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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 StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
100 | volatile unsigned char SenderOkay = 0; |
100 | volatile unsigned char SenderOkay = 0; |
101 | char MotorenEin = 0,StartTrigger = 0; |
101 | char MotorenEin = 0,StartTrigger = 0; |
102 | long HoehenWert = 0; |
102 | long HoehenWert = 0; |
103 | long SollHoehe = 0; |
103 | long SollHoehe = 0; |
104 | signed int AltitudeSetpointTrimming = 0; |
104 | signed int AltitudeSetpointTrimming = 0; |
105 | long FromNC_AltitudeSetpoint = 0; |
105 | long FromNC_AltitudeSetpoint = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
107 | unsigned char carefree_old = 50; // to make the Beep when switching |
107 | unsigned char carefree_old = 50; // to make the Beep when switching |
108 | signed char WaypointTrimming = 0; |
108 | signed char WaypointTrimming = 0; |
109 | int CompassGierSetpoint = 0; |
109 | int CompassGierSetpoint = 0; |
110 | unsigned char CalibrationDone = 0; |
110 | unsigned char CalibrationDone = 0; |
111 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
111 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
112 | //float Ki = FAKTOR_I; |
112 | //float Ki = FAKTOR_I; |
113 | int Ki = 10300 / 33; |
113 | int Ki = 10300 / 33; |
114 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
114 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
115 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
115 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
116 | 116 | ||
117 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
117 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
118 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
118 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
119 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
119 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
120 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
120 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
121 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
121 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
122 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
122 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
123 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
123 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
124 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
125 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
125 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
126 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
126 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
128 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
128 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
129 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
129 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
130 | unsigned char Parameter_UserParam1 = 0; |
130 | unsigned char Parameter_UserParam1 = 0; |
131 | unsigned char Parameter_UserParam2 = 0; |
131 | unsigned char Parameter_UserParam2 = 0; |
132 | unsigned char Parameter_UserParam3 = 0; |
132 | unsigned char Parameter_UserParam3 = 0; |
133 | unsigned char Parameter_UserParam4 = 0; |
133 | unsigned char Parameter_UserParam4 = 0; |
134 | unsigned char Parameter_UserParam5 = 0; |
134 | unsigned char Parameter_UserParam5 = 0; |
135 | unsigned char Parameter_UserParam6 = 0; |
135 | unsigned char Parameter_UserParam6 = 0; |
136 | unsigned char Parameter_UserParam7 = 0; |
136 | unsigned char Parameter_UserParam7 = 0; |
137 | unsigned char Parameter_UserParam8 = 0; |
137 | unsigned char Parameter_UserParam8 = 0; |
138 | unsigned char Parameter_ServoNickControl = 100; |
138 | unsigned char Parameter_ServoNickControl = 100; |
139 | unsigned char Parameter_ServoRollControl = 100; |
139 | unsigned char Parameter_ServoRollControl = 100; |
140 | unsigned char Parameter_LoopGasLimit = 70; |
140 | unsigned char Parameter_LoopGasLimit = 70; |
141 | unsigned char Parameter_AchsKopplung1 = 90; |
141 | unsigned char Parameter_AchsKopplung1 = 90; |
142 | unsigned char Parameter_AchsKopplung2 = 65; |
142 | unsigned char Parameter_AchsKopplung2 = 65; |
143 | unsigned char Parameter_CouplingYawCorrection = 64; |
143 | unsigned char Parameter_CouplingYawCorrection = 64; |
144 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
144 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
145 | unsigned char Parameter_DynamicStability = 100; |
145 | unsigned char Parameter_DynamicStability = 100; |
146 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
146 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
147 | unsigned char Parameter_J16Timing; // for the J16 Output |
147 | unsigned char Parameter_J16Timing; // for the J16 Output |
148 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
148 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
149 | unsigned char Parameter_J17Timing; // for the J17 Output |
149 | unsigned char Parameter_J17Timing; // for the J17 Output |
150 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
150 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
151 | unsigned char Parameter_NaviGpsGain; |
151 | unsigned char Parameter_NaviGpsGain; |
152 | unsigned char Parameter_NaviGpsP; |
152 | unsigned char Parameter_NaviGpsP; |
153 | unsigned char Parameter_NaviGpsI; |
153 | unsigned char Parameter_NaviGpsI; |
154 | unsigned char Parameter_NaviGpsD; |
154 | unsigned char Parameter_NaviGpsD; |
155 | unsigned char Parameter_NaviGpsACC; |
155 | unsigned char Parameter_NaviGpsACC; |
156 | unsigned char Parameter_NaviOperatingRadius; |
156 | unsigned char Parameter_NaviOperatingRadius; |
157 | unsigned char Parameter_NaviWindCorrection; |
157 | unsigned char Parameter_NaviWindCorrection; |
158 | unsigned char Parameter_NaviSpeedCompensation; |
158 | unsigned char Parameter_NaviSpeedCompensation; |
159 | unsigned char Parameter_ExternalControl; |
159 | unsigned char Parameter_ExternalControl; |
160 | unsigned char Parameter_GlobalConfig; |
160 | unsigned char Parameter_GlobalConfig; |
161 | unsigned char Parameter_ExtraConfig; |
161 | unsigned char Parameter_ExtraConfig; |
162 | unsigned char Parameter_MaximumAltitude; |
162 | unsigned char Parameter_MaximumAltitude; |
163 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
163 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
164 | unsigned char CareFree = 0; |
164 | unsigned char CareFree = 0; |
165 | 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}; // 15° steps |
165 | 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}; // 15° steps |
166 | 166 | ||
167 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
167 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
168 | int MaxStickNick = 0,MaxStickRoll = 0; |
168 | int MaxStickNick = 0,MaxStickRoll = 0; |
169 | unsigned int modell_fliegt = 0; |
169 | unsigned int modell_fliegt = 0; |
170 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
170 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
171 | long GIER_GRAD_FAKTOR = 1291; |
171 | long GIER_GRAD_FAKTOR = 1291; |
172 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
172 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
173 | signed int tmp_motorwert[MAX_MOTORS]; |
173 | signed int tmp_motorwert[MAX_MOTORS]; |
174 | char VarioCharacter = ' '; |
174 | char VarioCharacter = ' '; |
175 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
175 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
176 | 176 | ||
177 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
177 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
178 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
178 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
179 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
179 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
180 | 180 | ||
181 | 181 | ||
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | // Debugwerte zuordnen |
183 | // Debugwerte zuordnen |
184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
184 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
185 | void CopyDebugValues(void) |
185 | void CopyDebugValues(void) |
186 | { |
186 | { |
187 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
187 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
188 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
188 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
189 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
189 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
190 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
190 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
191 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
191 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
192 | DebugOut.Analog[5] = HoehenWert/5; |
192 | DebugOut.Analog[5] = HoehenWert/5; |
193 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
193 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
194 | DebugOut.Analog[8] = KompassValue; |
194 | DebugOut.Analog[8] = KompassValue; |
195 | DebugOut.Analog[9] = UBat; |
195 | DebugOut.Analog[9] = UBat; |
196 | DebugOut.Analog[10] = SenderOkay; |
196 | DebugOut.Analog[10] = SenderOkay; |
197 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
197 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
198 | DebugOut.Analog[12] = Motor[0].SetPoint; |
198 | DebugOut.Analog[12] = Motor[0].SetPoint; |
199 | DebugOut.Analog[13] = Motor[1].SetPoint; |
199 | DebugOut.Analog[13] = Motor[1].SetPoint; |
200 | DebugOut.Analog[14] = Motor[2].SetPoint; |
200 | DebugOut.Analog[14] = Motor[2].SetPoint; |
201 | DebugOut.Analog[15] = Motor[3].SetPoint; |
201 | DebugOut.Analog[15] = Motor[3].SetPoint; |
202 | DebugOut.Analog[20] = ServoNickValue; |
202 | DebugOut.Analog[20] = ServoNickValue; |
203 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
203 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
204 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
204 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
205 | DebugOut.Analog[24] = SollHoehe/5; |
205 | DebugOut.Analog[24] = SollHoehe/5; |
206 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
206 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
207 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
207 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
208 | DebugOut.Analog[27] = KompassSollWert; |
208 | DebugOut.Analog[27] = KompassSollWert; |
209 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
209 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
210 | DebugOut.Analog[30] = GPS_Nick; |
210 | DebugOut.Analog[30] = GPS_Nick; |
211 | DebugOut.Analog[31] = GPS_Roll; |
211 | DebugOut.Analog[31] = GPS_Roll; |
212 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
212 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
213 | } |
213 | } |
214 | 214 | ||
215 | 215 | ||
216 | 216 | ||
217 | void Piep(unsigned char Anzahl, unsigned int dauer) |
217 | void Piep(unsigned char Anzahl, unsigned int dauer) |
218 | { |
218 | { |
219 | if(MotorenEin) return; //auf keinen Fall im Flug! |
219 | if(MotorenEin) return; //auf keinen Fall im Flug! |
220 | GRN_OFF; |
220 | GRN_OFF; |
221 | while(Anzahl--) |
221 | while(Anzahl--) |
222 | { |
222 | { |
223 | beeptime = dauer; |
223 | beeptime = dauer; |
224 | while(beeptime); |
224 | while(beeptime); |
225 | Delay_ms(dauer * 2); |
225 | Delay_ms(dauer * 2); |
226 | } |
226 | } |
227 | GRN_ON; |
227 | GRN_ON; |
228 | } |
228 | } |
229 | 229 | ||
230 | //############################################################################ |
230 | //############################################################################ |
231 | // Messwerte beim Ermitteln der Nullage |
231 | // Messwerte beim Ermitteln der Nullage |
232 | void CalibrierMittelwert(void) |
232 | void CalibrierMittelwert(void) |
233 | //############################################################################ |
233 | //############################################################################ |
234 | { |
234 | { |
235 | unsigned char i; |
235 | unsigned char i; |
236 | if(PlatinenVersion == 13) SucheGyroOffset(); |
236 | if(PlatinenVersion == 13) SucheGyroOffset(); |
237 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
237 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
238 | ANALOG_OFF; |
238 | ANALOG_OFF; |
239 | MesswertNick = AdWertNick; |
239 | MesswertNick = AdWertNick; |
240 | MesswertRoll = AdWertRoll; |
240 | MesswertRoll = AdWertRoll; |
241 | MesswertGier = AdWertGier; |
241 | MesswertGier = AdWertGier; |
242 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
242 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
243 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
243 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
244 | // ADC einschalten |
244 | // ADC einschalten |
245 | ANALOG_ON; |
245 | ANALOG_ON; |
246 | for(i=0;i<8;i++) |
246 | for(i=0;i<8;i++) |
247 | { |
247 | { |
248 | int tmp; |
248 | int tmp; |
249 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
249 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
250 | LIMIT_MIN_MAX(tmp, 0, 255); |
250 | LIMIT_MIN_MAX(tmp, 0, 255); |
251 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
251 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
252 | } |
252 | } |
253 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
253 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
254 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
254 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
255 | } |
255 | } |
256 | 256 | ||
257 | //############################################################################ |
257 | //############################################################################ |
258 | // Nullwerte ermitteln |
258 | // Nullwerte ermitteln |
259 | void SetNeutral(unsigned char AccAdjustment) |
259 | void SetNeutral(unsigned char AccAdjustment) |
260 | //############################################################################ |
260 | //############################################################################ |
261 | { |
261 | { |
262 | unsigned char i; |
262 | unsigned char i; |
263 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
263 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
264 | VersionInfo.HardwareError[0] = 0; |
264 | VersionInfo.HardwareError[0] = 0; |
265 | HEF4017R_ON; |
265 | HEF4017R_ON; |
266 | NeutralAccX = 0; |
266 | NeutralAccX = 0; |
267 | NeutralAccY = 0; |
267 | NeutralAccY = 0; |
268 | NeutralAccZ = 0; |
268 | NeutralAccZ = 0; |
269 | 269 | ||
270 | AdNeutralNick = 0; |
270 | AdNeutralNick = 0; |
271 | AdNeutralRoll = 0; |
271 | AdNeutralRoll = 0; |
272 | AdNeutralGier = 0; |
272 | AdNeutralGier = 0; |
273 | 273 | ||
274 | Parameter_AchsKopplung1 = 0; |
274 | Parameter_AchsKopplung1 = 0; |
275 | Parameter_AchsKopplung2 = 0; |
275 | Parameter_AchsKopplung2 = 0; |
276 | 276 | ||
277 | ExpandBaro = 0; |
277 | ExpandBaro = 0; |
278 | 278 | ||
279 | CalibrierMittelwert(); |
279 | CalibrierMittelwert(); |
280 | Delay_ms_Mess(100); |
280 | Delay_ms_Mess(100); |
281 | 281 | ||
282 | CalibrierMittelwert(); |
282 | CalibrierMittelwert(); |
283 | 283 | ||
284 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
284 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
285 | { |
285 | { |
286 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
286 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
287 | } |
287 | } |
288 | #define NEUTRAL_FILTER 32 |
288 | #define NEUTRAL_FILTER 32 |
289 | for(i=0; i<NEUTRAL_FILTER; i++) |
289 | for(i=0; i<NEUTRAL_FILTER; i++) |
290 | { |
290 | { |
291 | Delay_ms_Mess(10); |
291 | Delay_ms_Mess(10); |
292 | gier_neutral += AdWertGier; |
292 | gier_neutral += AdWertGier; |
293 | nick_neutral += AdWertNick; |
293 | nick_neutral += AdWertNick; |
294 | roll_neutral += AdWertRoll; |
294 | roll_neutral += AdWertRoll; |
295 | } |
295 | } |
296 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
296 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
297 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
297 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
298 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
298 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
299 | 299 | ||
300 | StartNeutralRoll = AdNeutralRoll; |
300 | StartNeutralRoll = AdNeutralRoll; |
301 | StartNeutralNick = AdNeutralNick; |
