2Roll = HiResRoll - oldRoll; |
495 | oldRoll = (oldRoll + HiResRoll)/2; |
496 | oldRoll = (oldRoll + HiResRoll)/2; |
496 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
497 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
497 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
498 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
498 | 499 | ||
499 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
500 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
500 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
501 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
501 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
502 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
502 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
503 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
503 | } |
504 | } |
504 | 505 | ||
505 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
506 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
506 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
507 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
507 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
508 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
508 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
509 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
509 | 510 | ||
510 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
511 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
511 | { |
512 | { |
512 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
513 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
513 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
514 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
514 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
515 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
515 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
516 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
516 | } |
517 | } |
517 | } |
518 | } |
518 | 519 | ||
519 | //############################################################################ |
520 | //############################################################################ |
520 | // Senden der Motorwerte per I2C-Bus |
521 | // Senden der Motorwerte per I2C-Bus |
521 | void SendMotorData(void) |
522 | void SendMotorData(void) |
522 | //############################################################################ |
523 | //############################################################################ |
523 | { |
524 | { |
524 | unsigned char i; |
525 | unsigned char i; |
525 | if(!MotorenEin) |
526 | if(!MotorenEin) |
526 | { |
527 | { |
527 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
528 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
528 | for(i=0;i<MAX_MOTORS;i++) |
529 | for(i=0;i<MAX_MOTORS;i++) |
529 | { |
530 | { |
530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
531 | if(!PC_MotortestActive) MotorTest[i] = 0; |
531 | Motor[i].SetPoint = MotorTest[i]; |
532 | Motor[i].SetPoint = MotorTest[i]; |
532 | Motor[i].SetPointLowerBits = 0; |
533 | Motor[i].SetPointLowerBits = 0; |
533 | /* |
534 | /* |
534 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
535 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
536 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
536 | */ |
537 | */ |
537 | } |
538 | } |
538 | if(PC_MotortestActive) PC_MotortestActive--; |
539 | if(PC_MotortestActive) PC_MotortestActive--; |
539 | } |
540 | } |
540 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
541 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
541 | 542 | ||
542 | if(I2C_TransferActive) |
543 | if(I2C_TransferActive) |
543 | { |
544 | { |
544 | I2C_TransferActive = 0; // enable for the next time |
545 | I2C_TransferActive = 0; // enable for the next time |
545 | } |
546 | } |
546 | else |
547 | else |
547 | { |
548 | { |
548 | motor_write = 0; |
549 | motor_write = 0; |
549 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
550 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
550 | } |
551 | } |
551 | } |
552 | } |
552 | 553 | ||
553 | 554 | ||
554 | 555 | ||
555 | //############################################################################ |
556 | //############################################################################ |
556 | // Trägt ggf. das Poti als Parameter ein |
557 | // Trägt ggf. das Poti als Parameter ein |
557 | void ParameterZuordnung(void) |
558 | void ParameterZuordnung(void) |
558 | //############################################################################ |
559 | //############################################################################ |
559 | { |
560 | { |
560 | unsigned char tmp,i; |
561 | unsigned char tmp,i; |
561 | static unsigned char carefree_old = 2; |
- | |
562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
564 | for(i=0;i<8;i++) |
564 | for(i=0;i<8;i++) |
565 | { |
565 | { |
566 | int tmp2; |
566 | int tmp2; |
567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
569 | if(tmp2 != Poti[i]) |
569 | if(tmp2 != Poti[i]) |
570 | { |
570 | { |
571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
572 | if(Poti[i] > tmp2) Poti[i]--; |
572 | if(Poti[i] > tmp2) Poti[i]--; |
573 | else Poti[i]++; |
573 | else Poti[i]++; |
574 | } |
574 | } |
575 | } |
575 | } |
576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
612 | MAX_GAS = EE_Parameter.Gas_Max; |
612 | MAX_GAS = EE_Parameter.Gas_Max; |
613 | MIN_GAS = EE_Parameter.Gas_Min; |
613 | MIN_GAS = EE_Parameter.Gas_Min; |
614 | 614 | ||
615 | tmp = EE_Parameter.OrientationModeControl; |
615 | tmp = EE_Parameter.OrientationModeControl; |
616 | if(tmp > 50) |
616 | if(tmp > 50) |
617 | { |
617 | { |
618 | #ifdef SWITCH_LEARNS_CAREFREE |
618 | #ifdef SWITCH_LEARNS_CAREFREE |
619 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
619 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
620 | #endif |
620 | #endif |
621 | CareFree = 1; |
621 | CareFree = 1; |
622 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
622 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
623 | if(carefree_old == 0 && CareFree) beeptime = 1000; |
623 | if(carefree_old != CareFree) |
- | 624 | { |
|
- | 625 | if(carefree_old < 3) |
|
- | 626 | { |
|
624 | if(carefree_old == 1 && !CareFree) beeptime = 200; |
627 | if(CareFree) beeptime = 1500; |
- | 628 | else beeptime = 200; |
|
625 | carefree_old = CareFree; |
629 | carefree_old = CareFree; |
- | 630 | } else carefree_old--; |
|
- | 631 | } |
|
626 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
632 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
627 | } |
633 | } |
628 | else |
634 | else |
629 | { |
635 | { |
630 | CareFree = 0; |
636 | CareFree = 0; |
631 | carefree_old = 0; |
637 | carefree_old = 10; |
632 | } |
638 | } |
633 | 639 | ||
634 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
640 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
635 | { |
641 | { |
636 | beeptime = 15000; |
642 | beeptime = 15000; |
637 | BeepMuster = 0xA400; |
643 | BeepMuster = 0xA400; |
638 | CareFree = 0; |
644 | CareFree = 0; |
639 | } |
645 | } |
640 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
646 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
641 | } |
647 | } |
642 | 648 | ||
643 | //############################################################################ |
649 | //############################################################################ |
644 | // |
650 | // |
645 | void MotorRegler(void) |
651 | void MotorRegler(void) |
646 | //############################################################################ |
652 | //############################################################################ |
647 | { |
653 | { |
648 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
654 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
649 | int GierMischanteil,GasMischanteil; |
655 | int GierMischanteil,GasMischanteil; |
650 | static long sollGier = 0,tmp_long,tmp_long2; |
656 | static long sollGier = 0,tmp_long,tmp_long2; |
651 | static long IntegralFehlerNick = 0; |
657 | static long IntegralFehlerNick = 0; |
652 | static long IntegralFehlerRoll = 0; |
658 | static long IntegralFehlerRoll = 0; |
653 | static unsigned int RcLostTimer; |
659 | static unsigned int RcLostTimer; |
654 | static unsigned char delay_neutral = 0; |
660 | static unsigned char delay_neutral = 0; |
655 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
661 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
656 | static unsigned char calibration_done = 0; |
662 | static unsigned char calibration_done = 0; |
657 | static char NeueKompassRichtungMerken = 0; |
663 | static char NeueKompassRichtungMerken = 0; |
658 | static long ausgleichNick, ausgleichRoll; |
664 | static long ausgleichNick, ausgleichRoll; |
659 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
665 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
660 | unsigned char i; |
666 | unsigned char i; |
661 | Mittelwert(); |
667 | Mittelwert(); |
662 | GRN_ON; |
668 | GRN_ON; |
663 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
664 | // Gaswert ermitteln |
670 | // Gaswert ermitteln |
665 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
666 | GasMischanteil = StickGas; |
672 | GasMischanteil = StickGas; |
667 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
673 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
668 | 674 | ||
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | // Empfang schlecht |
676 | // Empfang schlecht |
671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
672 | if(SenderOkay < 100) |
678 | if(SenderOkay < 100) |
673 | { |
679 | { |
674 | if(RcLostTimer) RcLostTimer--; |
680 | if(RcLostTimer) RcLostTimer--; |
675 | else |
681 | else |
676 | { |
682 | { |
677 | MotorenEin = 0; |
683 | MotorenEin = 0; |
678 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
684 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
679 | } |
685 | } |
680 | ROT_ON; |
686 | ROT_ON; |
681 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
687 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
682 | { |
688 | { |
683 | GasMischanteil = EE_Parameter.NotGas; |
689 | GasMischanteil = EE_Parameter.NotGas; |
684 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
690 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
685 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
691 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
686 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
692 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
687 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
693 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
688 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
694 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
689 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
695 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
690 | } |
696 | } |
691 | else MotorenEin = 0; |
697 | else MotorenEin = 0; |
692 | } |
698 | } |
693 | else |
699 | else |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
695 | // Emfang gut |
701 | // Emfang gut |
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
697 | if(SenderOkay > 140) |
703 | if(SenderOkay > 140) |
698 | { |
704 | { |
