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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = -1; |
80 | int KompassValue = -1; |
81 | int KompassSollWert = 0; |
81 | int KompassSollWert = 0; |
82 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
83 | char CalculateCompassTimer = 100; |
83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
84 | unsigned char KompassFusion = 32; |
85 | unsigned int KompassSignalSchlecht = 50; |
85 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned char MAX_GAS,MIN_GAS; |
86 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char HoehenReglerAktiv = 0; |
87 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char TrichterFlug = 0; |
88 | unsigned char TrichterFlug = 0; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long ErsatzKompass; |
90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int GierGyroFehler = 0; |
92 | int GierGyroFehler = 0; |
93 | char GyroFaktor,GyroFaktorGier; |
93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
95 | int DiffNick,DiffRoll; |
95 | int DiffNick,DiffRoll; |
96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
98 | volatile unsigned char SenderOkay = 0; |
98 | volatile unsigned char SenderOkay = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
100 | char MotorenEin = 0,StartTrigger = 0; |
100 | char MotorenEin = 0,StartTrigger = 0; |
101 | long HoehenWert = 0; |
101 | long HoehenWert = 0; |
102 | long SollHoehe = 0; |
102 | long SollHoehe = 0; |
103 | long FromNC_AltitudeSetpoint = 0; |
103 | long FromNC_AltitudeSetpoint = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
105 | 105 | ||
106 | int CompassGierSetpoint = 0; |
106 | int CompassGierSetpoint = 0; |
107 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
107 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
108 | //float Ki = FAKTOR_I; |
108 | //float Ki = FAKTOR_I; |
109 | int Ki = 10300 / 33; |
109 | int Ki = 10300 / 33; |
110 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
110 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
111 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
111 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
112 | 112 | ||
113 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
113 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
114 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
114 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
115 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
115 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
116 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
116 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
117 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
117 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
118 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
118 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
119 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
119 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
120 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
120 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
121 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
121 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
122 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
122 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
124 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
125 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
125 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
126 | unsigned char Parameter_UserParam1 = 0; |
126 | unsigned char Parameter_UserParam1 = 0; |
127 | unsigned char Parameter_UserParam2 = 0; |
127 | unsigned char Parameter_UserParam2 = 0; |
128 | unsigned char Parameter_UserParam3 = 0; |
128 | unsigned char Parameter_UserParam3 = 0; |
129 | unsigned char Parameter_UserParam4 = 0; |
129 | unsigned char Parameter_UserParam4 = 0; |
130 | unsigned char Parameter_UserParam5 = 0; |
130 | unsigned char Parameter_UserParam5 = 0; |
131 | unsigned char Parameter_UserParam6 = 0; |
131 | unsigned char Parameter_UserParam6 = 0; |
132 | unsigned char Parameter_UserParam7 = 0; |
132 | unsigned char Parameter_UserParam7 = 0; |
133 | unsigned char Parameter_UserParam8 = 0; |
133 | unsigned char Parameter_UserParam8 = 0; |
134 | unsigned char Parameter_ServoNickControl = 100; |
134 | unsigned char Parameter_ServoNickControl = 100; |
135 | unsigned char Parameter_ServoRollControl = 100; |
135 | unsigned char Parameter_ServoRollControl = 100; |
136 | unsigned char Parameter_LoopGasLimit = 70; |
136 | unsigned char Parameter_LoopGasLimit = 70; |
137 | unsigned char Parameter_AchsKopplung1 = 90; |
137 | unsigned char Parameter_AchsKopplung1 = 90; |
138 | unsigned char Parameter_AchsKopplung2 = 65; |
138 | unsigned char Parameter_AchsKopplung2 = 65; |
139 | unsigned char Parameter_CouplingYawCorrection = 64; |
139 | unsigned char Parameter_CouplingYawCorrection = 64; |
140 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
140 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
141 | unsigned char Parameter_DynamicStability = 100; |
141 | unsigned char Parameter_DynamicStability = 100; |
142 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
142 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
143 | unsigned char Parameter_J16Timing; // for the J16 Output |
143 | unsigned char Parameter_J16Timing; // for the J16 Output |
144 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
144 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
145 | unsigned char Parameter_J17Timing; // for the J17 Output |
145 | unsigned char Parameter_J17Timing; // for the J17 Output |
146 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
146 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
147 | unsigned char Parameter_NaviGpsGain; |
147 | unsigned char Parameter_NaviGpsGain; |
148 | unsigned char Parameter_NaviGpsP; |
148 | unsigned char Parameter_NaviGpsP; |
149 | unsigned char Parameter_NaviGpsI; |
149 | unsigned char Parameter_NaviGpsI; |
150 | unsigned char Parameter_NaviGpsD; |
150 | unsigned char Parameter_NaviGpsD; |
151 | unsigned char Parameter_NaviGpsACC; |
151 | unsigned char Parameter_NaviGpsACC; |
152 | unsigned char Parameter_NaviOperatingRadius; |
152 | unsigned char Parameter_NaviOperatingRadius; |
153 | unsigned char Parameter_NaviWindCorrection; |
153 | unsigned char Parameter_NaviWindCorrection; |
154 | unsigned char Parameter_NaviSpeedCompensation; |
154 | unsigned char Parameter_NaviSpeedCompensation; |
155 | unsigned char Parameter_ExternalControl; |
155 | unsigned char Parameter_ExternalControl; |
156 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
156 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
157 | unsigned char CareFree = 0; |
157 | unsigned char CareFree = 0; |
158 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
158 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
159 | 159 | ||
160 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
160 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
161 | int MaxStickNick = 0,MaxStickRoll = 0; |
161 | int MaxStickNick = 0,MaxStickRoll = 0; |