301 | StartNeutralNick = AdNeutralNick; |
302 | 302 | ||
303 | if(AccAdjustment) |
303 | if(AccAdjustment) |
304 | { |
304 | { |
305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
305 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
306 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
307 | NeutralAccZ = Aktuell_az; |
307 | NeutralAccZ = Aktuell_az; |
308 | 308 | ||
309 | // Save ACC neutral settings to eeprom |
309 | // Save ACC neutral settings to eeprom |
310 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
310 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
311 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
311 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
312 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
312 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
313 | } |
313 | } |
314 | else |
314 | else |
315 | { |
315 | { |
316 | // restore from eeprom |
316 | // restore from eeprom |
317 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
317 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
318 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
318 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
319 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
319 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
320 | // strange settings? |
320 | // strange settings? |
321 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
321 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
322 | { |
322 | { |
323 | printf("\n\rACC not calibrated!\r\n"); |
323 | printf("\n\rACC not calibrated!\r\n"); |
324 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
324 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
325 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
325 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
326 | NeutralAccZ = Aktuell_az; |
326 | NeutralAccZ = Aktuell_az; |
327 | } |
327 | } |
328 | } |
328 | } |
329 | 329 | ||
330 | MesswertNick = 0; |
330 | MesswertNick = 0; |
331 | MesswertRoll = 0; |
331 | MesswertRoll = 0; |
332 | MesswertGier = 0; |
332 | MesswertGier = 0; |
333 | Delay_ms_Mess(100); |
333 | Delay_ms_Mess(100); |
334 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
334 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
335 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
335 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
336 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
336 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
337 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
337 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
338 | Mess_IntegralNick2 = IntegralNick; |
338 | Mess_IntegralNick2 = IntegralNick; |
339 | Mess_IntegralRoll2 = IntegralRoll; |
339 | Mess_IntegralRoll2 = IntegralRoll; |
340 | Mess_Integral_Gier = 0; |
340 | Mess_Integral_Gier = 0; |
341 | StartLuftdruck = Luftdruck; |
341 | StartLuftdruck = Luftdruck; |
342 | VarioMeter = 0; |
342 | VarioMeter = 0; |
343 | Mess_Integral_Hoch = 0; |
343 | Mess_Integral_Hoch = 0; |
344 | KompassSollWert = KompassValue; |
344 | KompassSollWert = KompassValue; |
345 | KompassSignalSchlecht = 100; |
345 | KompassSignalSchlecht = 100; |
346 | beeptime = 50; |
346 | beeptime = 50; |
347 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
347 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
348 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
348 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
349 | ExternHoehenValue = 0; |
349 | ExternHoehenValue = 0; |
350 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
350 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
351 | GierGyroFehler = 0; |
351 | GierGyroFehler = 0; |
352 | LED_Init(); |
352 | LED_Init(); |
353 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
353 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
354 | FromNaviCtrl_Value.Kalman_K = -1; |
354 | FromNaviCtrl_Value.Kalman_K = -1; |
355 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
355 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
356 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
356 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
357 | for(i=0;i<8;i++) |
357 | for(i=0;i<8;i++) |
358 | { |
358 | { |
359 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
359 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
360 | } |
360 | } |
361 | SenderOkay = 100; |
361 | SenderOkay = 100; |
362 | if(ServoActive) |
362 | if(ServoActive) |
363 | { |
363 | { |
364 | HEF4017R_ON; |
364 | HEF4017R_ON; |
365 | DDRD |=0x80; // enable J7 -> Servo signal |
365 | DDRD |=0x80; // enable J7 -> Servo signal |
366 | } |
366 | } |
367 | 367 | ||
368 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
368 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
369 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
369 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
370 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
370 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
371 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
371 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
372 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
372 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
373 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
373 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
374 | carefree_old = 70; |
374 | carefree_old = 70; |
375 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
375 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
376 | LIBFC_HoTT_Clear(); |
376 | LIBFC_HoTT_Clear(); |
377 | #endif |
377 | #endif |
378 | } |
378 | } |
379 | 379 | ||
380 | 380 | ||
381 | //############################################################################ |
381 | //############################################################################ |
382 | // Bearbeitet die Messwerte |
382 | // Bearbeitet die Messwerte |
383 | void Mittelwert(void) |
383 | void Mittelwert(void) |
384 | //############################################################################ |
384 | //############################################################################ |
385 | { |
385 | { |
386 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
386 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
387 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
387 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
388 | signed long winkel_nick, winkel_roll; |
388 | signed long winkel_nick, winkel_roll; |
389 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
389 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
390 | MesswertNick = (signed int) AdWertNickFilter / 8; |
390 | MesswertNick = (signed int) AdWertNickFilter / 8; |
391 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
391 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
392 | RohMesswertNick = MesswertNick; |
392 | RohMesswertNick = MesswertNick; |
393 | RohMesswertRoll = MesswertRoll; |
393 | RohMesswertRoll = MesswertRoll; |
394 | 394 | ||
395 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
396 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
397 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
397 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
398 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
398 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
399 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
399 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
400 | NaviAccNick += AdWertAccNick; |
400 | NaviAccNick += AdWertAccNick; |
401 | NaviAccRoll += AdWertAccRoll; |
401 | NaviAccRoll += AdWertAccRoll; |
402 | NaviCntAcc++; |
402 | NaviCntAcc++; |
403 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
403 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
404 | 404 | ||
405 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
405 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
406 | // ADC einschalten |
406 | // ADC einschalten |
407 | ANALOG_ON; |
407 | ANALOG_ON; |
408 | AdReady = 0; |
408 | AdReady = 0; |
409 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
409 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
410 | 410 | ||
411 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
411 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
412 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
412 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
413 | else winkel_roll = Mess_IntegralRoll; |
413 | else winkel_roll = Mess_IntegralRoll; |
414 | 414 | ||
415 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
415 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
416 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
416 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
417 | else winkel_nick = Mess_IntegralNick; |
417 | else winkel_nick = Mess_IntegralNick; |
418 | 418 | ||
419 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
419 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
420 | Mess_Integral_Gier += MesswertGier; |
420 | Mess_Integral_Gier += MesswertGier; |
421 | ErsatzKompass += MesswertGier; |
421 | ErsatzKompass += MesswertGier; |
422 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
422 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
423 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
423 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
424 | { |
424 | { |
425 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
425 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
426 | tmpl3 *= Parameter_AchsKopplung2; //65 |
426 | tmpl3 *= Parameter_AchsKopplung2; //65 |
427 | tmpl3 /= 4096L; |
427 | tmpl3 /= 4096L; |
428 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
428 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
429 | tmpl4 *= Parameter_AchsKopplung2; //65 |
429 | tmpl4 *= Parameter_AchsKopplung2; //65 |
430 | tmpl4 /= 4096L; |
430 | tmpl4 /= 4096L; |
431 | KopplungsteilNickRoll = tmpl3; |
431 | KopplungsteilNickRoll = tmpl3; |
432 | KopplungsteilRollNick = tmpl4; |
432 | KopplungsteilRollNick = tmpl4; |
433 | tmpl4 -= tmpl3; |
433 | tmpl4 -= tmpl3; |
434 | ErsatzKompass += tmpl4; |
434 | ErsatzKompass += tmpl4; |
435 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
435 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
436 | 436 | ||
437 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
437 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
438 | tmpl *= Parameter_AchsKopplung1; // 90 |
438 | tmpl *= Parameter_AchsKopplung1; // 90 |
439 | tmpl /= 4096L; |
439 | tmpl /= 4096L; |
440 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
440 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
441 | tmpl2 *= Parameter_AchsKopplung1; |
441 | tmpl2 *= Parameter_AchsKopplung1; |
442 | tmpl2 /= 4096L; |
442 | tmpl2 /= 4096L; |
443 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
443 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
444 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
444 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
445 | } |
445 | } |
446 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
446 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
447 | TrimRoll = tmpl - tmpl2 / 100L; |
447 | TrimRoll = tmpl - tmpl2 / 100L; |
448 | TrimNick = -tmpl2 + tmpl / 100L; |
448 | TrimNick = -tmpl2 + tmpl / 100L; |
449 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
449 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
450 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
450 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
451 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
451 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
452 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
452 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
453 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
453 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
454 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
454 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
455 | if(Mess_IntegralRoll > Umschlag180Roll) |
455 | if(Mess_IntegralRoll > Umschlag180Roll) |
456 | { |
456 | { |
457 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
457 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
458 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
458 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
459 | } |
459 | } |
460 | if(Mess_IntegralRoll <-Umschlag180Roll) |
460 | if(Mess_IntegralRoll <-Umschlag180Roll) |
461 | { |
461 | { |
462 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
462 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
463 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
463 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
464 | } |
464 | } |
465 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
465 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
466 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
466 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
467 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
467 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
468 | if(Mess_IntegralNick > Umschlag180Nick) |
468 | if(Mess_IntegralNick > Umschlag180Nick) |
469 | { |
469 | { |
470 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
470 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
471 | Mess_IntegralNick2 = Mess_IntegralNick; |
471 | Mess_IntegralNick2 = Mess_IntegralNick; |
472 | } |
472 | } |
473 | if(Mess_IntegralNick <-Umschlag180Nick) |
473 | if(Mess_IntegralNick <-Umschlag180Nick) |
474 | { |
474 | { |
475 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
475 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
476 | Mess_IntegralNick2 = Mess_IntegralNick; |
476 | Mess_IntegralNick2 = Mess_IntegralNick; |
477 | } |
477 | } |
478 | 478 | ||
479 | Integral_Gier = Mess_Integral_Gier; |
479 | Integral_Gier = Mess_Integral_Gier; |
480 | IntegralNick = Mess_IntegralNick; |
480 | IntegralNick = Mess_IntegralNick; |
481 | IntegralRoll = Mess_IntegralRoll; |
481 | IntegralRoll = Mess_IntegralRoll; |
482 | IntegralNick2 = Mess_IntegralNick2; |
482 | IntegralNick2 = Mess_IntegralNick2; |
483 | IntegralRoll2 = Mess_IntegralRoll2; |
483 | IntegralRoll2 = Mess_IntegralRoll2; |
484 | 484 | ||
485 | #define D_LIMIT 128 |
485 | #define D_LIMIT 128 |
486 | 486 | ||
487 | MesswertNick = HiResNick / 8; |
487 | MesswertNick = HiResNick / 8; |
488 | MesswertRoll = HiResRoll / 8; |
488 | MesswertRoll = HiResRoll / 8; |
489 | 489 | ||
490 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
490 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
491 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
491 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
492 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
492 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
493 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
493 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
494 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
494 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
495 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
495 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
496 | 496 | ||
497 | if(Parameter_Gyro_D) |
497 | if(Parameter_Gyro_D) |
498 | { |
498 | { |
499 | d2Nick = HiResNick - oldNick; |
499 | d2Nick = HiResNick - oldNick; |
500 | oldNick = (oldNick + HiResNick)/2; |
500 | oldNick = (oldNick + HiResNick)/2; |
501 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
501 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
502 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
502 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
503 | 503 | ||
504 | d2Roll = HiResRoll - oldRoll; |
504 | d2Roll = HiResRoll - oldRoll; |
505 | oldRoll = (oldRoll + HiResRoll)/2; |
505 | oldRoll = (oldRoll + HiResRoll)/2; |
506 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
506 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
507 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
507 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
508 | 508 | ||
509 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
509 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
510 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
510 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
511 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
511 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