699 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
705 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
700 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
706 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
701 | if(GasMischanteil > 40 && MotorenEin) |
707 | if(GasMischanteil > 40 && MotorenEin) |
702 | { |
708 | { |
703 | if(modell_fliegt < 0xffff) modell_fliegt++; |
709 | if(modell_fliegt < 0xffff) modell_fliegt++; |
704 | } |
710 | } |
705 | if((modell_fliegt < 256)) |
711 | if((modell_fliegt < 256)) |
706 | { |
712 | { |
707 | SummeNick = 0; |
713 | SummeNick = 0; |
708 | SummeRoll = 0; |
714 | SummeRoll = 0; |
709 | sollGier = 0; |
715 | sollGier = 0; |
710 | Mess_Integral_Gier = 0; |
716 | Mess_Integral_Gier = 0; |
711 | } else FC_StatusFlags |= FC_STATUS_FLY; |
717 | } else FC_StatusFlags |= FC_STATUS_FLY; |
712 | 718 | ||
713 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
719 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
714 | { |
720 | { |
715 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
721 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
716 | // auf Nullwerte kalibrieren |
722 | // auf Nullwerte kalibrieren |
717 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
718 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
724 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
719 | { |
725 | { |
720 | if(++delay_neutral > 200) // nicht sofort |
726 | if(++delay_neutral > 200) // nicht sofort |
721 | { |
727 | { |
722 | GRN_OFF; |
728 | GRN_OFF; |
723 | MotorenEin = 0; |
729 | MotorenEin = 0; |
724 | delay_neutral = 0; |
730 | delay_neutral = 0; |
725 | modell_fliegt = 0; |
731 | modell_fliegt = 0; |
726 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
727 | { |
733 | { |
728 | unsigned char setting=1; |
734 | unsigned char setting=1; |
729 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
735 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
733 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
734 | SetActiveParamSet(setting); // aktiven Datensatz merken |
740 | SetActiveParamSet(setting); // aktiven Datensatz merken |
735 | } |
741 | } |
736 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
742 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
737 | { |
743 | { |
738 | WinkelOut.CalcState = 1; |
744 | WinkelOut.CalcState = 1; |
739 | beeptime = 1000; |
745 | beeptime = 1000; |
740 | } |
746 | } |
741 | else |
747 | else |
742 | { |
748 | { |
743 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
749 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
744 | LipoDetection(0); |
750 | LipoDetection(0); |
745 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
751 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
746 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
752 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
747 | { |
753 | { |
748 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
754 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
749 | } |
755 | } |
750 | ServoActive = 0; |
756 | ServoActive = 0; |
751 | SetNeutral(0); |
757 | SetNeutral(0); |
752 | calibration_done = 1; |
758 | calibration_done = 1; |
753 | ServoActive = 1; |
759 | ServoActive = 1; |
754 | DDRD |=0x80; // enable J7 -> Servo signal |
760 | DDRD |=0x80; // enable J7 -> Servo signal |
755 | Piep(GetActiveParamSet(),120); |
761 | Piep(GetActiveParamSet(),120); |
756 | } |
762 | } |
757 | } |
763 | } |
758 | } |
764 | } |
759 | else |
765 | else |
760 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
766 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
761 | { |
767 | { |
762 | if(++delay_neutral > 200) // nicht sofort |
768 | if(++delay_neutral > 200) // nicht sofort |
763 | { |
769 | { |
764 | GRN_OFF; |
770 | GRN_OFF; |
765 | MotorenEin = 0; |
771 | MotorenEin = 0; |
766 | delay_neutral = 0; |
772 | delay_neutral = 0; |
767 | modell_fliegt = 0; |
773 | modell_fliegt = 0; |
768 | SetNeutral(1); |
774 | SetNeutral(1); |
769 | calibration_done = 1; |
775 | calibration_done = 1; |
770 | Piep(GetActiveParamSet(),120); |
776 | Piep(GetActiveParamSet(),120); |
771 | } |
777 | } |
772 | } |
778 | } |
773 | else delay_neutral = 0; |
779 | else delay_neutral = 0; |
774 | } |
780 | } |
775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
781 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
776 | // Gas ist unten |
782 | // Gas ist unten |
777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
783 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
778 | 784 | ||
779 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
785 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
780 | { |
786 | { |
781 | // Motoren Starten |
787 | // Motoren Starten |
782 | if(!MotorenEin) |
788 | if(!MotorenEin) |
783 | { |
789 | { |
784 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
790 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
785 | { |
791 | { |
786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
787 | // Einschalten |
793 | // Einschalten |
788 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
789 | if(++delay_einschalten > 200) |
795 | if(++delay_einschalten > 200) |
790 | { |
796 | { |
791 | delay_einschalten = 0; |
797 | delay_einschalten = 0; |
792 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
798 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
793 | { |
799 | { |
794 | modell_fliegt = 1; |
800 | modell_fliegt = 1; |
795 | MotorenEin = 1; |
801 | MotorenEin = 1; |
796 | sollGier = 0; |
802 | sollGier = 0; |
797 | Mess_Integral_Gier = 0; |
803 | Mess_Integral_Gier = 0; |
798 | Mess_Integral_Gier2 = 0; |
804 | Mess_Integral_Gier2 = 0; |
799 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
805 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
800 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
806 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
801 | Mess_IntegralNick2 = IntegralNick; |
807 | Mess_IntegralNick2 = IntegralNick; |
802 | Mess_IntegralRoll2 = IntegralRoll; |
808 | Mess_IntegralRoll2 = IntegralRoll; |
803 | SummeNick = 0; |
809 | SummeNick = 0; |
804 | SummeRoll = 0; |
810 | SummeRoll = 0; |
805 | FC_StatusFlags |= FC_STATUS_START; |
811 | FC_StatusFlags |= FC_STATUS_START; |
806 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
812 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
807 | NeueKompassRichtungMerken = 100; // 2 sekunden |
813 | NeueKompassRichtungMerken = 100; // 2 sekunden |
808 | } |
814 | } |
809 | else |
815 | else |
810 | { |
816 | { |
811 | beeptime = 1500; // indicate missing calibration |
817 | beeptime = 1500; // indicate missing calibration |
812 | } |
818 | } |
813 | } |
819 | } |
814 | } |
820 | } |
815 | else delay_einschalten = 0; |
821 | else delay_einschalten = 0; |
816 | } |
822 | } |
817 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
818 | // Auschalten |
824 | // Auschalten |
819 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
820 | else // only if motors are running |
826 | else // only if motors are running |
821 | { |
827 | { |
822 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
828 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
823 | { |
829 | { |
824 | if(++delay_ausschalten > 200) // nicht sofort |
830 | if(++delay_ausschalten > 200) // nicht sofort |
825 | { |
831 | { |
826 | MotorenEin = 0; |
832 | MotorenEin = 0; |
827 | delay_ausschalten = 0; |
833 | delay_ausschalten = 0; |
828 | modell_fliegt = 0; |
834 | modell_fliegt = 0; |
829 | } |
835 | } |
830 | } |
836 | } |
831 | else delay_ausschalten = 0; |
837 | else delay_ausschalten = 0; |
832 | } |
838 | } |
833 | } |
839 | } |
834 | } |
840 | } |
835 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
841 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
836 | // neue Werte von der Funke |
842 | // neue Werte von der Funke |
837 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
843 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
838 | 844 | ||
839 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
845 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
840 | { |
846 | { |
841 | static int stick_nick,stick_roll; |
847 | static int stick_nick,stick_roll; |
842 | ParameterZuordnung(); |
848 | ParameterZuordnung(); |
843 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
849 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
844 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
850 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
845 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
851 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
846 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
852 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
847 | 853 | ||
848 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | // CareFree und freie Wahl der vorderen Richtung |
855 | // CareFree und freie Wahl der vorderen Richtung |
850 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | if(CareFree) |
857 | if(CareFree) |
852 | { |
858 | { |
853 | signed int nick, roll; |
859 | signed int nick, roll; |
854 | nick = stick_nick / 4; |
860 | nick = stick_nick / 4; |
855 | roll = stick_roll / 4; |
861 | roll = stick_roll / 4; |
856 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
862 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
857 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
863 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
858 | } |
864 | } |
859 | else |
865 | else |
860 | { |
866 | { |
861 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
867 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
862 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
868 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
863 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
869 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
864 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
870 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
865 | } |
871 | } |
866 | 872 | ||
867 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
873 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
868 | if(StickGier > 4) StickGier -= 4; else |
874 | if(StickGier > 4) StickGier -= 4; else |
869 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
875 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
870 | 876 | ||
871 | StickNick -= (GPS_Nick + GPS_Nick2); |
877 | StickNick -= (GPS_Nick + GPS_Nick2); |
872 | StickRoll -= (GPS_Roll + GPS_Roll2); |
878 | StickRoll -= (GPS_Roll + GPS_Roll2); |
873 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
879 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
874 | 880 | ||
875 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
881 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
876 | IntegralFaktor = Parameter_Gyro_I; |
882 | IntegralFaktor = Parameter_Gyro_I; |
877 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
883 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
878 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
884 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
879 | 885 | ||
880 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
881 | //+ Analoge Steuerung per Seriell |
887 | //+ Analoge Steuerung per Seriell |