162 | unsigned int modell_fliegt = 0; |
162 | unsigned int modell_fliegt = 0; |
163 | volatile unsigned char FC_StatusFlags = 0; |
163 | volatile unsigned char FC_StatusFlags = 0; |
164 | long GIER_GRAD_FAKTOR = 1291; |
164 | long GIER_GRAD_FAKTOR = 1291; |
165 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
165 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
166 | signed int tmp_motorwert[MAX_MOTORS]; |
166 | signed int tmp_motorwert[MAX_MOTORS]; |
167 | char VarioCharacter = ' '; |
167 | char VarioCharacter = ' '; |
168 | 168 | ||
169 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
169 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
170 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
170 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
171 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
171 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
172 | 172 | ||
173 | 173 | ||
174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // Debugwerte zuordnen |
175 | // Debugwerte zuordnen |
176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
177 | void CopyDebugValues(void) |
177 | void CopyDebugValues(void) |
178 | { |
178 | { |
179 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
179 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
180 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
180 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
181 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
181 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
182 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
182 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
183 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
183 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
184 | DebugOut.Analog[5] = HoehenWert/5; |
184 | DebugOut.Analog[5] = HoehenWert/5; |
185 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
185 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
186 | DebugOut.Analog[8] = KompassValue; |
186 | DebugOut.Analog[8] = KompassValue; |
187 | DebugOut.Analog[9] = UBat; |
187 | DebugOut.Analog[9] = UBat; |
188 | DebugOut.Analog[10] = SenderOkay; |
188 | DebugOut.Analog[10] = SenderOkay; |
189 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
189 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
190 | DebugOut.Analog[12] = Motor[0].SetPoint; |
190 | DebugOut.Analog[12] = Motor[0].SetPoint; |
191 | DebugOut.Analog[13] = Motor[1].SetPoint; |
191 | DebugOut.Analog[13] = Motor[1].SetPoint; |
192 | DebugOut.Analog[14] = Motor[2].SetPoint; |
192 | DebugOut.Analog[14] = Motor[2].SetPoint; |
193 | DebugOut.Analog[15] = Motor[3].SetPoint; |
193 | DebugOut.Analog[15] = Motor[3].SetPoint; |
194 | DebugOut.Analog[20] = ServoNickValue; |
194 | DebugOut.Analog[20] = ServoNickValue; |
195 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
195 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
196 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
196 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
197 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
197 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
198 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
198 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
199 | DebugOut.Analog[27] = KompassSollWert; |
199 | DebugOut.Analog[27] = KompassSollWert; |
200 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
200 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
201 | DebugOut.Analog[30] = GPS_Nick; |
201 | DebugOut.Analog[30] = GPS_Nick; |
202 | DebugOut.Analog[31] = GPS_Roll; |
202 | DebugOut.Analog[31] = GPS_Roll; |
203 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
203 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
204 | 204 | ||
205 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
205 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
206 | } |
206 | } |
207 | 207 | ||
208 | 208 | ||
209 | 209 | ||
210 | void Piep(unsigned char Anzahl, unsigned int dauer) |
210 | void Piep(unsigned char Anzahl, unsigned int dauer) |
211 | { |
211 | { |
212 | if(MotorenEin) return; //auf keinen Fall im Flug! |
212 | if(MotorenEin) return; //auf keinen Fall im Flug! |
213 | while(Anzahl--) |
213 | while(Anzahl--) |
214 | { |
214 | { |
215 | beeptime = dauer; |
215 | beeptime = dauer; |
216 | while(beeptime); |
216 | while(beeptime); |
217 | Delay_ms(dauer * 2); |
217 | Delay_ms(dauer * 2); |
218 | } |
218 | } |
219 | } |
219 | } |
220 | 220 | ||
221 | //############################################################################ |
221 | //############################################################################ |
222 | // Messwerte beim Ermitteln der Nullage |
222 | // Messwerte beim Ermitteln der Nullage |
223 | void CalibrierMittelwert(void) |
223 | void CalibrierMittelwert(void) |
224 | //############################################################################ |
224 | //############################################################################ |
225 | { |
225 | { |
226 | unsigned char i; |
226 | unsigned char i; |
227 | if(PlatinenVersion == 13) SucheGyroOffset(); |
227 | if(PlatinenVersion == 13) SucheGyroOffset(); |
228 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
228 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
229 | ANALOG_OFF; |
229 | ANALOG_OFF; |
230 | MesswertNick = AdWertNick; |
230 | MesswertNick = AdWertNick; |
231 | MesswertRoll = AdWertRoll; |
231 | MesswertRoll = AdWertRoll; |
232 | MesswertGier = AdWertGier; |
232 | MesswertGier = AdWertGier; |
233 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
233 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
234 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
234 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
235 | // ADC einschalten |
235 | // ADC einschalten |
236 | ANALOG_ON; |
236 | ANALOG_ON; |
237 | for(i=0;i<8;i++) |
237 | for(i=0;i<8;i++) |
238 | { |
238 | { |
239 | int tmp; |
239 | int tmp; |
240 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
240 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
241 | LIMIT_MIN_MAX(tmp, 0, 255); |
241 | LIMIT_MIN_MAX(tmp, 0, 255); |
242 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
242 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
243 | } |
243 | } |
244 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
244 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
245 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
245 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
246 | } |
246 | } |
247 | 247 | ||
248 | //############################################################################ |
248 | //############################################################################ |
249 | // Nullwerte ermitteln |
249 | // Nullwerte ermitteln |
250 | void SetNeutral(unsigned char AccAdjustment) |
250 | void SetNeutral(unsigned char AccAdjustment) |
251 | //############################################################################ |
251 | //############################################################################ |
252 | { |
252 | { |