512 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
512 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
513 | } |
513 | } |
514 | 514 | ||
515 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
515 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
516 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
516 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
517 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
517 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
518 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
518 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
519 | 519 | ||
520 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
520 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
521 | { |
521 | { |
522 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
522 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
523 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
523 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
524 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
524 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
525 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
525 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
526 | } |
526 | } |
527 | } |
527 | } |
528 | 528 | ||
529 | //############################################################################ |
529 | //############################################################################ |
530 | // Senden der Motorwerte per I2C-Bus |
530 | // Senden der Motorwerte per I2C-Bus |
531 | void SendMotorData(void) |
531 | void SendMotorData(void) |
532 | //############################################################################ |
532 | //############################################################################ |
533 | { |
533 | { |
534 | unsigned char i; |
534 | unsigned char i; |
535 | if(!MotorenEin) |
535 | if(!MotorenEin) |
536 | { |
536 | { |
537 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
537 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
538 | for(i=0;i<MAX_MOTORS;i++) |
538 | for(i=0;i<MAX_MOTORS;i++) |
539 | { |
539 | { |
540 | if(!PC_MotortestActive) MotorTest[i] = 0; |
540 | if(!PC_MotortestActive) MotorTest[i] = 0; |
541 | Motor[i].SetPoint = MotorTest[i]; |
541 | Motor[i].SetPoint = MotorTest[i]; |
542 | Motor[i].SetPointLowerBits = 0; |
542 | Motor[i].SetPointLowerBits = 0; |
543 | /* |
543 | /* |
544 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
544 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
545 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
545 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
546 | */ |
546 | */ |
547 | } |
547 | } |
548 | if(PC_MotortestActive) PC_MotortestActive--; |
548 | if(PC_MotortestActive) PC_MotortestActive--; |
549 | } |
549 | } |
550 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
550 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
551 | 551 | ||
552 | if(I2C_TransferActive) |
552 | if(I2C_TransferActive) |
553 | { |
553 | { |
554 | I2C_TransferActive = 0; // enable for the next time |
554 | I2C_TransferActive = 0; // enable for the next time |
555 | } |
555 | } |
556 | else |
556 | else |
557 | { |
557 | { |
558 | motor_write = 0; |
558 | motor_write = 0; |
559 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
559 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
560 | } |
560 | } |
561 | } |
561 | } |
562 | 562 | ||
563 | 563 | ||
564 | 564 | ||
565 | //############################################################################ |
565 | //############################################################################ |
566 | // Trägt ggf. das Poti als Parameter ein |
566 | // Trägt ggf. das Poti als Parameter ein |
567 | void ParameterZuordnung(void) |
567 | void ParameterZuordnung(void) |
568 | //############################################################################ |
568 | //############################################################################ |
569 | { |
569 | { |
570 | unsigned char tmp,i; |
570 | unsigned char tmp,i; |
571 | for(i=0;i<8;i++) |
571 | for(i=0;i<8;i++) |
572 | { |
572 | { |
573 | int tmp2; |
573 | int tmp2; |
574 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
574 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
575 | tmp2 = PPM_in[tmp] + 127; |
575 | tmp2 = PPM_in[tmp] + 127; |
576 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
576 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
577 | 577 | ||
578 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
578 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
579 | else |
579 | else |
580 | if(tmp2 != Poti[i]) |
580 | if(tmp2 != Poti[i]) |
581 | { |
581 | { |
582 | Poti[i] += (tmp2 - Poti[i]) / 4; |
582 | Poti[i] += (tmp2 - Poti[i]) / 4; |
583 | if(Poti[i] > tmp2) Poti[i]--; |
583 | if(Poti[i] > tmp2) Poti[i]--; |
584 | else Poti[i]++; |
584 | else Poti[i]++; |
585 | } |
585 | } |
586 | } |
586 | } |
587 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
587 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
588 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
588 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
589 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
589 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
590 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
590 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
591 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
591 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
592 | 592 | ||
593 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
593 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
594 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
594 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
595 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
595 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
596 | 596 | ||
597 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
597 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
598 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
598 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
599 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
599 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
600 | 600 | ||
601 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
601 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
602 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
602 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
603 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
603 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
604 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
604 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
605 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
605 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
606 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
606 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
607 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
607 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
608 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
608 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
609 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
609 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
610 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
610 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
611 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
611 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
612 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
612 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
613 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
613 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
614 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
614 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
615 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
615 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
616 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
616 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
617 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
617 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
618 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
618 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
619 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
619 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
620 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
620 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
621 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
621 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
622 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
622 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
623 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
623 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
624 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
624 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
- | 625 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
|
625 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
626 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
626 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
627 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
627 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
628 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
628 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
629 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
629 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
630 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
630 | Ki = 10300 / (Parameter_I_Faktor + 1); |
631 | Ki = 10300 / (Parameter_I_Faktor + 1); |
631 | MAX_GAS = EE_Parameter.Gas_Max; |
632 | MAX_GAS = EE_Parameter.Gas_Max; |
632 | MIN_GAS = EE_Parameter.Gas_Min; |
633 | MIN_GAS = EE_Parameter.Gas_Min; |
633 | 634 | ||
634 | tmp = EE_Parameter.CareFreeModeControl; |
635 | tmp = EE_Parameter.CareFreeModeControl; |
635 | if(tmp > 50) |
636 | if(tmp > 50) |
636 | { |
637 | { |
637 | CareFree = 1; |
638 | CareFree = 1; |
638 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
639 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
639 | if(carefree_old != CareFree) |
640 | if(carefree_old != CareFree) |
640 | { |
641 | { |
641 | if(carefree_old < 3) |
642 | if(carefree_old < 3) |
642 | { |
643 | { |
643 | if(CareFree) beeptime = 1500; |
644 | if(CareFree) beeptime = 1500; |
644 | else beeptime = 200; |
645 | else beeptime = 200; |
645 | carefree_old = CareFree; |
646 | carefree_old = CareFree; |
646 | } else carefree_old--; |
647 | } else carefree_old--; |
647 | } |
648 | } |
648 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
649 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
649 | } |
650 | } |
650 | else |
651 | else |
651 | { |
652 | { |
652 | CareFree = 0; |
653 | CareFree = 0; |
653 | carefree_old = 10; |
654 | carefree_old = 10; |
654 | } |
655 | } |
655 | 656 | ||
656 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
657 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
657 | { |
658 | { |
658 | beeptime = 15000; |
659 | beeptime = 15000; |
659 | BeepMuster = 0xA400; |
660 | BeepMuster = 0xA400; |
660 | CareFree = 0; |
661 | CareFree = 0; |
661 | } |
662 | } |
662 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
663 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
663 | } |
664 | } |
664 | 665 | ||
665 | //############################################################################ |
666 | //############################################################################ |
666 | // |
667 | // |
667 | void MotorRegler(void) |
668 | void MotorRegler(void) |
668 | //############################################################################ |
669 | //############################################################################ |
669 | { |
670 | { |
670 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
671 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
671 | int GierMischanteil,GasMischanteil; |
672 | int GierMischanteil,GasMischanteil; |
672 | static long sollGier = 0,tmp_long,tmp_long2; |
673 | static long sollGier = 0,tmp_long,tmp_long2; |
673 | static long IntegralFehlerNick = 0; |
674 | static long IntegralFehlerNick = 0; |
674 | static long IntegralFehlerRoll = 0; |
675 | static long IntegralFehlerRoll = 0; |
675 | static unsigned int RcLostTimer; |
676 | static unsigned int RcLostTimer; |
676 | static unsigned char delay_neutral = 0; |
677 | static unsigned char delay_neutral = 0; |
677 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
678 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
678 | static char NeueKompassRichtungMerken = 0; |
679 | static char NeueKompassRichtungMerken = 0; |
679 | static long ausgleichNick, ausgleichRoll; |
680 | static long ausgleichNick, ausgleichRoll; |
680 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
681 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
681 | unsigned char i; |
682 | unsigned char i; |
682 | Mittelwert(); |
683 | Mittelwert(); |
683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
684 | // Gaswert ermitteln |
685 | // Gaswert ermitteln |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
687 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
687 | { |
688 | { |
688 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
689 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
689 | { |
690 | { |
690 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
691 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
691 | } |
692 | } |
692 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
693 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
693 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
694 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
694 | 695 | ||
695 | GasMischanteil = StickGas; |
696 | GasMischanteil = StickGas; |
696 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
697 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
698 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
698 | // Empfang schlecht |
699 | // Empfang schlecht |
699 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
700 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
701 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
701 | { |
702 | { |
702 | if(RcLostTimer) RcLostTimer--; |
703 | if(RcLostTimer) RcLostTimer--; |
703 | else |
704 | else |
704 | { |
705 | { |
705 | MotorenEin = 0; |
706 | MotorenEin = 0; |
706 | modell_fliegt = 0; |
707 | modell_fliegt = 0; |
707 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
708 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
708 | } |
709 | } |
709 | ROT_ON; |
710 | ROT_ON; |
710 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
711 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
711 | { |
712 | { |
712 | GasMischanteil = HooverGasEmergencyPercent; |
713 | GasMischanteil = HooverGasEmergencyPercent; |
713 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
714 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
714 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
715 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
715 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
716 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
716 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
717 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
717 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
718 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
718 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
719 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
719 | } |
720 | } |
720 | else |
721 | else |
721 | { |
722 | { |
722 | MotorenEin = 0; |
723 | MotorenEin = 0; |
723 | } |
724 | } |
724 | } |
725 | } |
725 | else |
726 | else |
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
727 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
727 | // Emfang gut |
728 | // Emfang gut |
728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
729 | if(SenderOkay > 140) |
730 | if(SenderOkay > 140) |
730 | { |
731 | { |
731 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
732 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
732 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
733 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
733 | if(GasMischanteil > 40 && MotorenEin) |