882 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
888 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
883 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
889 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
884 | { |
890 | { |
885 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
891 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
886 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
892 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
887 | StickGier += ExternControl.Gier; |
893 | StickGier += ExternControl.Gier; |
888 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
894 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
889 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
895 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
890 | } |
896 | } |
891 | if(StickGas < 0) StickGas = 0; |
897 | if(StickGas < 0) StickGas = 0; |
892 | 898 | ||
893 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
899 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
894 | 900 | ||
895 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
901 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
896 | { |
902 | { |
897 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
903 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
898 | if(MaxStickNick > 100) MaxStickNick = 100; |
904 | if(MaxStickNick > 100) MaxStickNick = 100; |
899 | } |
905 | } |
900 | else MaxStickNick--; |
906 | else MaxStickNick--; |
901 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
907 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
902 | { |
908 | { |
903 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
909 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
904 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
910 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
905 | } |
911 | } |
906 | else MaxStickRoll--; |
912 | else MaxStickRoll--; |
907 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
913 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
908 | 914 | ||
909 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
910 | // Looping? |
916 | // Looping? |
911 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
917 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
912 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
918 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
913 | else |
919 | else |
914 | { |
920 | { |
915 | { |
921 | { |
916 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
922 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
917 | } |
923 | } |
918 | } |
924 | } |
919 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
925 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
920 | else |
926 | else |
921 | { |
927 | { |
922 | if(Looping_Rechts) // Hysterese |
928 | if(Looping_Rechts) // Hysterese |
923 | { |
929 | { |
924 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
930 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
925 | } |
931 | } |
926 | } |
932 | } |
927 | 933 | ||
928 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
929 | else |
935 | else |
930 | { |
936 | { |
931 | if(Looping_Oben) // Hysterese |
937 | if(Looping_Oben) // Hysterese |
932 | { |
938 | { |
933 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
939 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
934 | } |
940 | } |
935 | } |
941 | } |
936 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
942 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
937 | else |
943 | else |
938 | { |
944 | { |
939 | if(Looping_Unten) // Hysterese |
945 | if(Looping_Unten) // Hysterese |
940 | { |
946 | { |
941 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
947 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
942 | } |
948 | } |
943 | } |
949 | } |
944 | 950 | ||
945 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
951 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
946 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
952 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
947 | } // Ende neue Funken-Werte |
953 | } // Ende neue Funken-Werte |
948 | 954 | ||
949 | if(Looping_Roll || Looping_Nick) |
955 | if(Looping_Roll || Looping_Nick) |
950 | { |
956 | { |
951 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
957 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
952 | TrichterFlug = 1; |
958 | TrichterFlug = 1; |
953 | } |
959 | } |
954 | 960 | ||
955 | 961 | ||
956 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
962 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
957 | // Bei Empfangsausfall im Flug |
963 | // Bei Empfangsausfall im Flug |
958 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
964 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
959 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
965 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
960 | { |
966 | { |
961 | StickGier = 0; |
967 | StickGier = 0; |
962 | StickNick = 0; |
968 | StickNick = 0; |
963 | StickRoll = 0; |
969 | StickRoll = 0; |
964 | GyroFaktor = 90; |
970 | GyroFaktor = 90; |
965 | IntegralFaktor = 120; |
971 | IntegralFaktor = 120; |
966 | GyroFaktorGier = 90; |
972 | GyroFaktorGier = 90; |
967 | IntegralFaktorGier = 120; |
973 | IntegralFaktorGier = 120; |
968 | Looping_Roll = 0; |
974 | Looping_Roll = 0; |
969 | Looping_Nick = 0; |
975 | Looping_Nick = 0; |
970 | } |
976 | } |
971 | 977 | ||
972 | 978 | ||
973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
974 | // Integrale auf ACC-Signal abgleichen |
980 | // Integrale auf ACC-Signal abgleichen |
975 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
981 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
976 | #define ABGLEICH_ANZAHL 256L |
982 | #define ABGLEICH_ANZAHL 256L |
977 | 983 | ||
978 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
984 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
979 | MittelIntegralRoll += IntegralRoll; |
985 | MittelIntegralRoll += IntegralRoll; |
980 | MittelIntegralNick2 += IntegralNick2; |
986 | MittelIntegralNick2 += IntegralNick2; |
981 | MittelIntegralRoll2 += IntegralRoll2; |
987 | MittelIntegralRoll2 += IntegralRoll2; |
982 | 988 | ||
983 | if(Looping_Nick || Looping_Roll) |
989 | if(Looping_Nick || Looping_Roll) |
984 | { |
990 | { |
985 | IntegralAccNick = 0; |
991 | IntegralAccNick = 0; |
986 | IntegralAccRoll = 0; |
992 | IntegralAccRoll = 0; |
987 | MittelIntegralNick = 0; |
993 | MittelIntegralNick = 0; |
988 | MittelIntegralRoll = 0; |
994 | MittelIntegralRoll = 0; |
989 | MittelIntegralNick2 = 0; |
995 | MittelIntegralNick2 = 0; |
990 | MittelIntegralRoll2 = 0; |
996 | MittelIntegralRoll2 = 0; |
991 | Mess_IntegralNick2 = Mess_IntegralNick; |
997 | Mess_IntegralNick2 = Mess_IntegralNick; |
992 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
998 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
993 | ZaehlMessungen = 0; |
999 | ZaehlMessungen = 0; |
994 | LageKorrekturNick = 0; |
1000 | LageKorrekturNick = 0; |
995 | LageKorrekturRoll = 0; |
1001 | LageKorrekturRoll = 0; |
996 | } |
1002 | } |
997 | 1003 | ||
998 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1004 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
999 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1005 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1000 | { |
1006 | { |
1001 | long tmp_long, tmp_long2; |
1007 | long tmp_long, tmp_long2; |
1002 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1008 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1003 | { |
1009 | { |
1004 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1010 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1005 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1011 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1006 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1012 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1007 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1013 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1008 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1014 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1009 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1015 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1010 | { |
1016 | { |
1011 | tmp_long /= 2; |
1017 | tmp_long /= 2; |
1012 | tmp_long2 /= 2; |
1018 | tmp_long2 /= 2; |
1013 | } |
1019 | } |
1014 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1020 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1015 | { |
1021 | { |
1016 | tmp_long /= 3; |
1022 | tmp_long /= 3; |
1017 | tmp_long2 /= 3; |
1023 | tmp_long2 /= 3; |
1018 | } |
1024 | } |
1019 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1025 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1020 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1026 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1021 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1027 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1022 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1028 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1023 | } |
1029 | } |
1024 | else |
1030 | else |
1025 | { |
1031 | { |
1026 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1032 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1027 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1033 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1028 | tmp_long /= 16; |
1034 | tmp_long /= 16; |
1029 | tmp_long2 /= 16; |
1035 | tmp_long2 /= 16; |
1030 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1036 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1031 | { |
1037 | { |
1032 | tmp_long /= 3; |
1038 | tmp_long /= 3; |
1033 | tmp_long2 /= 3; |
1039 | tmp_long2 /= 3; |
1034 | } |
1040 | } |
1035 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1041 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1036 | { |
1042 | { |
1037 | tmp_long /= 3; |
1043 | tmp_long /= 3; |
1038 | tmp_long2 /= 3; |
1044 | tmp_long2 /= 3; |
1039 | } |
1045 | } |
1040 | KompassFusion = 25; |
1046 | KompassFusion = 25; |
1041 | #define AUSGLEICH 32 |
1047 | #define AUSGLEICH 32 |
1042 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1048 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1043 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1049 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1044 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1050 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1045 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1051 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1046 | } |
1052 | } |
1047 | 1053 | ||
1048 | Mess_IntegralNick -= tmp_long; |
1054 | Mess_IntegralNick -= tmp_long; |
1049 | Mess_IntegralRoll -= tmp_long2; |
1055 | Mess_IntegralRoll -= tmp_long2; |
1050 | } |
1056 | } |
1051 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1057 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1052 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1058 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1053 | { |
1059 | { |
1054 | static int cnt = 0; |
1060 | static int cnt = 0; |