253 | unsigned char i; |
253 | unsigned char i; |
254 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
254 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
255 | VersionInfo.HardwareError[0] = 0; |
255 | VersionInfo.HardwareError[0] = 0; |
256 | HEF4017R_ON; |
256 | HEF4017R_ON; |
257 | NeutralAccX = 0; |
257 | NeutralAccX = 0; |
258 | NeutralAccY = 0; |
258 | NeutralAccY = 0; |
259 | NeutralAccZ = 0; |
259 | NeutralAccZ = 0; |
260 | 260 | ||
261 | AdNeutralNick = 0; |
261 | AdNeutralNick = 0; |
262 | AdNeutralRoll = 0; |
262 | AdNeutralRoll = 0; |
263 | AdNeutralGier = 0; |
263 | AdNeutralGier = 0; |
264 | 264 | ||
265 | Parameter_AchsKopplung1 = 0; |
265 | Parameter_AchsKopplung1 = 0; |
266 | Parameter_AchsKopplung2 = 0; |
266 | Parameter_AchsKopplung2 = 0; |
267 | 267 | ||
268 | ExpandBaro = 0; |
268 | ExpandBaro = 0; |
269 | 269 | ||
270 | CalibrierMittelwert(); |
270 | CalibrierMittelwert(); |
271 | Delay_ms_Mess(100); |
271 | Delay_ms_Mess(100); |
272 | 272 | ||
273 | CalibrierMittelwert(); |
273 | CalibrierMittelwert(); |
274 | 274 | ||
275 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
275 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
276 | { |
276 | { |
277 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
277 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
278 | } |
278 | } |
279 | #define NEUTRAL_FILTER 32 |
279 | #define NEUTRAL_FILTER 32 |
280 | for(i=0; i<NEUTRAL_FILTER; i++) |
280 | for(i=0; i<NEUTRAL_FILTER; i++) |
281 | { |
281 | { |
282 | Delay_ms_Mess(10); |
282 | Delay_ms_Mess(10); |
283 | gier_neutral += AdWertGier; |
283 | gier_neutral += AdWertGier; |
284 | nick_neutral += AdWertNick; |
284 | nick_neutral += AdWertNick; |
285 | roll_neutral += AdWertRoll; |
285 | roll_neutral += AdWertRoll; |
286 | } |
286 | } |
287 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
287 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
288 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
288 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
289 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
289 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
290 | 290 | ||
291 | StartNeutralRoll = AdNeutralRoll; |
291 | StartNeutralRoll = AdNeutralRoll; |
292 | StartNeutralNick = AdNeutralNick; |
292 | StartNeutralNick = AdNeutralNick; |
293 | 293 | ||
294 | if(AccAdjustment) |
294 | if(AccAdjustment) |
295 | { |
295 | { |
296 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
296 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
297 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
297 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
298 | NeutralAccZ = Aktuell_az; |
298 | NeutralAccZ = Aktuell_az; |
299 | 299 | ||
300 | // Save ACC neutral settings to eeprom |
300 | // Save ACC neutral settings to eeprom |
301 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
301 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
302 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
302 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
303 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
303 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
304 | } |
304 | } |
305 | else |
305 | else |
306 | { |
306 | { |
307 | // restore from eeprom |
307 | // restore from eeprom |
308 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
308 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
309 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
309 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
310 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
310 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
311 | // strange settings? |
311 | // strange settings? |
312 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
312 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
313 | { |
313 | { |
314 | printf("\n\rACC not calibrated!\r\n"); |
314 | printf("\n\rACC not calibrated!\r\n"); |
315 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
315 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
316 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
316 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
317 | NeutralAccZ = Aktuell_az; |
317 | NeutralAccZ = Aktuell_az; |
318 | } |
318 | } |
319 | } |
319 | } |
320 | 320 | ||
321 | MesswertNick = 0; |
321 | MesswertNick = 0; |
322 | MesswertRoll = 0; |
322 | MesswertRoll = 0; |
323 | MesswertGier = 0; |
323 | MesswertGier = 0; |
324 | Delay_ms_Mess(100); |
324 | Delay_ms_Mess(100); |
325 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
325 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
326 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
326 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
327 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
327 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
328 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
328 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
329 | Mess_IntegralNick2 = IntegralNick; |
329 | Mess_IntegralNick2 = IntegralNick; |
330 | Mess_IntegralRoll2 = IntegralRoll; |
330 | Mess_IntegralRoll2 = IntegralRoll; |
331 | Mess_Integral_Gier = 0; |
331 | Mess_Integral_Gier = 0; |
332 | StartLuftdruck = Luftdruck; |
332 | StartLuftdruck = Luftdruck; |
333 | VarioMeter = 0; |
333 | VarioMeter = 0; |
334 | Mess_Integral_Hoch = 0; |
334 | Mess_Integral_Hoch = 0; |
335 | KompassSollWert = KompassValue; |
335 | KompassSollWert = KompassValue; |
336 | KompassSignalSchlecht = 100; |
336 | KompassSignalSchlecht = 100; |
337 | GPS_Neutral(); |
337 | GPS_Neutral(); |
338 | beeptime = 50; |
338 | beeptime = 50; |
339 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
339 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
340 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
340 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
341 | ExternHoehenValue = 0; |
341 | ExternHoehenValue = 0; |
342 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
342 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
343 | GierGyroFehler = 0; |
343 | GierGyroFehler = 0; |
344 | SendVersionToNavi = 1; |
344 | SendVersionToNavi = 1; |
345 | LED_Init(); |
345 | LED_Init(); |
346 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
346 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
347 | FromNaviCtrl_Value.Kalman_K = -1; |
347 | FromNaviCtrl_Value.Kalman_K = -1; |
348 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
348 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
349 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
349 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
350 | 350 | ||
351 | for(i=0;i<8;i++) |
351 | for(i=0;i<8;i++) |
352 | { |
352 | { |
353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
354 | } |
354 | } |
355 | SenderOkay = 100; |
355 | SenderOkay = 100; |
356 | if(ServoActive) |
356 | if(ServoActive) |
357 | { |
357 | { |
358 | HEF4017R_ON; |
358 | HEF4017R_ON; |
359 | DDRD |=0x80; // enable J7 -> Servo signal |
359 | DDRD |=0x80; // enable J7 -> Servo signal |
360 | } |
360 | } |
361 | 361 | ||
362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