734 | if(GasMischanteil > 40 && MotorenEin) |
734 | { |
735 | { |
735 | if(modell_fliegt < 0xffff) modell_fliegt++; |
736 | if(modell_fliegt < 0xffff) modell_fliegt++; |
736 | } |
737 | } |
737 | if((modell_fliegt < 256)) |
738 | if((modell_fliegt < 256)) |
738 | { |
739 | { |
739 | SummeNick = 0; |
740 | SummeNick = 0; |
740 | SummeRoll = 0; |
741 | SummeRoll = 0; |
741 | sollGier = 0; |
742 | sollGier = 0; |
742 | Mess_Integral_Gier = 0; |
743 | Mess_Integral_Gier = 0; |
743 | } else FC_StatusFlags |= FC_STATUS_FLY; |
744 | } else FC_StatusFlags |= FC_STATUS_FLY; |
744 | 745 | ||
745 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
746 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
746 | { |
747 | { |
747 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
748 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
748 | // auf Nullwerte kalibrieren |
749 | // auf Nullwerte kalibrieren |
749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
751 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
751 | { |
752 | { |
752 | if(++delay_neutral > 200) // nicht sofort |
753 | if(++delay_neutral > 200) // nicht sofort |
753 | { |
754 | { |
754 | MotorenEin = 0; |
755 | MotorenEin = 0; |
755 | delay_neutral = 0; |
756 | delay_neutral = 0; |
756 | modell_fliegt = 0; |
757 | modell_fliegt = 0; |
757 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
758 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
758 | { |
759 | { |
759 | unsigned char setting=1; |
760 | unsigned char setting=1; |
760 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
762 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
762 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
763 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
763 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
764 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
764 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
765 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
765 | SetActiveParamSet(setting); // aktiven Datensatz merken |
766 | SetActiveParamSet(setting); // aktiven Datensatz merken |
766 | } |
767 | } |
767 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
768 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
768 | { |
769 | { |
769 | WinkelOut.CalcState = 1; |
770 | WinkelOut.CalcState = 1; |
770 | CalibrationDone = 0; |
771 | CalibrationDone = 0; |
771 | beeptime = 1000; |
772 | beeptime = 1000; |
772 | } |
773 | } |
773 | else |
774 | else |
774 | { |
775 | { |
775 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
776 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
776 | LipoDetection(0); |
777 | LipoDetection(0); |
777 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
778 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
778 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
779 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
779 | { |
780 | { |
780 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
781 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
781 | } |
782 | } |
782 | ServoActive = 0; |
783 | ServoActive = 0; |
783 | SetNeutral(0); |
784 | SetNeutral(0); |
784 | CalibrationDone = 1; |
785 | CalibrationDone = 1; |
785 | ServoActive = 1; |
786 | ServoActive = 1; |
786 | DDRD |=0x80; // enable J7 -> Servo signal |
787 | DDRD |=0x80; // enable J7 -> Servo signal |
787 | Piep(GetActiveParamSet(),120); |
788 | Piep(GetActiveParamSet(),120); |
788 | } |
789 | } |
789 | } |
790 | } |
790 | } |
791 | } |
791 | else |
792 | else |
792 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
793 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
793 | { |
794 | { |
794 | if(++delay_neutral > 200) // nicht sofort |
795 | if(++delay_neutral > 200) // nicht sofort |
795 | { |
796 | { |
796 | MotorenEin = 0; |
797 | MotorenEin = 0; |
797 | delay_neutral = 0; |
798 | delay_neutral = 0; |
798 | modell_fliegt = 0; |
799 | modell_fliegt = 0; |
799 | SetNeutral(1); |
800 | SetNeutral(1); |
800 | CalibrationDone = 1; |
801 | CalibrationDone = 1; |
801 | Piep(GetActiveParamSet(),120); |
802 | Piep(GetActiveParamSet(),120); |
802 | } |
803 | } |
803 | } |
804 | } |
804 | else delay_neutral = 0; |
805 | else delay_neutral = 0; |
805 | } |
806 | } |
806 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
807 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
807 | // Gas ist unten |
808 | // Gas ist unten |
808 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
809 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
809 | 810 | ||
810 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
811 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
811 | { |
812 | { |
812 | // Motoren Starten |
813 | // Motoren Starten |
813 | if(!MotorenEin) |
814 | if(!MotorenEin) |
814 | { |
815 | { |
815 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
816 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
816 | { |
817 | { |
817 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
818 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
818 | // Einschalten |
819 | // Einschalten |
819 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
820 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
820 | if(++delay_einschalten > 200) |
821 | if(++delay_einschalten > 200) |
821 | { |
822 | { |
822 | delay_einschalten = 0; |
823 | delay_einschalten = 0; |
823 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
824 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
824 | { |
825 | { |
825 | modell_fliegt = 1; |
826 | modell_fliegt = 1; |
826 | MotorenEin = 1; |
827 | MotorenEin = 1; |
827 | sollGier = 0; |
828 | sollGier = 0; |
828 | Mess_Integral_Gier = 0; |
829 | Mess_Integral_Gier = 0; |
829 | Mess_Integral_Gier2 = 0; |
830 | Mess_Integral_Gier2 = 0; |
830 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
831 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
831 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
832 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
832 | Mess_IntegralNick2 = IntegralNick; |
833 | Mess_IntegralNick2 = IntegralNick; |
833 | Mess_IntegralRoll2 = IntegralRoll; |
834 | Mess_IntegralRoll2 = IntegralRoll; |
834 | SummeNick = 0; |
835 | SummeNick = 0; |
835 | SummeRoll = 0; |
836 | SummeRoll = 0; |
836 | FC_StatusFlags |= FC_STATUS_START; |
837 | FC_StatusFlags |= FC_STATUS_START; |
837 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
838 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
838 | NeueKompassRichtungMerken = 100; // 2 sekunden |
839 | NeueKompassRichtungMerken = 100; // 2 sekunden |
839 | } |
840 | } |
840 | else |
841 | else |
841 | { |
842 | { |
842 | beeptime = 1500; // indicate missing calibration |
843 | beeptime = 1500; // indicate missing calibration |
843 | } |
844 | } |
844 | } |
845 | } |
845 | } |
846 | } |
846 | else delay_einschalten = 0; |
847 | else delay_einschalten = 0; |
847 | } |
848 | } |
848 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | // Auschalten |
850 | // Auschalten |
850 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | else // only if motors are running |
852 | else // only if motors are running |
852 | { |
853 | { |
853 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
854 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
854 | { |
855 | { |
855 | if(++delay_ausschalten > 200) // nicht sofort |
856 | if(++delay_ausschalten > 200) // nicht sofort |
856 | { |
857 | { |
857 | MotorenEin = 0; |
858 | MotorenEin = 0; |
858 | delay_ausschalten = 0; |
859 | delay_ausschalten = 0; |
859 | modell_fliegt = 0; |
860 | modell_fliegt = 0; |
860 | } |
861 | } |
861 | } |
862 | } |
862 | else delay_ausschalten = 0; |
863 | else delay_ausschalten = 0; |
863 | } |
864 | } |
864 | } |
865 | } |
865 | } |
866 | } |
866 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
867 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
867 | // neue Werte von der Funke |
868 | // neue Werte von der Funke |
868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
869 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
869 | 870 | ||
870 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
871 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
871 | { |
872 | { |
872 | static int stick_nick,stick_roll; |
873 | static int stick_nick,stick_roll; |
873 | unsigned char stick_p; |
874 | unsigned char stick_p; |
874 | ParameterZuordnung(); |
875 | ParameterZuordnung(); |
875 | stick_p = EE_Parameter.Stick_P; |
876 | stick_p = EE_Parameter.Stick_P; |
876 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
877 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
877 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
878 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
878 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
879 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
879 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
880 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
880 | 881 | ||
881 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | // CareFree und freie Wahl der vorderen Richtung |
883 | // CareFree und freie Wahl der vorderen Richtung |
883 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
884 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
884 | if(CareFree) |
885 | if(CareFree) |
885 | { |
886 | { |
886 | signed int nick, roll; |
887 | signed int nick, roll; |
887 | nick = stick_nick / 4; |
888 | nick = stick_nick / 4; |
888 | roll = stick_roll / 4; |
889 | roll = stick_roll / 4; |
889 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
890 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
890 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
891 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
891 | } |
892 | } |
892 | else |
893 | else |
893 | { |
894 | { |
894 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
895 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
895 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
896 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
896 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
897 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
897 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
898 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
898 | } |
899 | } |
899 | 900 | ||
900 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
901 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
901 | if(StickGier > 4) StickGier -= 4; else |
902 | if(StickGier > 4) StickGier -= 4; else |
902 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
903 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
903 | 904 | ||
904 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
905 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
905 | { |
906 | { |
906 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
907 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
907 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
908 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
908 | } |
909 | } |
909 | 910 | ||
910 | StickNick -= GPS_Nick; |
911 | StickNick -= GPS_Nick; |
911 | StickRoll -= GPS_Roll; |
912 | StickRoll -= GPS_Roll; |
912 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
913 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
913 | 914 | ||
914 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
915 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
915 | IntegralFaktor = Parameter_Gyro_I; |
916 | IntegralFaktor = Parameter_Gyro_I; |
916 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
917 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
917 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
918 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
918 | 919 | ||
919 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
920 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
920 | //+ Analoge Steuerung per Seriell |
921 | //+ Analoge Steuerung per Seriell |
921 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
922 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
922 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
923 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
923 | { |
924 | { |
924 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
925 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
925 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
926 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
926 | StickGier += ExternControl.Gier; |
927 | StickGier += ExternControl.Gier; |
927 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
928 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
928 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
929 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
929 | } |
930 | } |
930 | if(StickGas < 0) StickGas = 0; |
931 | if(StickGas < 0) StickGas = 0; |
931 | 932 | ||
932 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
933 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
933 | 934 | ||
934 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
935 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
935 | { |
936 | { |
936 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
937 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
937 | if(MaxStickNick > 100) MaxStickNick = 100; |
938 | if(MaxStickNick > 100) MaxStickNick = 100; |
938 | } |
939 | } |
939 | else MaxStickNick--; |
940 | else MaxStickNick--; |
940 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
941 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
941 | { |
942 | { |
942 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
943 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
943 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
944 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
944 | } |
945 | } |
945 | else MaxStickRoll--; |
946 | else MaxStickRoll--; |
946 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
947 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
947 | 948 | ||
948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
949 | // Looping? |
950 | // Looping? |
950 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
951 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
951 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
952 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
952 | else |
953 | else |
953 | { |
954 | { |
954 | { |
955 | { |
955 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
956 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
956 | } |
957 | } |
957 | } |
958 | } |
958 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
959 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
959 | else |
960 | else |
960 | { |
961 | { |
961 | if(Looping_Rechts) // Hysterese |
962 | if(Looping_Rechts) // Hysterese |
962 | { |
963 | { |
963 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
964 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
964 | } |
965 | } |
965 | } |
966 | } |
966 | 967 | ||
967 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
968 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
968 | else |
969 | else |
969 | { |
970 | { |
970 | if(Looping_Oben) // Hysterese |
971 | if(Looping_Oben) // Hysterese |
971 | { |
972 | { |
972 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
973 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
973 | } |
974 | } |
974 | } |
975 | } |
975 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
976 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
976 | else |
977 | else |
977 | { |
978 | { |
978 | if(Looping_Unten) // Hysterese |
979 | if(Looping_Unten) // Hysterese |
979 | { |
980 | { |
980 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
981 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
981 | } |
982 | } |
982 | } |
983 | } |
983 | 984 | ||
984 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
985 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
985 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
986 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
986 | } // Ende neue Funken-Werte |
987 | } // Ende neue Funken-Werte |
987 | 988 | ||
988 | if(Looping_Roll || Looping_Nick) |
989 | if(Looping_Roll || Looping_Nick) |
989 | { |
990 | { |
990 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
991 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
991 | TrichterFlug = 1; |
992 | TrichterFlug = 1; |
992 | } |
993 | } |
993 | 994 | ||