1055 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1061 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1056 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1062 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1057 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1063 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1058 | { |
1064 | { |
1059 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1065 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1060 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1066 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1061 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1067 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1062 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1068 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1063 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1069 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1064 | #define MAX_I 0 |
1070 | #define MAX_I 0 |
1065 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1071 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1066 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1072 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1067 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1073 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1068 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1074 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1069 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1075 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1070 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1076 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1071 | 1077 | ||
1072 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1078 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1073 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1079 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1074 | 1080 | ||
1075 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1081 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1076 | { |
1082 | { |
1077 | LageKorrekturNick /= 2; |
1083 | LageKorrekturNick /= 2; |
1078 | LageKorrekturRoll /= 2; |
1084 | LageKorrekturRoll /= 2; |
1079 | } |
1085 | } |
1080 | 1086 | ||
1081 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1082 | // Gyro-Drift ermitteln |
1088 | // Gyro-Drift ermitteln |
1083 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1084 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1090 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1085 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1091 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1086 | tmp_long = IntegralNick2 - IntegralNick; |
1092 | tmp_long = IntegralNick2 - IntegralNick; |
1087 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1093 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1088 | 1094 | ||
1089 | IntegralFehlerNick = tmp_long; |
1095 | IntegralFehlerNick = tmp_long; |
1090 | IntegralFehlerRoll = tmp_long2; |
1096 | IntegralFehlerRoll = tmp_long2; |
1091 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1097 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1092 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1098 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1093 | 1099 | ||
1094 | if(EE_Parameter.Driftkomp) |
1100 | if(EE_Parameter.Driftkomp) |
1095 | { |
1101 | { |
1096 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1102 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1097 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1103 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1098 | } |
1104 | } |
1099 | GierGyroFehler = 0; |
1105 | GierGyroFehler = 0; |
1100 | 1106 | ||
1101 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1107 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1102 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1108 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1103 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1109 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1104 | #define BEWEGUNGS_LIMIT 20000 |
1110 | #define BEWEGUNGS_LIMIT 20000 |
1105 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1111 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1106 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1112 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1107 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1113 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1108 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1114 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1109 | { |
1115 | { |
1110 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1116 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1111 | { |
1117 | { |
1112 | if(last_n_p) |
1118 | if(last_n_p) |
1113 | { |
1119 | { |
1114 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1120 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1115 | ausgleichNick = IntegralFehlerNick / 8; |
1121 | ausgleichNick = IntegralFehlerNick / 8; |
1116 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1122 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1117 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1123 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1118 | } |
1124 | } |
1119 | else last_n_p = 1; |
1125 | else last_n_p = 1; |
1120 | } else last_n_p = 0; |
1126 | } else last_n_p = 0; |
1121 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1127 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1122 | { |
1128 | { |
1123 | if(last_n_n) |
1129 | if(last_n_n) |
1124 | { |
1130 | { |
1125 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1131 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1126 | ausgleichNick = IntegralFehlerNick / 8; |
1132 | ausgleichNick = IntegralFehlerNick / 8; |
1127 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1133 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1128 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1134 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1129 | } |
1135 | } |
1130 | else last_n_n = 1; |
1136 | else last_n_n = 1; |
1131 | } else last_n_n = 0; |
1137 | } else last_n_n = 0; |
1132 | } |
1138 | } |
1133 | else |
1139 | else |
1134 | { |
1140 | { |
1135 | cnt = 0; |
1141 | cnt = 0; |
1136 | KompassSignalSchlecht = 100; |
1142 | KompassSignalSchlecht = 100; |
1137 | } |
1143 | } |
1138 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1144 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1139 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1145 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1140 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1146 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1141 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1147 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1142 | 1148 | ||
1143 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1149 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1144 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1150 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1145 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1151 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1146 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1152 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1147 | { |
1153 | { |
1148 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1154 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1149 | { |
1155 | { |
1150 | if(last_r_p) |
1156 | if(last_r_p) |
1151 | { |
1157 | { |
1152 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1158 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1153 | ausgleichRoll = IntegralFehlerRoll / 8; |
1159 | ausgleichRoll = IntegralFehlerRoll / 8; |
1154 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1160 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1155 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1161 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1156 | } |
1162 | } |
1157 | else last_r_p = 1; |
1163 | else last_r_p = 1; |
1158 | } else last_r_p = 0; |
1164 | } else last_r_p = 0; |
1159 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1165 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1160 | { |
1166 | { |
1161 | if(last_r_n) |
1167 | if(last_r_n) |
1162 | { |
1168 | { |
1163 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1169 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1164 | ausgleichRoll = IntegralFehlerRoll / 8; |
1170 | ausgleichRoll = IntegralFehlerRoll / 8; |
1165 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1171 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1166 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1172 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1167 | } |
1173 | } |
1168 | else last_r_n = 1; |
1174 | else last_r_n = 1; |
1169 | } else last_r_n = 0; |
1175 | } else last_r_n = 0; |
1170 | } else |
1176 | } else |
1171 | { |
1177 | { |
1172 | cnt = 0; |
1178 | cnt = 0; |
1173 | KompassSignalSchlecht = 100; |
1179 | KompassSignalSchlecht = 100; |
1174 | } |
1180 | } |
1175 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1181 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1176 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1182 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1177 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1183 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1178 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1184 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1179 | } |
1185 | } |
1180 | else |
1186 | else |
1181 | { |
1187 | { |
1182 | LageKorrekturRoll = 0; |
1188 | LageKorrekturRoll = 0; |
1183 | LageKorrekturNick = 0; |
1189 | LageKorrekturNick = 0; |
1184 | TrichterFlug = 0; |
1190 | TrichterFlug = 0; |
1185 | } |
1191 | } |
1186 | 1192 | ||
1187 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1193 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1188 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1189 | MittelIntegralNick_Alt = MittelIntegralNick; |
1195 | MittelIntegralNick_Alt = MittelIntegralNick; |
1190 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1196 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1191 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1192 | IntegralAccNick = 0; |
1198 | IntegralAccNick = 0; |
1193 | IntegralAccRoll = 0; |
1199 | IntegralAccRoll = 0; |
1194 | IntegralAccZ = 0; |
1200 | IntegralAccZ = 0; |
1195 | MittelIntegralNick = 0; |
1201 | MittelIntegralNick = 0; |
1196 | MittelIntegralRoll = 0; |
1202 | MittelIntegralRoll = 0; |
1197 | MittelIntegralNick2 = 0; |
1203 | MittelIntegralNick2 = 0; |
1198 | MittelIntegralRoll2 = 0; |
1204 | MittelIntegralRoll2 = 0; |
1199 | ZaehlMessungen = 0; |
1205 | ZaehlMessungen = 0; |
1200 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1206 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1201 | 1207 | ||
1202 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | // Gieren |
1209 | // Gieren |
1204 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1210 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1205 | if(abs(StickGier) > 3) // war 15 |
1211 | if(abs(StickGier) > 3) // war 15 |
1206 | { |
1212 | { |
1207 | // KompassSignalSchlecht = 1000; |
1213 | // KompassSignalSchlecht = 1000; |