368 | } |
368 | } |
369 | 369 | ||
370 | 370 | ||
371 | //############################################################################ |
371 | //############################################################################ |
372 | // Bearbeitet die Messwerte |
372 | // Bearbeitet die Messwerte |
373 | void Mittelwert(void) |
373 | void Mittelwert(void) |
374 | //############################################################################ |
374 | //############################################################################ |
375 | { |
375 | { |
376 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
376 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
377 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
377 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
378 | signed long winkel_nick, winkel_roll; |
378 | signed long winkel_nick, winkel_roll; |
379 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
379 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
380 | MesswertNick = (signed int) AdWertNickFilter / 8; |
380 | MesswertNick = (signed int) AdWertNickFilter / 8; |
381 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
381 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
382 | RohMesswertNick = MesswertNick; |
382 | RohMesswertNick = MesswertNick; |
383 | RohMesswertRoll = MesswertRoll; |
383 | RohMesswertRoll = MesswertRoll; |
384 | 384 | ||
385 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
385 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
386 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
386 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
387 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
387 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
388 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
388 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
389 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
389 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
390 | NaviAccNick += AdWertAccNick; |
390 | NaviAccNick += AdWertAccNick; |
391 | NaviAccRoll += AdWertAccRoll; |
391 | NaviAccRoll += AdWertAccRoll; |
392 | NaviCntAcc++; |
392 | NaviCntAcc++; |
393 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
393 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
394 | 394 | ||
395 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
395 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
396 | // ADC einschalten |
396 | // ADC einschalten |
397 | ANALOG_ON; |
397 | ANALOG_ON; |
398 | AdReady = 0; |
398 | AdReady = 0; |
399 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
399 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
400 | 400 | ||
401 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
401 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
402 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
402 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
403 | else winkel_roll = Mess_IntegralRoll; |
403 | else winkel_roll = Mess_IntegralRoll; |
404 | 404 | ||
405 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
405 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
406 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
406 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
407 | else winkel_nick = Mess_IntegralNick; |
407 | else winkel_nick = Mess_IntegralNick; |
408 | 408 | ||
409 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
409 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
410 | Mess_Integral_Gier += MesswertGier; |
410 | Mess_Integral_Gier += MesswertGier; |
411 | ErsatzKompass += MesswertGier; |
411 | ErsatzKompass += MesswertGier; |
412 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
412 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
413 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
413 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
414 | { |
414 | { |
415 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
415 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
416 | tmpl3 *= Parameter_AchsKopplung2; //65 |
416 | tmpl3 *= Parameter_AchsKopplung2; //65 |
417 | tmpl3 /= 4096L; |
417 | tmpl3 /= 4096L; |
418 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
418 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
419 | tmpl4 *= Parameter_AchsKopplung2; //65 |
419 | tmpl4 *= Parameter_AchsKopplung2; //65 |
420 | tmpl4 /= 4096L; |
420 | tmpl4 /= 4096L; |
421 | KopplungsteilNickRoll = tmpl3; |
421 | KopplungsteilNickRoll = tmpl3; |
422 | KopplungsteilRollNick = tmpl4; |
422 | KopplungsteilRollNick = tmpl4; |
423 | tmpl4 -= tmpl3; |
423 | tmpl4 -= tmpl3; |
424 | ErsatzKompass += tmpl4; |
424 | ErsatzKompass += tmpl4; |
425 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
425 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
426 | 426 | ||
427 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
427 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
428 | tmpl *= Parameter_AchsKopplung1; // 90 |
428 | tmpl *= Parameter_AchsKopplung1; // 90 |
429 | tmpl /= 4096L; |
429 | tmpl /= 4096L; |
430 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
430 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
431 | tmpl2 *= Parameter_AchsKopplung1; |
431 | tmpl2 *= Parameter_AchsKopplung1; |
432 | tmpl2 /= 4096L; |
432 | tmpl2 /= 4096L; |
433 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
433 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
434 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
434 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
435 | } |
435 | } |
436 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
436 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
437 | TrimRoll = tmpl - tmpl2 / 100L; |
437 | TrimRoll = tmpl - tmpl2 / 100L; |
438 | TrimNick = -tmpl2 + tmpl / 100L; |
438 | TrimNick = -tmpl2 + tmpl / 100L; |
439 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
439 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
440 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
441 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
441 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
442 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
442 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
443 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
443 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
444 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
444 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
445 | if(Mess_IntegralRoll > Umschlag180Roll) |
445 | if(Mess_IntegralRoll > Umschlag180Roll) |
446 | { |
446 | { |
447 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
447 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
448 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
448 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
449 | } |
449 | } |
450 | if(Mess_IntegralRoll <-Umschlag180Roll) |
450 | if(Mess_IntegralRoll <-Umschlag180Roll) |
451 | { |
451 | { |
452 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
452 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
453 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