994 | 995 | ||
995 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | // Bei Empfangsausfall im Flug |
997 | // Bei Empfangsausfall im Flug |
997 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
998 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
998 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
999 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
999 | { |
1000 | { |
1000 | StickNick = -GPS_Nick; |
1001 | StickNick = -GPS_Nick; |
1001 | StickRoll = -GPS_Roll; |
1002 | StickRoll = -GPS_Roll; |
1002 | StickGas = StickGasHover; |
1003 | StickGas = StickGasHover; |
1003 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1004 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1004 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1005 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1005 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1006 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1006 | Parameter_HoehenSchalter = 200; // switch on |
1007 | Parameter_HoehenSchalter = 200; // switch on |
1007 | } |
1008 | } |
1008 | else |
1009 | else |
1009 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1010 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1010 | { |
1011 | { |
1011 | StickGier = 0; |
1012 | StickGier = 0; |
1012 | StickNick = 0; |
1013 | StickNick = 0; |
1013 | StickRoll = 0; |
1014 | StickRoll = 0; |
1014 | GyroFaktor = 90; |
1015 | GyroFaktor = 90; |
1015 | IntegralFaktor = 120; |
1016 | IntegralFaktor = 120; |
1016 | GyroFaktorGier = 90; |
1017 | GyroFaktorGier = 90; |
1017 | IntegralFaktorGier = 120; |
1018 | IntegralFaktorGier = 120; |
1018 | Looping_Roll = 0; |
1019 | Looping_Roll = 0; |
1019 | Looping_Nick = 0; |
1020 | Looping_Nick = 0; |
1020 | } |
1021 | } |
1021 | 1022 | ||
1022 | 1023 | ||
1023 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1024 | // Integrale auf ACC-Signal abgleichen |
1025 | // Integrale auf ACC-Signal abgleichen |
1025 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1026 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1026 | #define ABGLEICH_ANZAHL 256L |
1027 | #define ABGLEICH_ANZAHL 256L |
1027 | 1028 | ||
1028 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1029 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1029 | MittelIntegralRoll += IntegralRoll; |
1030 | MittelIntegralRoll += IntegralRoll; |
1030 | MittelIntegralNick2 += IntegralNick2; |
1031 | MittelIntegralNick2 += IntegralNick2; |
1031 | MittelIntegralRoll2 += IntegralRoll2; |
1032 | MittelIntegralRoll2 += IntegralRoll2; |
1032 | 1033 | ||
1033 | if(Looping_Nick || Looping_Roll) |
1034 | if(Looping_Nick || Looping_Roll) |
1034 | { |
1035 | { |
1035 | IntegralAccNick = 0; |
1036 | IntegralAccNick = 0; |
1036 | IntegralAccRoll = 0; |
1037 | IntegralAccRoll = 0; |
1037 | MittelIntegralNick = 0; |
1038 | MittelIntegralNick = 0; |
1038 | MittelIntegralRoll = 0; |
1039 | MittelIntegralRoll = 0; |
1039 | MittelIntegralNick2 = 0; |
1040 | MittelIntegralNick2 = 0; |
1040 | MittelIntegralRoll2 = 0; |
1041 | MittelIntegralRoll2 = 0; |
1041 | Mess_IntegralNick2 = Mess_IntegralNick; |
1042 | Mess_IntegralNick2 = Mess_IntegralNick; |
1042 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1043 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1043 | ZaehlMessungen = 0; |
1044 | ZaehlMessungen = 0; |
1044 | LageKorrekturNick = 0; |
1045 | LageKorrekturNick = 0; |
1045 | LageKorrekturRoll = 0; |
1046 | LageKorrekturRoll = 0; |
1046 | } |
1047 | } |
1047 | 1048 | ||
1048 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1049 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1049 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1050 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1050 | { |
1051 | { |
1051 | long tmp_long, tmp_long2; |
1052 | long tmp_long, tmp_long2; |
1052 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1053 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1053 | { |
1054 | { |
1054 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1055 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1055 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1056 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1056 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1057 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1057 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1058 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1058 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1059 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1059 | { |
1060 | { |
1060 | tmp_long /= 2; |
1061 | tmp_long /= 2; |
1061 | tmp_long2 /= 2; |
1062 | tmp_long2 /= 2; |
1062 | } |
1063 | } |
1063 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1064 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1064 | { |
1065 | { |
1065 | tmp_long /= 3; |
1066 | tmp_long /= 3; |
1066 | tmp_long2 /= 3; |
1067 | tmp_long2 /= 3; |
1067 | } |
1068 | } |
1068 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1069 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1069 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1070 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1070 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1071 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1071 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1072 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1072 | } |
1073 | } |
1073 | else |
1074 | else |
1074 | { |
1075 | { |
1075 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1076 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1076 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1077 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1077 | tmp_long /= 16; |
1078 | tmp_long /= 16; |
1078 | tmp_long2 /= 16; |
1079 | tmp_long2 /= 16; |
1079 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1080 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1080 | { |
1081 | { |
1081 | tmp_long /= 3; |
1082 | tmp_long /= 3; |
1082 | tmp_long2 /= 3; |
1083 | tmp_long2 /= 3; |
1083 | } |
1084 | } |
1084 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1085 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1085 | { |
1086 | { |
1086 | tmp_long /= 3; |
1087 | tmp_long /= 3; |
1087 | tmp_long2 /= 3; |
1088 | tmp_long2 /= 3; |
1088 | } |
1089 | } |
1089 | KompassFusion = 25; |
1090 | KompassFusion = 25; |
1090 | #define AUSGLEICH 32 |
1091 | #define AUSGLEICH 32 |
1091 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1092 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1092 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1093 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1093 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1094 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1094 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1095 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1095 | } |
1096 | } |
1096 | 1097 | ||
1097 | Mess_IntegralNick -= tmp_long; |
1098 | Mess_IntegralNick -= tmp_long; |
1098 | Mess_IntegralRoll -= tmp_long2; |
1099 | Mess_IntegralRoll -= tmp_long2; |
1099 | } |
1100 | } |
1100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1101 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1102 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1102 | { |
1103 | { |
1103 | static int cnt = 0; |
1104 | static int cnt = 0; |
1104 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1105 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1105 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1106 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1106 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1107 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1107 | { |
1108 | { |
1108 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1109 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1109 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1110 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1110 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1111 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1111 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1112 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1112 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1113 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1113 | #define MAX_I 0 |
1114 | #define MAX_I 0 |
1114 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1115 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1115 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1116 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1116 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1117 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1117 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1118 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1118 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1119 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1119 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1120 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1120 | 1121 | ||
1121 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1122 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1122 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1123 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1123 | 1124 | ||
1124 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1125 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1125 | { |
1126 | { |
1126 | LageKorrekturNick /= 2; |
1127 | LageKorrekturNick /= 2; |
1127 | LageKorrekturRoll /= 2; |
1128 | LageKorrekturRoll /= 2; |
1128 | } |
1129 | } |
1129 | 1130 | ||
1130 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1131 | // Gyro-Drift ermitteln |
1132 | // Gyro-Drift ermitteln |
1132 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1133 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1133 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1134 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1134 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1135 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1135 | tmp_long = IntegralNick2 - IntegralNick; |
1136 | tmp_long = IntegralNick2 - IntegralNick; |
1136 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1137 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1137 | 1138 | ||
1138 | IntegralFehlerNick = tmp_long; |
1139 | IntegralFehlerNick = tmp_long; |
1139 | IntegralFehlerRoll = tmp_long2; |
1140 | IntegralFehlerRoll = tmp_long2; |
1140 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1141 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1141 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1142 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1142 | 1143 | ||
1143 | if(EE_Parameter.Driftkomp) |
1144 | if(EE_Parameter.Driftkomp) |
1144 | { |
1145 | { |
1145 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1146 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1146 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1147 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1147 | } |
1148 | } |
1148 | GierGyroFehler = 0; |
1149 | GierGyroFehler = 0; |
1149 | 1150 | ||
1150 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1151 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1151 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1152 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1152 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1153 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1153 | #define BEWEGUNGS_LIMIT 20000 |
1154 | #define BEWEGUNGS_LIMIT 20000 |
1154 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1155 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1155 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1156 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1156 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1157 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1157 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1158 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1158 | { |
1159 | { |
1159 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1160 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1160 | { |
1161 | { |
1161 | if(last_n_p) |
1162 | if(last_n_p) |
1162 | { |
1163 | { |
1163 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1164 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1164 | ausgleichNick = IntegralFehlerNick / 8; |
1165 | ausgleichNick = IntegralFehlerNick / 8; |
1165 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1166 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1166 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1167 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1167 | } |
1168 | } |
1168 | else last_n_p = 1; |
1169 | else last_n_p = 1; |
1169 | } else last_n_p = 0; |
1170 | } else last_n_p = 0; |
1170 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1171 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1171 | { |
1172 | { |
1172 | if(last_n_n) |
1173 | if(last_n_n) |
1173 | { |
1174 | { |
1174 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1175 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1175 | ausgleichNick = IntegralFehlerNick / 8; |
1176 | ausgleichNick = IntegralFehlerNick / 8; |
1176 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1177 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1177 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1178 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1178 | } |
1179 | } |
1179 | else last_n_n = 1; |
1180 | else last_n_n = 1; |
1180 | } else last_n_n = 0; |
1181 | } else last_n_n = 0; |
1181 | } |
1182 | } |
1182 | else |
1183 | else |
1183 | { |
1184 | { |
1184 | cnt = 0; |
1185 | cnt = 0; |
1185 | KompassSignalSchlecht = 100; |
1186 | KompassSignalSchlecht = 100; |
1186 | } |
1187 | } |
1187 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1188 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1188 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1189 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1189 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1190 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1190 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1191 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1191 | 1192 | ||
1192 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1193 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1193 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1194 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1194 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1195 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1195 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1196 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1196 | { |
1197 | { |
1197 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1198 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1198 | { |
1199 | { |
1199 | if(last_r_p) |
1200 | if(last_r_p) |
1200 | { |
1201 | { |
1201 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1202 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1202 | ausgleichRoll = IntegralFehlerRoll / 8; |
1203 | ausgleichRoll = IntegralFehlerRoll / 8; |
1203 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1204 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1204 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1205 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1205 | } |
1206 | } |
1206 | else last_r_p = 1; |
1207 | else last_r_p = 1; |
1207 | } else last_r_p = 0; |
1208 | } else last_r_p = 0; |
1208 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1209 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1209 | { |
1210 | { |
1210 | if(last_r_n) |
1211 | if(last_r_n) |
1211 | { |
1212 | { |
1212 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1213 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1213 | ausgleichRoll = IntegralFehlerRoll / 8; |
1214 | ausgleichRoll = IntegralFehlerRoll / 8; |
1214 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1215 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1215 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1216 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1216 | } |
1217 | } |
1217 | else last_r_n = 1; |
1218 | else last_r_n = 1; |
1218 | } else last_r_n = 0; |
1219 | } else last_r_n = 0; |
1219 | } else |
1220 | } else |
1220 | { |
1221 | { |