1208 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1214 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1209 | { |
1215 | { |
1210 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1216 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1211 | }; |
1217 | }; |
1212 | } |
1218 | } |
1213 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1219 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1214 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1220 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1215 | tmp_int += CompassGierSetpoint; |
1221 | tmp_int += CompassGierSetpoint; |
1216 | sollGier = tmp_int; |
1222 | sollGier = tmp_int; |
1217 | Mess_Integral_Gier -= tmp_int; |
1223 | Mess_Integral_Gier -= tmp_int; |
1218 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1224 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1219 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1225 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1220 | 1226 | ||
1221 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1227 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1222 | // Kompass |
1228 | // Kompass |
1223 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1229 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1230 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1225 | { |
1231 | { |
1226 | if(CalculateCompassTimer-- == 1) |
1232 | if(CalculateCompassTimer-- == 1) |
1227 | { |
1233 | { |
1228 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1234 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1229 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1235 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1230 | // max. Korrekturwert schätzen |
1236 | // max. Korrekturwert schätzen |
1231 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1237 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1232 | v = abs(IntegralRoll /512); |
1238 | v = abs(IntegralRoll /512); |
1233 | if(v > w) w = v; // grösste Neigung ermitteln |
1239 | if(v > w) w = v; // grösste Neigung ermitteln |
1234 | korrektur = w / 4 + 1; |
1240 | korrektur = w / 4 + 1; |
1235 | // Kompassfehlerwert bestimmen |
1241 | // Kompassfehlerwert bestimmen |
1236 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1242 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1237 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1243 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1238 | 1244 | ||
1239 | // Kompasswert einloggen |
1245 | // Kompasswert einloggen |
1240 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1246 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1241 | else |
1247 | else |
1242 | if(w < 25) |
1248 | if(w < 25) |
1243 | { |
1249 | { |
1244 | GierGyroFehler += fehler; |
1250 | GierGyroFehler += fehler; |
1245 | if(NeueKompassRichtungMerken) |
1251 | if(NeueKompassRichtungMerken) |
1246 | { |
1252 | { |
1247 | if(--NeueKompassRichtungMerken == 0) |
1253 | if(--NeueKompassRichtungMerken == 0) |
1248 | { |
1254 | { |
1249 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1255 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1250 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1256 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1251 | } |
1257 | } |
1252 | } |
1258 | } |
1253 | } |
1259 | } |
1254 | // Kompass fusionieren |
1260 | // Kompass fusionieren |
1255 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1261 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1256 | 1262 | ||
1257 | // MK Gieren |
1263 | // MK Gieren |
1258 | if(!NeueKompassRichtungMerken) |
1264 | if(!NeueKompassRichtungMerken) |
1259 | { |
1265 | { |
1260 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1266 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1261 | DebugOut.Analog[19] = r; |
1267 | DebugOut.Analog[19] = r; |
1262 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1268 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1263 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
1269 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
1264 | CompassGierSetpoint = v / 16; |
1270 | CompassGierSetpoint = v / 16; |
1265 | } |
1271 | } |
1266 | else CompassGierSetpoint = 0; |
1272 | else CompassGierSetpoint = 0; |
1267 | 1273 | ||
1268 | /* |
1274 | /* |
1269 | DebugOut.Analog[16] = fehler; |
1275 | DebugOut.Analog[16] = fehler; |
1270 | DebugOut.Analog[17] = korrektur; |
1276 | DebugOut.Analog[17] = korrektur; |
1271 | */ |
1277 | */ |
1272 | DebugOut.Analog[25] = CompassGierSetpoint; |
1278 | DebugOut.Analog[25] = CompassGierSetpoint; |
1273 | DebugOut.Analog[18] = KompassFusion; |
1279 | DebugOut.Analog[18] = KompassFusion; |
1274 | 1280 | ||
1275 | /* |
1281 | /* |
1276 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1282 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1277 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1283 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1278 | if(w >= 0) |
1284 | if(w >= 0) |
1279 | { |
1285 | { |
1280 | if(!KompassSignalSchlecht) |
1286 | if(!KompassSignalSchlecht) |
1281 | { |
1287 | { |
1282 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1288 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1283 | DebugOut.Analog[16] = korrektur; |
1289 | DebugOut.Analog[16] = korrektur; |
1284 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1290 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1285 | v = (r * w) / v; // nach Kompass ausrichten |
1291 | v = (r * w) / v; // nach Kompass ausrichten |
1286 | w = 3 * Parameter_KompassWirkung; |
1292 | w = 3 * Parameter_KompassWirkung; |
1287 | if(v > w) v = w; // Begrenzen |
1293 | if(v > w) v = w; // Begrenzen |
1288 | else |
1294 | else |
1289 | if(v < -w) v = -w; |
1295 | if(v < -w) v = -w; |
1290 | // Mess_Integral_Gier += v; |
1296 | // Mess_Integral_Gier += v; |
1291 | } |
1297 | } |
1292 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1298 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1293 | } |
1299 | } |
1294 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1300 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1295 | */ |
1301 | */ |
1296 | } // CalculateCompassTimer |
1302 | } // CalculateCompassTimer |
1297 | } |
1303 | } |
1298 | else CompassGierSetpoint = 0; |
1304 | else CompassGierSetpoint = 0; |
1299 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1305 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1300 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1306 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1301 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1307 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1302 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1308 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1303 | 1309 | ||
1304 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1310 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1305 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1311 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1306 | 1312 | ||
1307 | #define TRIM_MAX 200 |
1313 | #define TRIM_MAX 200 |
1308 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1314 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1309 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1315 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1310 | 1316 | ||
1311 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1317 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1312 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1318 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1313 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1319 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1314 | 1320 | ||
1315 | // Maximalwerte abfangen |
1321 | // Maximalwerte abfangen |
1316 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1322 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1317 | #define MAX_SENSOR (4096) |
1323 | #define MAX_SENSOR (4096) |
1318 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1324 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1319 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1325 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1320 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1326 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1321 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1327 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1322 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1328 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1323 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1329 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1324 | 1330 | ||
1325 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1331 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1326 | // Höhenregelung |
1332 | // Höhenregelung |
1327 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1333 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1328 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1334 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1329 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1335 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1330 | GasMischanteil *= STICK_GAIN; |
1336 | GasMischanteil *= STICK_GAIN; |
1331 | // if height control is activated |
1337 | // if height control is activated |
1332 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1338 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1333 | { |
1339 | { |
1334 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1340 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1335 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1341 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1336 | 1342 | ||
1337 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1343 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1338 | #define OPA_OFFSET_STEP 15 |
1344 | #define OPA_OFFSET_STEP 15 |
1339 | #else |
1345 | #else |
1340 | #define OPA_OFFSET_STEP 10 |
1346 | #define OPA_OFFSET_STEP 10 |
1341 | #endif |
1347 | #endif |
1342 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1348 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1343 | static int HeightTrimming = 0; // rate for change of height setpoint |
1349 | static int HeightTrimming = 0; // rate for change of height setpoint |
1344 | static int FilterHCGas = 0; |
1350 | static int FilterHCGas = 0; |
1345 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1351 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1346 | static unsigned long HoverGasFilter = 0; |
1352 | static unsigned long HoverGasFilter = 0; |
1347 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1353 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1348 | static signed char WaypointTrimming = 0; |
1354 | static signed char WaypointTrimming = 0; |
1349 | int CosAttitude; // for projection of hoover gas |
1355 | int CosAttitude; // for projection of hoover gas |
1350 | 1356 | ||
1351 | // get the current hooverpoint |
1357 | // get the current hooverpoint |
1352 | DebugOut.Analog[21] = HoverGas; |
1358 | DebugOut.Analog[21] = HoverGas; |
1353 | 1359 | ||
1354 | // Expand the measurement |
1360 | // Expand the measurement |