453 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
454 | } |
454 | } |
455 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
455 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
456 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
457 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
457 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
458 | if(Mess_IntegralNick > Umschlag180Nick) |
458 | if(Mess_IntegralNick > Umschlag180Nick) |
459 | { |
459 | { |
460 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
460 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
461 | Mess_IntegralNick2 = Mess_IntegralNick; |
461 | Mess_IntegralNick2 = Mess_IntegralNick; |
462 | } |
462 | } |
463 | if(Mess_IntegralNick <-Umschlag180Nick) |
463 | if(Mess_IntegralNick <-Umschlag180Nick) |
464 | { |
464 | { |
465 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
465 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
466 | Mess_IntegralNick2 = Mess_IntegralNick; |
466 | Mess_IntegralNick2 = Mess_IntegralNick; |
467 | } |
467 | } |
468 | 468 | ||
469 | Integral_Gier = Mess_Integral_Gier; |
469 | Integral_Gier = Mess_Integral_Gier; |
470 | IntegralNick = Mess_IntegralNick; |
470 | IntegralNick = Mess_IntegralNick; |
471 | IntegralRoll = Mess_IntegralRoll; |
471 | IntegralRoll = Mess_IntegralRoll; |
472 | IntegralNick2 = Mess_IntegralNick2; |
472 | IntegralNick2 = Mess_IntegralNick2; |
473 | IntegralRoll2 = Mess_IntegralRoll2; |
473 | IntegralRoll2 = Mess_IntegralRoll2; |
474 | 474 | ||
475 | #define D_LIMIT 128 |
475 | #define D_LIMIT 128 |
476 | 476 | ||
477 | MesswertNick = HiResNick / 8; |
477 | MesswertNick = HiResNick / 8; |
478 | MesswertRoll = HiResRoll / 8; |
478 | MesswertRoll = HiResRoll / 8; |
479 | 479 | ||
480 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
480 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
481 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
481 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
482 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
482 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
483 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
483 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
484 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
484 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
485 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
485 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
486 | 486 | ||
487 | if(Parameter_Gyro_D) |
487 | if(Parameter_Gyro_D) |
488 | { |
488 | { |
489 | d2Nick = HiResNick - oldNick; |
489 | d2Nick = HiResNick - oldNick; |
490 | oldNick = (oldNick + HiResNick)/2; |
490 | oldNick = (oldNick + HiResNick)/2; |
491 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
491 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
492 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
492 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
493 | 493 | ||
494 | d2Roll = HiResRoll - oldRoll; |
494 | d2Roll = HiResRoll - oldRoll; |
495 | oldRoll = (oldRoll + HiResRoll)/2; |
495 | oldRoll = (oldRoll + HiResRoll)/2; |
496 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
496 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
497 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
497 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
498 | 498 | ||
499 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
499 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
500 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
500 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
501 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
501 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
502 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
502 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
503 | } |
503 | } |
504 | 504 | ||
505 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
505 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
506 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
506 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
507 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
507 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
508 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
508 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
509 | 509 | ||
510 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
510 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
511 | { |
511 | { |
512 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
512 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
513 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
513 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
514 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
514 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
515 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
515 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
516 | } |
516 | } |
517 | } |
517 | } |
518 | 518 | ||
519 | //############################################################################ |
519 | //############################################################################ |
520 | // Senden der Motorwerte per I2C-Bus |
520 | // Senden der Motorwerte per I2C-Bus |
521 | void SendMotorData(void) |
521 | void SendMotorData(void) |
522 | //############################################################################ |
522 | //############################################################################ |
523 | { |
523 | { |
524 | unsigned char i; |
524 | unsigned char i; |
525 | if(!MotorenEin) |
525 | if(!MotorenEin) |
526 | { |
526 | { |
527 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
527 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
528 | for(i=0;i<MAX_MOTORS;i++) |
528 | for(i=0;i<MAX_MOTORS;i++) |
529 | { |
529 | { |
530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
531 | Motor[i].SetPoint = MotorTest[i]; |
531 | Motor[i].SetPoint = MotorTest[i]; |
532 | Motor[i].SetPointLowerBits = 0; |
532 | Motor[i].SetPointLowerBits = 0; |
533 | /* |
533 | /* |
534 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
534 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
536 | */ |
536 | */ |
537 | } |
537 | } |
538 | if(PC_MotortestActive) PC_MotortestActive--; |
538 | if(PC_MotortestActive) PC_MotortestActive--; |
539 | } |
539 | } |
540 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
540 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
541 | 541 | ||
542 | if(I2C_TransferActive) |
542 | if(I2C_TransferActive) |
543 | { |
543 | { |
544 | I2C_TransferActive = 0; // enable for the next time |
544 | I2C_TransferActive = 0; // enable for the next time |
545 | } |
545 | } |
546 | else |
546 | else |
547 | { |
547 | { |
548 | motor_write = 0; |
548 | motor_write = 0; |
549 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
549 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
550 | } |
550 | } |
551 | } |
551 | } |
552 | 552 | ||
553 | 553 | ||
554 | 554 | ||
555 | //############################################################################ |