1221 | cnt = 0; |
1222 | cnt = 0; |
1222 | KompassSignalSchlecht = 100; |
1223 | KompassSignalSchlecht = 100; |
1223 | } |
1224 | } |
1224 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1225 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1225 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1226 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1226 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1227 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1227 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1228 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1228 | } |
1229 | } |
1229 | else |
1230 | else |
1230 | { |
1231 | { |
1231 | LageKorrekturRoll = 0; |
1232 | LageKorrekturRoll = 0; |
1232 | LageKorrekturNick = 0; |
1233 | LageKorrekturNick = 0; |
1233 | TrichterFlug = 0; |
1234 | TrichterFlug = 0; |
1234 | } |
1235 | } |
1235 | 1236 | ||
1236 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1237 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1237 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1238 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1238 | MittelIntegralNick_Alt = MittelIntegralNick; |
1239 | MittelIntegralNick_Alt = MittelIntegralNick; |
1239 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1240 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1240 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | IntegralAccNick = 0; |
1242 | IntegralAccNick = 0; |
1242 | IntegralAccRoll = 0; |
1243 | IntegralAccRoll = 0; |
1243 | IntegralAccZ = 0; |
1244 | IntegralAccZ = 0; |
1244 | MittelIntegralNick = 0; |
1245 | MittelIntegralNick = 0; |
1245 | MittelIntegralRoll = 0; |
1246 | MittelIntegralRoll = 0; |
1246 | MittelIntegralNick2 = 0; |
1247 | MittelIntegralNick2 = 0; |
1247 | MittelIntegralRoll2 = 0; |
1248 | MittelIntegralRoll2 = 0; |
1248 | ZaehlMessungen = 0; |
1249 | ZaehlMessungen = 0; |
1249 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1250 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1250 | 1251 | ||
1251 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1252 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1252 | // Gieren |
1253 | // Gieren |
1253 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1254 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1254 | if(abs(StickGier) > 3) // war 15 |
1255 | if(abs(StickGier) > 3) // war 15 |
1255 | { |
1256 | { |
1256 | // KompassSignalSchlecht = 1000; |
1257 | // KompassSignalSchlecht = 1000; |
1257 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1258 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1258 | { |
1259 | { |
1259 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1260 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1260 | }; |
1261 | }; |
1261 | } |
1262 | } |
1262 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1263 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1263 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1264 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1264 | tmp_int += CompassGierSetpoint; |
1265 | tmp_int += CompassGierSetpoint; |
1265 | sollGier = tmp_int; |
1266 | sollGier = tmp_int; |
1266 | Mess_Integral_Gier -= tmp_int; |
1267 | Mess_Integral_Gier -= tmp_int; |
1267 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1268 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1268 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1269 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1269 | 1270 | ||
1270 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1271 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1271 | // Kompass |
1272 | // Kompass |
1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1273 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1273 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1274 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1274 | { |
1275 | { |
1275 | if(CalculateCompassTimer-- == 1) |
1276 | if(CalculateCompassTimer-- == 1) |
1276 | { |
1277 | { |
1277 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1278 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1278 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1279 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1279 | // max. Korrekturwert schätzen |
1280 | // max. Korrekturwert schätzen |
1280 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1281 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1281 | v = abs(IntegralRoll /512); |
1282 | v = abs(IntegralRoll /512); |
1282 | if(v > w) w = v; // grösste Neigung ermitteln |
1283 | if(v > w) w = v; // grösste Neigung ermitteln |
1283 | // korrektur = w / 4 + 1; |
1284 | // korrektur = w / 4 + 1; |
1284 | korrektur = w / 8 + 2; |
1285 | korrektur = w / 8 + 2; |
1285 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1286 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1286 | // Kompassfehlerwert bestimmen |
1287 | // Kompassfehlerwert bestimmen |
1287 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1288 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1288 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1289 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1289 | // Kompasswert einloggen |
1290 | // Kompasswert einloggen |
1290 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1291 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1291 | else |
1292 | else |
1292 | if(w < 25) |
1293 | if(w < 25) |
1293 | { |
1294 | { |
1294 | GierGyroFehler += fehler; |
1295 | GierGyroFehler += fehler; |
1295 | if(NeueKompassRichtungMerken) |
1296 | if(NeueKompassRichtungMerken) |
1296 | { |
1297 | { |
1297 | if(--NeueKompassRichtungMerken == 0) |
1298 | if(--NeueKompassRichtungMerken == 0) |
1298 | { |
1299 | { |
1299 | KompassSollWert = ErsatzKompassInGrad; |
1300 | KompassSollWert = ErsatzKompassInGrad; |
1300 | } |
1301 | } |
1301 | } |
1302 | } |
1302 | } |
1303 | } |
1303 | // Kompass fusionieren |
1304 | // Kompass fusionieren |
1304 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1305 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1305 | // MK Gieren |
1306 | // MK Gieren |
1306 | if(!NeueKompassRichtungMerken) |
1307 | if(!NeueKompassRichtungMerken) |
1307 | { |
1308 | { |
1308 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1309 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1309 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1310 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1310 | CompassGierSetpoint = v / 16; |
1311 | CompassGierSetpoint = v / 16; |
1311 | } |
1312 | } |
1312 | else CompassGierSetpoint = 0; |
1313 | else CompassGierSetpoint = 0; |
1313 | } // CalculateCompassTimer |
1314 | } // CalculateCompassTimer |
1314 | } |
1315 | } |
1315 | else CompassGierSetpoint = 0; |
1316 | else CompassGierSetpoint = 0; |
1316 | 1317 | ||
1317 | //DebugOut.Analog[16] = KompassFusion; |
1318 | //DebugOut.Analog[16] = KompassFusion; |
1318 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1319 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1319 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1320 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1320 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1321 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1321 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1322 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1322 | 1323 | ||
1323 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1324 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1324 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1325 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1325 | 1326 | ||
1326 | #define TRIM_MAX 200 |
1327 | #define TRIM_MAX 200 |
1327 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1328 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1328 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1329 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1329 | 1330 | ||
1330 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1331 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1331 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1332 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1332 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1333 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1333 | 1334 | ||
1334 | // Maximalwerte abfangen |
1335 | // Maximalwerte abfangen |
1335 | #define MAX_SENSOR (4096) |
1336 | #define MAX_SENSOR (4096) |
1336 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1337 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1337 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1338 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1338 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1339 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1339 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1340 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1340 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1341 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1341 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1342 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1342 | 1343 | ||
1343 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1344 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1344 | // Höhenregelung |
1345 | // Höhenregelung |
1345 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1346 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1346 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1347 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1347 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1348 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1348 | GasMischanteil *= STICK_GAIN; |
1349 | GasMischanteil *= STICK_GAIN; |
1349 | // if height control is activated |
1350 | // if height control is activated |
1350 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1351 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1351 | { |
1352 | { |
1352 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1353 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1353 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1354 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1354 | 1355 | ||
1355 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1356 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1356 | #define OPA_OFFSET_STEP 15 |
1357 | #define OPA_OFFSET_STEP 15 |
1357 | #else |
1358 | #else |
1358 | #define OPA_OFFSET_STEP 10 |
1359 | #define OPA_OFFSET_STEP 10 |
1359 | #endif |
1360 | #endif |
1360 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1361 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1361 | static int HeightTrimming = 0; // rate for change of height setpoint |
1362 | static int HeightTrimming = 0; // rate for change of height setpoint |
1362 | static int FilterHCGas = 0; |
1363 | static int FilterHCGas = 0; |
1363 | static unsigned long HoverGasFilter = 0; |
1364 | static unsigned long HoverGasFilter = 0; |
1364 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1365 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1365 | int CosAttitude; // for projection of hoover gas |
1366 | int CosAttitude; // for projection of hoover gas |
1366 | 1367 | ||
1367 | // get the current hooverpoint |
1368 | // get the current hooverpoint |
1368 | DebugOut.Analog[21] = HoverGas; |
1369 | DebugOut.Analog[21] = HoverGas; |
1369 | 1370 | ||
1370 | // Expand the measurement |
1371 | // Expand the measurement |
1371 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1372 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1372 | if(!BaroExpandActive) |
1373 | if(!BaroExpandActive) |
1373 | { |
1374 | { |
1374 | if(MessLuftdruck > 920) |
1375 | if(MessLuftdruck > 920) |
1375 | { // increase offset |
1376 | { // increase offset |
1376 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1377 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1377 | { |
1378 | { |
1378 | ExpandBaro -= 1; |
1379 | ExpandBaro -= 1; |
1379 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1380 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1380 | beeptime = 300; |
1381 | beeptime = 300; |
1381 | BaroExpandActive = 350; |
1382 | BaroExpandActive = 350; |
1382 | } |
1383 | } |
1383 | else |
1384 | else |
1384 | { |
1385 | { |
1385 | BaroAtLowerLimit = 1; |
1386 | BaroAtLowerLimit = 1; |
1386 | } |
1387 | } |
1387 | } |
1388 | } |
1388 | // measurement of air pressure close to lower limit and |
1389 | // measurement of air pressure close to lower limit and |
1389 | else |
1390 | else |
1390 | if(MessLuftdruck < 100) |
1391 | if(MessLuftdruck < 100) |
1391 | { // decrease offset |
1392 | { // decrease offset |
1392 | if(OCR0A > OPA_OFFSET_STEP) |
1393 | if(OCR0A > OPA_OFFSET_STEP) |
1393 | { |
1394 | { |
1394 | ExpandBaro += 1; |
1395 | ExpandBaro += 1; |
1395 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1396 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1396 | beeptime = 300; |
1397 | beeptime = 300; |
1397 | BaroExpandActive = 350; |
1398 | BaroExpandActive = 350; |
1398 | } |
1399 | } |
1399 | else |
1400 | else |
1400 | { |
1401 | { |
1401 | BaroAtUpperLimit = 1; |
1402 | BaroAtUpperLimit = 1; |
1402 | } |
1403 | } |
1403 | } |
1404 | } |
1404 | else |
1405 | else |
1405 | { |
1406 | { |
1406 | BaroAtUpperLimit = 0; |
1407 | BaroAtUpperLimit = 0; |
1407 | BaroAtLowerLimit = 0; |
1408 | BaroAtLowerLimit = 0; |
1408 | } |
1409 | } |
1409 | } |
1410 | } |
1410 | else // delay, because of expanding the Baro-Range |
1411 | else // delay, because of expanding the Baro-Range |
1411 | { |
1412 | { |
1412 | // now clear the D-values |
1413 | // now clear the D-values |
1413 | SummenHoehe = HoehenWert * SM_FILTER; |
1414 | SummenHoehe = HoehenWert * SM_FILTER; |
1414 | VarioMeter = 0; |
1415 | VarioMeter = 0; |
1415 | BaroExpandActive--; |
1416 | BaroExpandActive--; |
1416 | } |
1417 | } |
1417 | 1418 | ||
1418 | // if height control is activated by an rc channel |
1419 | // if height control is activated by an rc channel |
1419 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1420 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1420 | { // check if parameter is less than activation threshold |
1421 | { // check if parameter is less than activation threshold |
1421 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1422 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1422 | { //height control not active |
1423 | { //height control not active |
1423 | if(!delay--) |
1424 | if(!delay--) |
1424 | { |
1425 | { |
1425 | HoehenReglerAktiv = 0; // disable height control |
1426 | HoehenReglerAktiv = 0; // disable height control |
1426 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1427 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1427 | delay = 1; |
1428 | delay = 1; |
1428 | } |
1429 | } |
1429 | } |
1430 | } |
1430 | else |
1431 | else |
1431 | { //height control is activated |
1432 | { //height control is activated |
1432 | HoehenReglerAktiv = 1; // enable height control |
1433 | HoehenReglerAktiv = 1; // enable height control |
1433 | delay = 200; |
1434 | delay = 200; |
1434 | } |
1435 | } |
1435 | } |
1436 | } |
1436 | else // no switchable height control |
1437 | else // no switchable height control |
1437 | { |
1438 | { |
1438 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1439 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1439 | HoehenReglerAktiv = 1; |
1440 | HoehenReglerAktiv = 1; |
1440 | } |
1441 | } |
1441 | 1442 | ||
1442 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1443 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1443 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1444 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1444 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1445 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1445 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1446 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1446 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1447 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1447 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1448 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1448 | VarioCharacter = ' '; |
1449 | VarioCharacter = ' '; |
1449 | AltitudeSetpointTrimming = 0; |
1450 | AltitudeSetpointTrimming = 0; |
1450 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1451 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1451 | { |