1355 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1361 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1356 | if(!BaroExpandActive) |
1362 | if(!BaroExpandActive) |
1357 | { |
1363 | { |
1358 | if(MessLuftdruck > 920) |
1364 | if(MessLuftdruck > 920) |
1359 | { // increase offset |
1365 | { // increase offset |
1360 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1366 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1361 | { |
1367 | { |
1362 | ExpandBaro -= 1; |
1368 | ExpandBaro -= 1; |
1363 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1369 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1364 | beeptime = 300; |
1370 | beeptime = 300; |
1365 | BaroExpandActive = 350; |
1371 | BaroExpandActive = 350; |
1366 | } |
1372 | } |
1367 | else |
1373 | else |
1368 | { |
1374 | { |
1369 | BaroAtLowerLimit = 1; |
1375 | BaroAtLowerLimit = 1; |
1370 | } |
1376 | } |
1371 | } |
1377 | } |
1372 | // measurement of air pressure close to lower limit and |
1378 | // measurement of air pressure close to lower limit and |
1373 | else |
1379 | else |
1374 | if(MessLuftdruck < 100) |
1380 | if(MessLuftdruck < 100) |
1375 | { // decrease offset |
1381 | { // decrease offset |
1376 | if(OCR0A > OPA_OFFSET_STEP) |
1382 | if(OCR0A > OPA_OFFSET_STEP) |
1377 | { |
1383 | { |
1378 | ExpandBaro += 1; |
1384 | ExpandBaro += 1; |
1379 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1385 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1380 | beeptime = 300; |
1386 | beeptime = 300; |
1381 | BaroExpandActive = 350; |
1387 | BaroExpandActive = 350; |
1382 | } |
1388 | } |
1383 | else |
1389 | else |
1384 | { |
1390 | { |
1385 | BaroAtUpperLimit = 1; |
1391 | BaroAtUpperLimit = 1; |
1386 | } |
1392 | } |
1387 | } |
1393 | } |
1388 | else |
1394 | else |
1389 | { |
1395 | { |
1390 | BaroAtUpperLimit = 0; |
1396 | BaroAtUpperLimit = 0; |
1391 | BaroAtLowerLimit = 0; |
1397 | BaroAtLowerLimit = 0; |
1392 | } |
1398 | } |
1393 | } |
1399 | } |
1394 | else // delay, because of expanding the Baro-Range |
1400 | else // delay, because of expanding the Baro-Range |
1395 | { |
1401 | { |
1396 | // now clear the D-values |
1402 | // now clear the D-values |
1397 | SummenHoehe = HoehenWert * SM_FILTER; |
1403 | SummenHoehe = HoehenWert * SM_FILTER; |
1398 | VarioMeter = 0; |
1404 | VarioMeter = 0; |
1399 | BaroExpandActive--; |
1405 | BaroExpandActive--; |
1400 | } |
1406 | } |
1401 | 1407 | ||
1402 | // if height control is activated by an rc channel |
1408 | // if height control is activated by an rc channel |
1403 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1409 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1404 | { // check if parameter is less than activation threshold |
1410 | { // check if parameter is less than activation threshold |
1405 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1411 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1406 | { //height control not active |
1412 | { //height control not active |
1407 | if(!delay--) |
1413 | if(!delay--) |
1408 | { |
1414 | { |
1409 | HoehenReglerAktiv = 0; // disable height control |
1415 | HoehenReglerAktiv = 0; // disable height control |
1410 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1416 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1411 | delay = 1; |
1417 | delay = 1; |
1412 | } |
1418 | } |
1413 | } |
1419 | } |
1414 | else |
1420 | else |
1415 | { //height control is activated |
1421 | { //height control is activated |
1416 | HoehenReglerAktiv = 1; // enable height control |
1422 | HoehenReglerAktiv = 1; // enable height control |
1417 | delay = 200; |
1423 | delay = 200; |
1418 | } |
1424 | } |
1419 | } |
1425 | } |
1420 | else // no switchable height control |
1426 | else // no switchable height control |
1421 | { |
1427 | { |
1422 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1428 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1423 | HoehenReglerAktiv = 1; |
1429 | HoehenReglerAktiv = 1; |
1424 | } |
1430 | } |
1425 | 1431 | ||
1426 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1432 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1427 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1433 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1428 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1434 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1429 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1435 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1430 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1436 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1431 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1437 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1432 | VarioCharacter = ' '; |
1438 | VarioCharacter = ' '; |
1433 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1439 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1434 | { |
1440 | { |
1435 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1441 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1436 | // Holger original version |
1442 | // Holger original version |
1437 | // start of height control algorithm |
1443 | // start of height control algorithm |
1438 | // the height control is only an attenuation of the actual gas stick. |
1444 | // the height control is only an attenuation of the actual gas stick. |
1439 | // I.e. it will work only if the gas stick is higher than the hover gas |
1445 | // I.e. it will work only if the gas stick is higher than the hover gas |
1440 | // and the hover height will be allways larger than height setpoint. |
1446 | // and the hover height will be allways larger than height setpoint. |
1441 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1447 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1442 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1448 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1443 | { // old version |
1449 | { // old version |
1444 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1450 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1445 | HeightTrimming = 0; |
1451 | HeightTrimming = 0; |
1446 | // set both flags to indicate no vario mode |
1452 | // set both flags to indicate no vario mode |
1447 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1453 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1448 | } |
1454 | } |
1449 | else |
1455 | else |
1450 | { |
1456 | { |
1451 | // alternative height control |
1457 | // alternative height control |
1452 | // PD-Control with respect to hoover point |
1458 | // PD-Control with respect to hoover point |
1453 | // the thrust loss out of horizontal attitude is compensated |
1459 | // the thrust loss out of horizontal attitude is compensated |
1454 | // the setpoint will be fine adjusted with the gas stick position |
1460 | // the setpoint will be fine adjusted with the gas stick position |
1455 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1461 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1456 | { // gas stick is above hoover point |
1462 | { // gas stick is above hoover point |
1457 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1463 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1458 | { |
1464 | { |
1459 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1465 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1460 | { |
1466 | { |
1461 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1467 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1462 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1468 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1463 | } |
1469 | } |
1464 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1470 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1465 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1471 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1466 | VarioCharacter = '+'; |
1472 | VarioCharacter = '+'; |
1467 | } // gas stick is below hoover point |
1473 | } // gas stick is below hoover point |
1468 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1474 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1469 | { |
1475 | { |
1470 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1476 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1471 | { |
1477 | { |
1472 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1478 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1473 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1479 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1474 | } |
1480 | } |
1475 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1481 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1476 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1482 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1477 | VarioCharacter = '-'; |
1483 | VarioCharacter = '-'; |
1478 | } |
1484 | } |
1479 | else // Gas Stick in Hover Range |
1485 | else // Gas Stick in Hover Range |
1480 | { |
1486 | { |
1481 | VarioCharacter = '='; |
1487 | VarioCharacter = '='; |
1482 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1488 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1483 | { |
1489 | { |
1484 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1490 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1485 | HeightTrimming += FromNC_AltitudeSpeed; |
1491 | HeightTrimming += FromNC_AltitudeSpeed; |
1486 | WaypointTrimming = 10; |
1492 | WaypointTrimming = 10; |
1487 | VarioCharacter = '^'; |
1493 | VarioCharacter = '^'; |
1488 | } |
1494 | } |
1489 | else |
1495 | else |
1490 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1496 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1491 | { |
1497 | { |
1492 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1498 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1493 | HeightTrimming -= FromNC_AltitudeSpeed; |
1499 | HeightTrimming -= FromNC_AltitudeSpeed; |
1494 | WaypointTrimming = -10; |
1500 | WaypointTrimming = -10; |
1495 | VarioCharacter = 'v'; |
1501 | VarioCharacter = 'v'; |
1496 | } |
1502 | } |
1497 | else |
1503 | else |
1498 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1504 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1499 | { |
1505 | { |
1500 | if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
1506 | if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
1501 | else WaypointTrimming = 0; |
1507 | else WaypointTrimming = 0; |
1502 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1508 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1503 | HeightTrimming = 0; |
1509 | HeightTrimming = 0; |
1504 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1510 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1505 | if(!StartTrigger && HoehenWert > 50) |
1511 | if(!StartTrigger && HoehenWert > 50) |
1506 | { |
1512 | { |
1507 | StartTrigger = 1; |
1513 | StartTrigger = 1; |
1508 | } |
1514 | } |
1509 | } |
1515 | } |
1510 | } |
1516 | } |
1511 | // Trim height set point |
1517 | // Trim height set point |
1512 | if(abs(HeightTrimming) > 512) |
1518 | if(abs(HeightTrimming) > 512) |
1513 | { |
1519 | { |
1514 | if(WaypointTrimming) |
1520 | if(WaypointTrimming) |
1515 | { |
1521 | { |
1516 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1522 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1517 | else SollHoehe += WaypointTrimming; |