555 | //############################################################################ |
556 | // Trägt ggf. das Poti als Parameter ein |
556 | // Trägt ggf. das Poti als Parameter ein |
557 | void ParameterZuordnung(void) |
557 | void ParameterZuordnung(void) |
558 | //############################################################################ |
558 | //############################################################################ |
559 | { |
559 | { |
560 | unsigned char tmp,i; |
560 | unsigned char tmp,i; |
561 | static unsigned char carefree_old = 2; |
561 | static unsigned char carefree_old = 2; |
562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
564 | for(i=0;i<8;i++) |
564 | for(i=0;i<8;i++) |
565 | { |
565 | { |
566 | int tmp2; |
566 | int tmp2; |
567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
569 | if(tmp2 != Poti[i]) |
569 | if(tmp2 != Poti[i]) |
570 | { |
570 | { |
571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
572 | if(Poti[i] > tmp2) Poti[i]--; |
572 | if(Poti[i] > tmp2) Poti[i]--; |
573 | else Poti[i]++; |
573 | else Poti[i]++; |
574 | } |
574 | } |
575 | } |
575 | } |
576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
612 | MAX_GAS = EE_Parameter.Gas_Max; |
612 | MAX_GAS = EE_Parameter.Gas_Max; |
613 | MIN_GAS = EE_Parameter.Gas_Min; |
613 | MIN_GAS = EE_Parameter.Gas_Min; |
614 | 614 | ||
615 | tmp = EE_Parameter.OrientationModeControl; |
615 | tmp = EE_Parameter.OrientationModeControl; |
616 | if(tmp > 50) |
616 | if(tmp > 50) |
617 | { |
617 | { |
618 | #ifdef SWITCH_LEARNS_CAREFREE |
618 | #ifdef SWITCH_LEARNS_CAREFREE |
619 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
619 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
620 | #endif |
620 | #endif |
621 | CareFree = 1; |
621 | CareFree = 1; |
622 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
622 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
623 | if(carefree_old == 0 && CareFree) beeptime = 1000; |
623 | if(carefree_old == 0 && CareFree) beeptime = 1000; |
624 | if(carefree_old == 1 && !CareFree) beeptime = 200; |
624 | if(carefree_old == 1 && !CareFree) beeptime = 200; |
625 | carefree_old = CareFree; |
625 | carefree_old = CareFree; |
626 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
626 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
627 | } |
627 | } |
628 | else |
628 | else |
629 | { |
629 | { |
630 | CareFree = 0; |
630 | CareFree = 0; |
631 | carefree_old = 0; |
631 | carefree_old = 0; |
632 | } |
632 | } |
633 | 633 | ||
634 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
634 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
635 | { |
635 | { |
636 | beeptime = 15000; |
636 | beeptime = 15000; |
637 | BeepMuster = 0xA400; |
637 | BeepMuster = 0xA400; |
638 | CareFree = 0; |
638 | CareFree = 0; |
639 | } |
639 | } |
640 | 640 | ||
641 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
641 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
642 | } |
642 | } |
643 | 643 | ||
644 | //############################################################################ |
644 | //############################################################################ |
645 | // |
645 | // |
646 | void MotorRegler(void) |
646 | void MotorRegler(void) |
647 | //############################################################################ |
647 | //############################################################################ |
648 | { |
648 | { |
649 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
649 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
650 | int GierMischanteil,GasMischanteil; |
650 | int GierMischanteil,GasMischanteil; |
651 | static long sollGier = 0,tmp_long,tmp_long2; |
651 | static long sollGier = 0,tmp_long,tmp_long2; |
652 | static long IntegralFehlerNick = 0; |
652 | static long IntegralFehlerNick = 0; |
653 | static long IntegralFehlerRoll = 0; |
653 | static long IntegralFehlerRoll = 0; |
654 | static unsigned int RcLostTimer; |
654 | static unsigned int RcLostTimer; |
655 | static unsigned char delay_neutral = 0; |
655 | static unsigned char delay_neutral = 0; |
656 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
656 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
657 | static unsigned char calibration_done = 0; |
657 | static unsigned char calibration_done = 0; |
658 | static char NeueKompassRichtungMerken = 0; |
658 | static char NeueKompassRichtungMerken = 0; |
659 | static long ausgleichNick, ausgleichRoll; |
659 | static long ausgleichNick, ausgleichRoll; |
660 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
660 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
661 | unsigned char i; |
661 | unsigned char i; |
662 | Mittelwert(); |
662 | Mittelwert(); |
663 | GRN_ON; |
663 | GRN_ON; |
664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
665 | // Gaswert ermitteln |
665 | // Gaswert ermitteln |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
667 | GasMischanteil = StickGas; |
667 | GasMischanteil = StickGas; |
668 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
668 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
669 | 669 | ||
670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
671 | // Empfang schlecht |
671 | // Empfang schlecht |
672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
673 | if(SenderOkay < 100) |
673 | if(SenderOkay < 100) |
674 | { |
674 | { |
675 | if(RcLostTimer) RcLostTimer--; |
675 | if(RcLostTimer) RcLostTimer--; |
676 | else |
676 | else |
677 | { |
677 | { |
678 | MotorenEin = 0; |
678 | MotorenEin = 0; |
679 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
679 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
680 | } |
680 | } |
681 | ROT_ON; |
681 | ROT_ON; |
682 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
682 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
683 | { |
683 | { |
684 | GasMischanteil = EE_Parameter.NotGas; |
684 | GasMischanteil = EE_Parameter.NotGas; |
685 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
685 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
686 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
686 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
687 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
687 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
688 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
688 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
689 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
689 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
690 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
690 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
691 | } |
691 | } |
692 | else MotorenEin = 0; |
692 | else MotorenEin = 0; |
693 | } |
693 | } |
694 | else |
694 | else |
695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
695 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | // Emfang gut |
696 | // Emfang gut |
697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
698 | if(SenderOkay > 140) |
698 | if(SenderOkay > 140) |
699 | { |
699 | { |
700 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