1452 | { |
1452 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1453 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1453 | // Holger original version |
1454 | // Holger original version |
1454 | // start of height control algorithm |
1455 | // start of height control algorithm |
1455 | // the height control is only an attenuation of the actual gas stick. |
1456 | // the height control is only an attenuation of the actual gas stick. |
1456 | // I.e. it will work only if the gas stick is higher than the hover gas |
1457 | // I.e. it will work only if the gas stick is higher than the hover gas |
1457 | // and the hover height will be allways larger than height setpoint. |
1458 | // and the hover height will be allways larger than height setpoint. |
1458 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1459 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1459 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1460 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1460 | { // old version |
1461 | { // old version |
1461 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1462 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1462 | HeightTrimming = 0; |
1463 | HeightTrimming = 0; |
1463 | AltitudeSetpointTrimming = 0; |
1464 | AltitudeSetpointTrimming = 0; |
1464 | // set both flags to indicate no vario mode |
1465 | // set both flags to indicate no vario mode |
1465 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1466 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1466 | } |
1467 | } |
1467 | else |
1468 | else |
1468 | { |
1469 | { |
1469 | // alternative height control |
1470 | // alternative height control |
1470 | // PD-Control with respect to hoover point |
1471 | // PD-Control with respect to hoover point |
1471 | // the thrust loss out of horizontal attitude is compensated |
1472 | // the thrust loss out of horizontal attitude is compensated |
1472 | // the setpoint will be fine adjusted with the gas stick position |
1473 | // the setpoint will be fine adjusted with the gas stick position |
1473 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1474 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1474 | { // gas stick is above hoover point |
1475 | { // gas stick is above hoover point |
1475 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1476 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1476 | { |
1477 | { |
1477 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1478 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1478 | { |
1479 | { |
1479 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1480 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1480 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1481 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1481 | } |
1482 | } |
1482 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1483 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1483 | // Limit the maximum Altitude |
1484 | // Limit the maximum Altitude |
1484 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1485 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1485 | else |
1486 | else |
1486 | { |
1487 | { |
1487 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1488 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1488 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1489 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1489 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1490 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1490 | VarioCharacter = '+'; |
1491 | VarioCharacter = '+'; |
1491 | } |
1492 | } |
1492 | WaypointTrimming = 0; |
1493 | WaypointTrimming = 0; |
1493 | } // gas stick is below hoover point |
1494 | } // gas stick is below hoover point |
1494 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1495 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1495 | { |
1496 | { |
1496 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1497 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1497 | { |
1498 | { |
1498 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1499 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1499 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1500 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1500 | } |
1501 | } |
1501 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1502 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1502 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1503 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1503 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1504 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1504 | VarioCharacter = '-'; |
1505 | VarioCharacter = '-'; |
1505 | WaypointTrimming = 0; |
1506 | WaypointTrimming = 0; |
1506 | } |
1507 | } |
1507 | else // Gas Stick in Hover Range |
1508 | else // Gas Stick in Hover Range |
1508 | { |
1509 | { |
1509 | VarioCharacter = '='; |
1510 | VarioCharacter = '='; |
1510 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1511 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1511 | { |
1512 | { |
1512 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1513 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1513 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1514 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1514 | //HeightTrimming += FromNC_AltitudeSpeed; |
1515 | //HeightTrimming += FromNC_AltitudeSpeed; |
1515 | WaypointTrimming = 10; |
1516 | WaypointTrimming = 10; |
1516 | VarioCharacter = '^'; |
1517 | VarioCharacter = '^'; |
1517 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1518 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1518 | { |
1519 | { |
1519 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1520 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1520 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1521 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1521 | } |
1522 | } |
1522 | } |
1523 | } |
1523 | else |
1524 | else |
1524 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1525 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1525 | { |
1526 | { |
1526 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1527 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1527 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1528 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1528 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1529 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1529 | WaypointTrimming = -10; |
1530 | WaypointTrimming = -10; |
1530 | VarioCharacter = 'v'; |
1531 | VarioCharacter = 'v'; |
1531 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1532 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1532 | { |
1533 | { |
1533 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1534 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1534 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1535 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1535 | } |
1536 | } |
1536 | } |
1537 | } |
1537 | else |
1538 | else |
1538 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1539 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1539 | { |
1540 | { |
1540 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1541 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1541 | else WaypointTrimming = 0; |
1542 | else WaypointTrimming = 0; |
1542 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1543 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1543 | HeightTrimming = 0; |
1544 | HeightTrimming = 0; |
1544 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1545 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1545 | if(!StartTrigger && HoehenWert > 50) |
1546 | if(!StartTrigger && HoehenWert > 50) |
1546 | { |
1547 | { |
1547 | StartTrigger = 1; |
1548 | StartTrigger = 1; |
1548 | } |
1549 | } |
1549 | } |
1550 | } |
1550 | } |
1551 | } |
1551 | // Trim height set point |
1552 | // Trim height set point |
1552 | HeightTrimming += AltitudeSetpointTrimming; |
1553 | HeightTrimming += AltitudeSetpointTrimming; |
1553 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1554 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1554 | { |
1555 | { |
1555 | if(WaypointTrimming) |
1556 | if(WaypointTrimming) |
1556 | { |
1557 | { |
1557 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1558 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1558 | else SollHoehe += WaypointTrimming; |
1559 | else SollHoehe += WaypointTrimming; |
1559 | } |
1560 | } |
1560 | else |
1561 | else |
1561 | { |
1562 | { |
1562 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1563 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1563 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1564 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1564 | } |
1565 | } |
1565 | HeightTrimming = 0; |
1566 | HeightTrimming = 0; |
1566 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1567 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1567 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1568 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1568 | //update hoover gas stick value when setpoint is shifted |
1569 | //update hoover gas stick value when setpoint is shifted |
1569 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1570 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1570 | { |
1571 | { |
1571 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1572 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1572 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1573 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1573 | if(StickGasHover < 70) StickGasHover = 70; |
1574 | if(StickGasHover < 70) StickGasHover = 70; |
1574 | else if(StickGasHover > 150) StickGasHover = 150; |
1575 | else if(StickGasHover > 150) StickGasHover = 150; |
1575 | } |
1576 | } |
1576 | } |
1577 | } |
1577 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1578 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1578 | } //if FCFlags & MKFCFLAG_FLY |
1579 | } //if FCFlags & MKFCFLAG_FLY |
1579 | else |
1580 | else |
1580 | { |
1581 | { |
1581 | SollHoehe = HoehenWert - 400; |
1582 | SollHoehe = HoehenWert - 400; |
1582 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1583 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1583 | else StickGasHover = 120; |
1584 | else StickGasHover = 120; |
1584 | HoverGas = GasMischanteil; |
1585 | HoverGas = GasMischanteil; |
1585 | VarioCharacter = '.'; |
1586 | VarioCharacter = '.'; |
1586 | } |
1587 | } |
1587 | HCGas = HoverGas; // take hover gas (neutral point) |
1588 | HCGas = HoverGas; // take hover gas (neutral point) |
1588 | } |
1589 | } |
1589 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1590 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1590 | { |
1591 | { |
1591 | // from this point the Heigth Control Algorithm is identical for both versions |
1592 | // from this point the Heigth Control Algorithm is identical for both versions |
1592 | if(BaroExpandActive) // baro range expanding active |
1593 | if(BaroExpandActive) // baro range expanding active |
1593 | { |
1594 | { |
1594 | HCGas = HoverGas; // hover while expanding baro adc range |
1595 | HCGas = HoverGas; // hover while expanding baro adc range |
1595 | HeightDeviation = 0; |
1596 | HeightDeviation = 0; |
1596 | } // EOF // baro range expanding active |
1597 | } // EOF // baro range expanding active |
1597 | else // valid data from air pressure sensor |
1598 | else // valid data from air pressure sensor |
1598 | { |
1599 | { |
1599 | // ------------------------- P-Part ---------------------------- |
1600 | // ------------------------- P-Part ---------------------------- |
1600 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1601 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1601 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1602 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1602 | HeightDeviation = (int)(tmp_long); // positive when too high |
1603 | HeightDeviation = (int)(tmp_long); // positive when too high |
1603 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1604 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1604 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1605 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1605 | GasReduction = tmp_long; |
1606 | GasReduction = tmp_long; |
1606 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1607 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1607 | tmp_int = VarioMeter / 8; |
1608 | tmp_int = VarioMeter / 8; |
1608 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1609 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1609 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1610 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1610 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1611 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1611 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1612 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1612 | else |
1613 | else |
1613 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1614 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1614 | GasReduction += tmp_int; |
1615 | GasReduction += tmp_int; |
1615 | } // EOF no baro range expanding |
1616 | } // EOF no baro range expanding |
1616 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1617 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1617 | if(Parameter_Hoehe_ACC_Wirkung) |
1618 | if(Parameter_Hoehe_ACC_Wirkung) |
1618 | { |
1619 | { |
1619 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1620 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1620 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1621 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1621 | GasReduction += tmp_long; |
1622 | GasReduction += tmp_long; |
1622 | } |
1623 | } |
1623 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1624 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1624 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1625 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1625 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1626 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1626 | GasReduction += tmp_int; |
1627 | GasReduction += tmp_int; |
1627 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1628 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1628 | // ------------------------ ---------------------------------- |
1629 | // ------------------------ ---------------------------------- |
1629 | HCGas -= GasReduction; |
1630 | HCGas -= GasReduction; |
1630 | // limit deviation from hoover point within the target region |
1631 | // limit deviation from hoover point within the target region |
1631 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1632 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1632 | { |
1633 | { |
1633 | unsigned int tmp; |
1634 | unsigned int tmp; |
1634 | tmp = abs(HeightDeviation); |
1635 | tmp = abs(HeightDeviation); |
1635 | if(tmp <= 60) |
1636 | if(tmp <= 60) |
1636 | { |
1637 | { |
1637 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1638 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1638 | } |
1639 | } |
1639 | else |
1640 | else |
1640 | { |
1641 | { |
1641 | tmp = (tmp - 60) / 32; |
1642 | tmp = (tmp - 60) / 32; |
1642 | if(tmp > 15) tmp = 15; |
1643 | if(tmp > 15) tmp = 15; |
1643 | if(HeightDeviation > 0) |
1644 | if(HeightDeviation > 0) |
1644 | { |
1645 | { |
1645 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1646 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1646 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1647 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1647 | } |
1648 | } |
1648 | else |
1649 | else |
1649 | { |
1650 | { |
1650 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1651 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1651 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1652 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1652 | } |
1653 | } |
1653 | } |
1654 | } |
1654 | } |
1655 | } |
1655 | // strech control output by inverse attitude projection 1/cos |
1656 | // strech control output by inverse attitude projection 1/cos |
1656 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1657 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1657 | tmp_long2 = (int32_t)HCGas; |
1658 | tmp_long2 = (int32_t)HCGas; |
1658 | tmp_long2 *= 8192L; |
1659 | tmp_long2 *= 8192L; |