1523 | else SollHoehe += WaypointTrimming; |
1518 | } |
1524 | } |
1519 | else |
1525 | else |
1520 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1526 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1521 | HeightTrimming = 0; |
1527 | HeightTrimming = 0; |
1522 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1528 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1523 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1529 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1524 | //update hoover gas stick value when setpoint is shifted |
1530 | //update hoover gas stick value when setpoint is shifted |
1525 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1531 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1526 | { |
1532 | { |
1527 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1533 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1528 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1534 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1529 | if(StickGasHover < 70) StickGasHover = 70; |
1535 | if(StickGasHover < 70) StickGasHover = 70; |
1530 | else if(StickGasHover > 150) StickGasHover = 150; |
1536 | else if(StickGasHover > 150) StickGasHover = 150; |
1531 | } |
1537 | } |
1532 | } |
1538 | } |
1533 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1539 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1534 | } //if FCFlags & MKFCFLAG_FLY |
1540 | } //if FCFlags & MKFCFLAG_FLY |
1535 | else |
1541 | else |
1536 | { |
1542 | { |
1537 | SollHoehe = HoehenWert - 400; |
1543 | SollHoehe = HoehenWert - 400; |
1538 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1544 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1539 | else StickGasHover = 120; |
1545 | else StickGasHover = 120; |
1540 | HoverGas = GasMischanteil; |
1546 | HoverGas = GasMischanteil; |
1541 | } |
1547 | } |
1542 | HCGas = HoverGas; // take hover gas (neutral point) |
1548 | HCGas = HoverGas; // take hover gas (neutral point) |
1543 | } |
1549 | } |
1544 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1550 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1545 | { |
1551 | { |
1546 | // from this point the Heigth Control Algorithm is identical for both versions |
1552 | // from this point the Heigth Control Algorithm is identical for both versions |
1547 | if(BaroExpandActive) // baro range expanding active |
1553 | if(BaroExpandActive) // baro range expanding active |
1548 | { |
1554 | { |
1549 | HCGas = HoverGas; // hover while expanding baro adc range |
1555 | HCGas = HoverGas; // hover while expanding baro adc range |
1550 | HeightDeviation = 0; |
1556 | HeightDeviation = 0; |
1551 | } // EOF // baro range expanding active |
1557 | } // EOF // baro range expanding active |
1552 | else // valid data from air pressure sensor |
1558 | else // valid data from air pressure sensor |
1553 | { |
1559 | { |
1554 | // ------------------------- P-Part ---------------------------- |
1560 | // ------------------------- P-Part ---------------------------- |
1555 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1561 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1556 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1562 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1557 | HeightDeviation = (int)(tmp_long); // positive when too high |
1563 | HeightDeviation = (int)(tmp_long); // positive when too high |
1558 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1564 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1559 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1565 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1560 | GasReduction = tmp_long; |
1566 | GasReduction = tmp_long; |
1561 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1567 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1562 | tmp_int = VarioMeter / 8; |
1568 | tmp_int = VarioMeter / 8; |
1563 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1569 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1564 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1570 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1565 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1571 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1566 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1572 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1567 | else |
1573 | else |
1568 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1574 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1569 | GasReduction += tmp_int; |
1575 | GasReduction += tmp_int; |
1570 | } // EOF no baro range expanding |
1576 | } // EOF no baro range expanding |
1571 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1577 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1572 | if(Parameter_Hoehe_ACC_Wirkung) |
1578 | if(Parameter_Hoehe_ACC_Wirkung) |
1573 | { |
1579 | { |
1574 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1580 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1575 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1581 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1576 | GasReduction += tmp_long; |
1582 | GasReduction += tmp_long; |
1577 | } |
1583 | } |
1578 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1584 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1579 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1585 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1580 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1586 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1581 | GasReduction += tmp_int; |
1587 | GasReduction += tmp_int; |
1582 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1588 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1583 | // ------------------------ ---------------------------------- |
1589 | // ------------------------ ---------------------------------- |
1584 | HCGas -= GasReduction; |
1590 | HCGas -= GasReduction; |
1585 | // limit deviation from hoover point within the target region |
1591 | // limit deviation from hoover point within the target region |
1586 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1592 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1587 | { |
1593 | { |
1588 | unsigned int tmp; |
1594 | unsigned int tmp; |
1589 | tmp = abs(HeightDeviation); |
1595 | tmp = abs(HeightDeviation); |
1590 | if(tmp <= 60) |
1596 | if(tmp <= 60) |
1591 | { |
1597 | { |
1592 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1598 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1593 | } |
1599 | } |
1594 | else |
1600 | else |
1595 | { |
1601 | { |
1596 | tmp = (tmp - 60) / 32; |
1602 | tmp = (tmp - 60) / 32; |
1597 | if(tmp > 15) tmp = 15; |
1603 | if(tmp > 15) tmp = 15; |
1598 | if(HeightDeviation > 0) |
1604 | if(HeightDeviation > 0) |
1599 | { |
1605 | { |
1600 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1606 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1601 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1607 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1602 | } |
1608 | } |
1603 | else |
1609 | else |
1604 | { |
1610 | { |
1605 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1611 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1606 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1612 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1607 | } |
1613 | } |
1608 | } |
1614 | } |
1609 | } |
1615 | } |
1610 | // strech control output by inverse attitude projection 1/cos |
1616 | // strech control output by inverse attitude projection 1/cos |
1611 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1617 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1612 | tmp_long2 = (int32_t)HCGas; |
1618 | tmp_long2 = (int32_t)HCGas; |
1613 | tmp_long2 *= 8192L; |
1619 | tmp_long2 *= 8192L; |
1614 | tmp_long2 /= CosAttitude; |
1620 | tmp_long2 /= CosAttitude; |
1615 | HCGas = (int16_t)tmp_long2; |
1621 | HCGas = (int16_t)tmp_long2; |
1616 | // update height control gas averaging |
1622 | // update height control gas averaging |
1617 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1623 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1618 | // limit height control gas pd-control output |
1624 | // limit height control gas pd-control output |
1619 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1625 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1620 | // set GasMischanteil to HeightControlGasFilter |
1626 | // set GasMischanteil to HeightControlGasFilter |
1621 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1627 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1622 | { // old version |
1628 | { // old version |
1623 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1629 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1624 | GasMischanteil = FilterHCGas; |
1630 | GasMischanteil = FilterHCGas; |
1625 | } |
1631 | } |
1626 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1632 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1627 | } |
1633 | } |
1628 | }// EOF height control active |
1634 | }// EOF height control active |
1629 | else // HC not active |
1635 | else // HC not active |
1630 | { |
1636 | { |
1631 | //update hoover gas stick value when HC is not active |
1637 | //update hoover gas stick value when HC is not active |
1632 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1638 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1633 | { |
1639 | { |
1634 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1640 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1635 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1641 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1636 | } |
1642 | } |
1637 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1643 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1638 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1644 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1639 | FilterHCGas = GasMischanteil; |
1645 | FilterHCGas = GasMischanteil; |
1640 | // set both flags to indicate no vario mode |
1646 | // set both flags to indicate no vario mode |
1641 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1647 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1642 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1648 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1643 | } |
1649 | } |
1644 | // Hover gas estimation by averaging gas control output on small z-velocities |
1650 | // Hover gas estimation by averaging gas control output on small z-velocities |
1645 | // this is done only if height contol option is selected in global config and aircraft is flying |
1651 | // this is done only if height contol option is selected in global config and aircraft is flying |
1646 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1652 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1647 | { |
1653 | { |
1648 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1654 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1649 | if(StartTrigger == 1) StartTrigger = 2; |
1655 | if(StartTrigger == 1) StartTrigger = 2; |
1650 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1656 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1651 | tmp_long2 *= CosAttitude; // apply attitude projection |