700 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
701 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
701 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
702 | if(GasMischanteil > 40 && MotorenEin) |
702 | if(GasMischanteil > 40 && MotorenEin) |
703 | { |
703 | { |
704 | if(modell_fliegt < 0xffff) modell_fliegt++; |
704 | if(modell_fliegt < 0xffff) modell_fliegt++; |
705 | } |
705 | } |
706 | if((modell_fliegt < 256)) |
706 | if((modell_fliegt < 256)) |
707 | { |
707 | { |
708 | SummeNick = 0; |
708 | SummeNick = 0; |
709 | SummeRoll = 0; |
709 | SummeRoll = 0; |
710 | sollGier = 0; |
710 | sollGier = 0; |
711 | Mess_Integral_Gier = 0; |
711 | Mess_Integral_Gier = 0; |
712 | } else FC_StatusFlags |= FC_STATUS_FLY; |
712 | } else FC_StatusFlags |= FC_STATUS_FLY; |
713 | 713 | ||
714 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
714 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
715 | { |
715 | { |
716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
717 | // auf Nullwerte kalibrieren |
717 | // auf Nullwerte kalibrieren |
718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
719 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
719 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
720 | { |
720 | { |
721 | if(++delay_neutral > 200) // nicht sofort |
721 | if(++delay_neutral > 200) // nicht sofort |
722 | { |
722 | { |
723 | GRN_OFF; |
723 | GRN_OFF; |
724 | MotorenEin = 0; |
724 | MotorenEin = 0; |
725 | delay_neutral = 0; |
725 | delay_neutral = 0; |
726 | modell_fliegt = 0; |
726 | modell_fliegt = 0; |
727 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
727 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
728 | { |
728 | { |
729 | unsigned char setting=1; |
729 | unsigned char setting=1; |
730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
733 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
733 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
734 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
735 | SetActiveParamSet(setting); // aktiven Datensatz merken |
735 | SetActiveParamSet(setting); // aktiven Datensatz merken |
736 | } |
736 | } |
737 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
737 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
738 | { |
738 | { |
739 | WinkelOut.CalcState = 1; |
739 | WinkelOut.CalcState = 1; |
740 | beeptime = 1000; |
740 | beeptime = 1000; |
741 | } |
741 | } |
742 | else |
742 | else |
743 | { |
743 | { |
744 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
744 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
745 | LipoDetection(0); |
745 | LipoDetection(0); |
746 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
746 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
747 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
747 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
748 | { |
748 | { |
749 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
749 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
750 | } |
750 | } |
751 | ServoActive = 0; |
751 | ServoActive = 0; |
752 | SetNeutral(0); |
752 | SetNeutral(0); |
753 | calibration_done = 1; |
753 | calibration_done = 1; |
754 | ServoActive = 1; |
754 | ServoActive = 1; |
755 | DDRD |=0x80; // enable J7 -> Servo signal |
755 | DDRD |=0x80; // enable J7 -> Servo signal |
756 | Piep(GetActiveParamSet(),120); |
756 | Piep(GetActiveParamSet(),120); |
757 | } |
757 | } |
758 | } |
758 | } |
759 | } |
759 | } |
760 | else |
760 | else |
761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
762 | { |
762 | { |
763 | if(++delay_neutral > 200) // nicht sofort |
763 | if(++delay_neutral > 200) // nicht sofort |
764 | { |
764 | { |
765 | GRN_OFF; |
765 | GRN_OFF; |
766 | MotorenEin = 0; |
766 | MotorenEin = 0; |
767 | delay_neutral = 0; |
767 | delay_neutral = 0; |
768 | modell_fliegt = 0; |
768 | modell_fliegt = 0; |
769 | SetNeutral(1); |
769 | SetNeutral(1); |
770 | calibration_done = 1; |
770 | calibration_done = 1; |
771 | Piep(GetActiveParamSet(),120); |
771 | Piep(GetActiveParamSet(),120); |
772 | } |
772 | } |
773 | } |
773 | } |
774 | else delay_neutral = 0; |
774 | else delay_neutral = 0; |
775 | } |
775 | } |
776 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
776 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
777 | // Gas ist unten |
777 | // Gas ist unten |
778 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
778 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
779 | 779 | ||
780 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
780 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
781 | { |
781 | { |
782 | // Motoren Starten |
782 | // Motoren Starten |
783 | if(!MotorenEin) |
783 | if(!MotorenEin) |
784 | { |
784 | { |
785 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
785 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
786 | { |
786 | { |
787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
787 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
788 | // Einschalten |
788 | // Einschalten |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | if(++delay_einschalten > 200) |
790 | if(++delay_einschalten > 200) |
791 | { |
791 | { |
792 | delay_einschalten = 0; |
792 | delay_einschalten = 0; |
793 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
793 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
794 | { |
794 | { |
795 | modell_fliegt = 1; |
795 | modell_fliegt = 1; |
796 | MotorenEin = 1; |
796 | MotorenEin = 1; |
797 | sollGier = 0; |
797 | sollGier = 0; |
798 | Mess_Integral_Gier = 0; |
798 | Mess_Integral_Gier = 0; |
799 | Mess_Integral_Gier2 = 0; |
799 | Mess_Integral_Gier2 = 0; |
800 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
800 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
801 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
801 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
802 | Mess_IntegralNick2 = IntegralNick; |
802 | Mess_IntegralNick2 = IntegralNick; |
803 | Mess_IntegralRoll2 = IntegralRoll; |
803 | Mess_IntegralRoll2 = IntegralRoll; |
804 | SummeNick = 0; |
804 | SummeNick = 0; |
805 | SummeRoll = 0; |
805 | SummeRoll = 0; |
806 | FC_StatusFlags |= FC_STATUS_START; |
806 | FC_StatusFlags |= FC_STATUS_START; |
807 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
807 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
808 | NeueKompassRichtungMerken = 100; // 2 sekunden |
808 | NeueKompassRichtungMerken = 100; // 2 sekunden |
809 | } |
809 | } |
810 | else |
810 | else |
811 | { |
811 | { |
812 | beeptime = 1500; // indicate missing calibration |
812 | beeptime = 1500; // indicate missing calibration |
813 | } |
813 | } |
814 | } |
814 | } |
815 | } |
815 | } |
816 | else delay_einschalten = 0; |
816 | else delay_einschalten = 0; |
817 | } |
817 | } |
818 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
818 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
819 | // Auschalten |
819 | // Auschalten |
820 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
820 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
821 | else // only if motors are running |
821 | else // only if motors are running |