1659 | tmp_long2 /= CosAttitude; |
1660 | tmp_long2 /= CosAttitude; |
1660 | HCGas = (int16_t)tmp_long2; |
1661 | HCGas = (int16_t)tmp_long2; |
1661 | // update height control gas averaging |
1662 | // update height control gas averaging |
1662 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1663 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1663 | // limit height control gas pd-control output |
1664 | // limit height control gas pd-control output |
1664 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1665 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1665 | // set GasMischanteil to HeightControlGasFilter |
1666 | // set GasMischanteil to HeightControlGasFilter |
1666 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1667 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1667 | { // old version |
1668 | { // old version |
1668 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1669 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1669 | GasMischanteil = FilterHCGas; |
1670 | GasMischanteil = FilterHCGas; |
1670 | } |
1671 | } |
1671 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1672 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1672 | } |
1673 | } |
1673 | }// EOF height control active |
1674 | }// EOF height control active |
1674 | else // HC not active |
1675 | else // HC not active |
1675 | { |
1676 | { |
1676 | //update hoover gas stick value when HC is not active |
1677 | //update hoover gas stick value when HC is not active |
1677 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1678 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1678 | { |
1679 | { |
1679 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1680 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1680 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1681 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1681 | } |
1682 | } |
1682 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1683 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1683 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1684 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1684 | FilterHCGas = GasMischanteil; |
1685 | FilterHCGas = GasMischanteil; |
1685 | // set both flags to indicate no vario mode |
1686 | // set both flags to indicate no vario mode |
1686 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1687 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1687 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1688 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1688 | } |
1689 | } |
1689 | // Hover gas estimation by averaging gas control output on small z-velocities |
1690 | // Hover gas estimation by averaging gas control output on small z-velocities |
1690 | // this is done only if height contol option is selected in global config and aircraft is flying |
1691 | // this is done only if height contol option is selected in global config and aircraft is flying |
1691 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1692 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1692 | { |
1693 | { |
1693 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1694 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1694 | if(StartTrigger == 1) StartTrigger = 2; |
1695 | if(StartTrigger == 1) StartTrigger = 2; |
1695 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1696 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1696 | tmp_long2 *= CosAttitude; // apply attitude projection |
1697 | tmp_long2 *= CosAttitude; // apply attitude projection |
1697 | tmp_long2 /= 8192; |
1698 | tmp_long2 /= 8192; |
1698 | // average vertical projected thrust |
1699 | // average vertical projected thrust |
1699 | if(modell_fliegt < 4000) // the first 8 seconds |
1700 | if(modell_fliegt < 4000) // the first 8 seconds |
1700 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1701 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1701 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1702 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1702 | HoverGasFilter += 16L * tmp_long2; |
1703 | HoverGasFilter += 16L * tmp_long2; |
1703 | } |
1704 | } |
1704 | if(modell_fliegt < 8000) // the first 16 seconds |
1705 | if(modell_fliegt < 8000) // the first 16 seconds |
1705 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1706 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1706 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1707 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1707 | HoverGasFilter += 4L * tmp_long2; |
1708 | HoverGasFilter += 4L * tmp_long2; |
1708 | } |
1709 | } |
1709 | else //later |
1710 | else //later |
1710 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1711 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1711 | { |
1712 | { |
1712 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1713 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1713 | HoverGasFilter += tmp_long2; |
1714 | HoverGasFilter += tmp_long2; |
1714 | } |
1715 | } |
1715 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1716 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1716 | if(EE_Parameter.Hoehe_HoverBand) |
1717 | if(EE_Parameter.Hoehe_HoverBand) |
1717 | { |
1718 | { |
1718 | int16_t band; |
1719 | int16_t band; |
1719 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1720 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1720 | HoverGasMin = HoverGas - band; |
1721 | HoverGasMin = HoverGas - band; |
1721 | HoverGasMax = HoverGas + band; |
1722 | HoverGasMax = HoverGas + band; |
1722 | } |
1723 | } |
1723 | else |
1724 | else |
1724 | { // no limit |
1725 | { // no limit |
1725 | HoverGasMin = 0; |
1726 | HoverGasMin = 0; |
1726 | HoverGasMax = 1023; |
1727 | HoverGasMax = 1023; |
1727 | } |
1728 | } |
1728 | } |
1729 | } |
1729 | else |
1730 | else |
1730 | { |
1731 | { |
1731 | StartTrigger = 0; |
1732 | StartTrigger = 0; |
1732 | HoverGasFilter = 0; |
1733 | HoverGasFilter = 0; |
1733 | HoverGas = 0; |
1734 | HoverGas = 0; |
1734 | } |
1735 | } |
1735 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1736 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1736 | else |
1737 | else |
1737 | { |
1738 | { |
1738 | // set undefined state to indicate vario off |
1739 | // set undefined state to indicate vario off |
1739 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1740 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1740 | } // EOF no height control |
1741 | } // EOF no height control |
1741 | 1742 | ||
1742 | // Linits the maximum gas in case of "Out of Range emergency landing" |
1743 | // Linits the maximum gas in case of "Out of Range emergency landing" |
1743 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1744 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1744 | { |
1745 | { |
1745 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
1746 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
- | 1747 | SollHoehe = HoehenWert; // update setpoint to current heigth |
|
1746 | beeptime = 15000; |
1748 | beeptime = 15000; |
1747 | BeepMuster = 0x0E00; |
1749 | BeepMuster = 0x0E00; |
1748 | } |
1750 | } |
1749 | // limit gas to parameter setting |
1751 | // limit gas to parameter setting |
1750 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1752 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1751 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1753 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1752 | 1754 | ||
1753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1754 | // all BL-Ctrl connected? |
1756 | // all BL-Ctrl connected? |
1755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1756 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1758 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1757 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1759 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1758 | { |
1760 | { |
1759 | modell_fliegt = 1; |
1761 | modell_fliegt = 1; |
1760 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1762 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1761 | } |
1763 | } |
1762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1764 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1763 | // + Mischer und PI-Regler |
1765 | // + Mischer und PI-Regler |
1764 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1765 | DebugOut.Analog[7] = GasMischanteil; |
1767 | DebugOut.Analog[7] = GasMischanteil; |
1766 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1767 | // Gier-Anteil |
1769 | // Gier-Anteil |
1768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1770 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1769 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1771 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1770 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1772 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1771 | if(GasMischanteil > MIN_GIERGAS) |
1773 | if(GasMischanteil > MIN_GIERGAS) |
1772 | { |
1774 | { |
1773 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1775 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1774 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1776 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1775 | } |
1777 | } |
1776 | else |
1778 | else |
1777 | { |
1779 | { |
1778 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1780 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1779 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1781 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1780 | } |
1782 | } |
1781 | tmp_int = MAX_GAS*STICK_GAIN; |
1783 | tmp_int = MAX_GAS*STICK_GAIN; |
1782 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1784 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1783 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1785 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1784 | 1786 | ||
1785 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1786 | // Nick-Achse |
1788 | // Nick-Achse |
1787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1788 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1790 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1789 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1791 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1790 | else SummeNick += DiffNick; // I-Anteil bei HH |
1792 | else SummeNick += DiffNick; // I-Anteil bei HH |
1791 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1793 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1792 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1794 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1793 | 1795 | ||
1794 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1796 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1795 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1797 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1796 | pd_ergebnis_nick += SummeNick / Ki; |
1798 | pd_ergebnis_nick += SummeNick / Ki; |
1797 | 1799 | ||
1798 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1800 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1799 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1801 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1800 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1802 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1801 | 1803 | ||
1802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1803 | // Roll-Achse |
1805 | // Roll-Achse |
1804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1806 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1805 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1807 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1806 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1808 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1807 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1809 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1808 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1810 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1809 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1811 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1810 | 1812 | ||
1811 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1813 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1812 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1814 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1813 | pd_ergebnis_roll += SummeRoll / Ki; |
1815 | pd_ergebnis_roll += SummeRoll / Ki; |
1814 | 1816 | ||
1815 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1817 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1816 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1818 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1817 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1819 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1818 | 1820 | ||
1819 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1821 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1820 | // Universal Mixer |
1822 | // Universal Mixer |
1821 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1822 | for(i=0; i<MAX_MOTORS; i++) |
1824 | for(i=0; i<MAX_MOTORS; i++) |
1823 | { |
1825 | { |
1824 | signed int tmp_int; |
1826 | signed int tmp_int; |
1825 | if(Mixer.Motor[i][0] > 0) |
1827 | if(Mixer.Motor[i][0] > 0) |
1826 | { |
1828 | { |
1827 | // Gas |
1829 | // Gas |
1828 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1830 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1829 | // Nick |
1831 | // Nick |
1830 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1832 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1831 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1833 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1832 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1834 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1833 | // Roll |
1835 | // Roll |
1834 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1836 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1835 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1837 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1836 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1838 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1837 | // Gier |
1839 | // Gier |
1838 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1840 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1839 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1841 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1840 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1842 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1841 | 1843 | ||
1842 | //if(Parameter_UserParam7 < 128) |
1844 | //if(Parameter_UserParam7 < 128) |
1843 | { |
1845 | { |
1844 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1846 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1845 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1847 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1846 | else |
1848 | else |
1847 | { |
1849 | { |
1848 | if(EE_Parameter.MotorSmooth == 0) |
1850 | if(EE_Parameter.MotorSmooth == 0) |
1849 | { |
1851 | { |
1850 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1852 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1851 | } |
1853 | } |
1852 | else // 1 means tmp_int = tmp_int; |
1854 | else // 1 means tmp_int = tmp_int; |
1853 | if(EE_Parameter.MotorSmooth > 1) |
1855 | if(EE_Parameter.MotorSmooth > 1) |
1854 | { |
1856 | { |
1855 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1857 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1856 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1858 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1857 | } |
1859 | } |
1858 | } |
1860 | } |
1859 | } |
1861 | } |
1860 | 1862 | ||
1861 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1863 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1862 | Motor[i].SetPoint = tmp_int / 4; |
1864 | Motor[i].SetPoint = tmp_int / 4; |
1863 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1865 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1864 | tmp_motorwert[i] = tmp_int; |
1866 | tmp_motorwert[i] = tmp_int; |
1865 | } |
1867 | } |
1866 | else |
1868 | else |
1867 | { |
1869 | { |
1868 | Motor[i].SetPoint = 0; |
1870 | Motor[i].SetPoint = 0; |
1869 | Motor[i].SetPointLowerBits = 0; |
1871 | Motor[i].SetPointLowerBits = 0; |
1870 | } |
1872 | } |
1871 | } |
1873 | } |
1872 | } |
1874 | } |
1873 | 1875 |