1657 | tmp_long2 *= CosAttitude; // apply attitude projection |
1652 | tmp_long2 /= 8192; |
1658 | tmp_long2 /= 8192; |
1653 | // average vertical projected thrust |
1659 | // average vertical projected thrust |
1654 | if(modell_fliegt < 4000) // the first 8 seconds |
1660 | if(modell_fliegt < 4000) // the first 8 seconds |
1655 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1661 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1656 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1662 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1657 | HoverGasFilter += 16L * tmp_long2; |
1663 | HoverGasFilter += 16L * tmp_long2; |
1658 | } |
1664 | } |
1659 | if(modell_fliegt < 8000) // the first 16 seconds |
1665 | if(modell_fliegt < 8000) // the first 16 seconds |
1660 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1666 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1661 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1667 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1662 | HoverGasFilter += 4L * tmp_long2; |
1668 | HoverGasFilter += 4L * tmp_long2; |
1663 | } |
1669 | } |
1664 | else //later |
1670 | else //later |
1665 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1671 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1666 | { |
1672 | { |
1667 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1673 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1668 | HoverGasFilter += tmp_long2; |
1674 | HoverGasFilter += tmp_long2; |
1669 | } |
1675 | } |
1670 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1676 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1671 | if(EE_Parameter.Hoehe_HoverBand) |
1677 | if(EE_Parameter.Hoehe_HoverBand) |
1672 | { |
1678 | { |
1673 | int16_t band; |
1679 | int16_t band; |
1674 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1680 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1675 | HoverGasMin = HoverGas - band; |
1681 | HoverGasMin = HoverGas - band; |
1676 | HoverGasMax = HoverGas + band; |
1682 | HoverGasMax = HoverGas + band; |
1677 | } |
1683 | } |
1678 | else |
1684 | else |
1679 | { // no limit |
1685 | { // no limit |
1680 | HoverGasMin = 0; |
1686 | HoverGasMin = 0; |
1681 | HoverGasMax = 1023; |
1687 | HoverGasMax = 1023; |
1682 | } |
1688 | } |
1683 | } |
1689 | } |
1684 | else |
1690 | else |
1685 | { |
1691 | { |
1686 | StartTrigger = 0; |
1692 | StartTrigger = 0; |
1687 | HoverGasFilter = 0; |
1693 | HoverGasFilter = 0; |
1688 | HoverGas = 0; |
1694 | HoverGas = 0; |
1689 | } |
1695 | } |
1690 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1696 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1691 | else |
1697 | else |
1692 | { |
1698 | { |
1693 | // set undefined state to indicate vario off |
1699 | // set undefined state to indicate vario off |
1694 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1700 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1695 | } // EOF no height control |
1701 | } // EOF no height control |
1696 | 1702 | ||
1697 | // limit gas to parameter setting |
1703 | // limit gas to parameter setting |
1698 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1704 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1699 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1705 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1700 | 1706 | ||
1701 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1702 | // all BL-Ctrl connected? |
1708 | // all BL-Ctrl connected? |
1703 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1704 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1710 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1705 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1711 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1706 | { |
1712 | { |
1707 | modell_fliegt = 1; |
1713 | modell_fliegt = 1; |
1708 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1714 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1709 | } |
1715 | } |
1710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1711 | // + Mischer und PI-Regler |
1717 | // + Mischer und PI-Regler |
1712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1713 | DebugOut.Analog[7] = GasMischanteil; |
1719 | DebugOut.Analog[7] = GasMischanteil; |
1714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1715 | // Gier-Anteil |
1721 | // Gier-Anteil |
1716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1717 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1723 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1718 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1724 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1719 | if(GasMischanteil > MIN_GIERGAS) |
1725 | if(GasMischanteil > MIN_GIERGAS) |
1720 | { |
1726 | { |
1721 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1727 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1722 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1728 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1723 | } |
1729 | } |
1724 | else |
1730 | else |
1725 | { |
1731 | { |
1726 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1732 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1727 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1733 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1728 | } |
1734 | } |
1729 | tmp_int = MAX_GAS*STICK_GAIN; |
1735 | tmp_int = MAX_GAS*STICK_GAIN; |
1730 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1736 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1731 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1737 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1732 | 1738 | ||
1733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1734 | // Nick-Achse |
1740 | // Nick-Achse |
1735 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1736 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1742 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1737 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1743 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1738 | else SummeNick += DiffNick; // I-Anteil bei HH |
1744 | else SummeNick += DiffNick; // I-Anteil bei HH |
1739 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1745 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1740 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1746 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1741 | 1747 | ||
1742 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1748 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1743 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1749 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1744 | pd_ergebnis_nick += SummeNick / Ki; |
1750 | pd_ergebnis_nick += SummeNick / Ki; |
1745 | 1751 | ||
1746 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1752 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1747 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1753 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1748 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1754 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1749 | 1755 | ||
1750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1751 | // Roll-Achse |
1757 | // Roll-Achse |
1752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1753 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1759 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1754 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1760 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1755 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1761 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1756 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1762 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1757 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1763 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1758 | 1764 | ||
1759 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1765 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1760 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1766 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1761 | pd_ergebnis_roll += SummeRoll / Ki; |
1767 | pd_ergebnis_roll += SummeRoll / Ki; |
1762 | 1768 | ||
1763 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1769 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1764 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1770 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1765 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1771 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1766 | 1772 | ||
1767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1768 | // Universal Mixer |
1774 | // Universal Mixer |
1769 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1770 | for(i=0; i<MAX_MOTORS; i++) |
1776 | for(i=0; i<MAX_MOTORS; i++) |
1771 | { |
1777 | { |
1772 | signed int tmp_int; |
1778 | signed int tmp_int; |
1773 | if(Mixer.Motor[i][0] > 0) |
1779 | if(Mixer.Motor[i][0] > 0) |
1774 | { |
1780 | { |
1775 | // Gas |
1781 | // Gas |
1776 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1782 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1777 | // Nick |
1783 | // Nick |
1778 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1784 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1779 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1785 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1780 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1786 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1781 | // Roll |
1787 | // Roll |
1782 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1788 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1783 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1789 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1784 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1790 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1785 | // Gier |
1791 | // Gier |
1786 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1792 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1787 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1793 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1788 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1794 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1789 | 1795 | ||
1790 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1796 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1791 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1797 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1792 | 1798 | ||
1793 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1799 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1794 | Motor[i].SetPoint = tmp_int / 4; |
1800 | Motor[i].SetPoint = tmp_int / 4; |
1795 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1801 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1796 | tmp_motorwert[i] = tmp_int; |
1802 | tmp_motorwert[i] = tmp_int; |
1797 | } |
1803 | } |
1798 | else |
1804 | else |
1799 | { |
1805 | { |
1800 | Motor[i].SetPoint = 0; |
1806 | Motor[i].SetPoint = 0; |
1801 | Motor[i].SetPointLowerBits = 0; |
1807 | Motor[i].SetPointLowerBits = 0; |
1802 | } |
1808 | } |
1803 | } |
1809 | } |
1804 | } |
1810 | } |
1805 | 1811 |