822 | { |
822 | { |
823 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
823 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
824 | { |
824 | { |
825 | if(++delay_ausschalten > 200) // nicht sofort |
825 | if(++delay_ausschalten > 200) // nicht sofort |
826 | { |
826 | { |
827 | MotorenEin = 0; |
827 | MotorenEin = 0; |
828 | delay_ausschalten = 0; |
828 | delay_ausschalten = 0; |
829 | modell_fliegt = 0; |
829 | modell_fliegt = 0; |
830 | } |
830 | } |
831 | } |
831 | } |
832 | else delay_ausschalten = 0; |
832 | else delay_ausschalten = 0; |
833 | } |
833 | } |
834 | } |
834 | } |
835 | } |
835 | } |
836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
836 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
837 | // neue Werte von der Funke |
837 | // neue Werte von der Funke |
838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
838 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
839 | 839 | ||
840 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
840 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
841 | { |
841 | { |
842 | static int stick_nick,stick_roll; |
842 | static int stick_nick,stick_roll; |
843 | ParameterZuordnung(); |
843 | ParameterZuordnung(); |
844 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
844 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
845 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
845 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
846 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
846 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
847 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
847 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
848 | 848 | ||
849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
850 | // CareFree und freie Wahl der vorderen Richtung |
850 | // CareFree und freie Wahl der vorderen Richtung |
851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
852 | if(CareFree) |
852 | if(CareFree) |
853 | { |
853 | { |
854 | signed int nick, roll; |
854 | signed int nick, roll; |
855 | nick = stick_nick / 4; |
855 | nick = stick_nick / 4; |
856 | roll = stick_roll / 4; |
856 | roll = stick_roll / 4; |
857 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
857 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
858 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
858 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
859 | } |
859 | } |
860 | else |
860 | else |
861 | { |
861 | { |
862 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
862 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
863 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
863 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
864 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
864 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
865 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
865 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
866 | } |
866 | } |
867 | 867 | ||
868 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
868 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
869 | if(StickGier > 4) StickGier -= 4; else |
869 | if(StickGier > 4) StickGier -= 4; else |
870 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
870 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
871 | 871 | ||
872 | StickNick -= (GPS_Nick + GPS_Nick2); |
872 | StickNick -= (GPS_Nick + GPS_Nick2); |
873 | StickRoll -= (GPS_Roll + GPS_Roll2); |
873 | StickRoll -= (GPS_Roll + GPS_Roll2); |
874 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
874 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
875 | 875 | ||
876 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
876 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
877 | IntegralFaktor = Parameter_Gyro_I; |
877 | IntegralFaktor = Parameter_Gyro_I; |
878 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
878 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
879 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
879 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
880 | 880 | ||
881 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
881 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
882 | //+ Analoge Steuerung per Seriell |
882 | //+ Analoge Steuerung per Seriell |
883 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
883 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
884 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
884 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
885 | { |
885 | { |
886 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
886 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
887 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
887 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
888 | StickGier += ExternControl.Gier; |
888 | StickGier += ExternControl.Gier; |
889 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
889 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
890 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
890 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
891 | } |
891 | } |
892 | if(StickGas < 0) StickGas = 0; |
892 | if(StickGas < 0) StickGas = 0; |
893 | 893 | ||
894 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
894 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
895 | 895 | ||
896 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
896 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
897 | { |
897 | { |
898 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
898 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
899 | if(MaxStickNick > 100) MaxStickNick = 100; |
899 | if(MaxStickNick > 100) MaxStickNick = 100; |
900 | } |
900 | } |
901 | else MaxStickNick--; |
901 | else MaxStickNick--; |
902 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
902 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
903 | { |
903 | { |
904 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
904 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
905 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
905 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
906 | } |
906 | } |
907 | else MaxStickRoll--; |
907 | else MaxStickRoll--; |
908 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
908 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
909 | 909 | ||
910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
911 | // Looping? |
911 | // Looping? |
912 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
912 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
913 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
913 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
914 | else |
914 | else |
915 | { |
915 | { |
916 | { |
916 | { |
917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
917 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
918 | } |
918 | } |
919 | } |
919 | } |
920 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
920 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
921 | else |
921 | else |
922 | { |
922 | { |
923 | if(Looping_Rechts) // Hysterese |
923 | if(Looping_Rechts) // Hysterese |
924 | { |
924 | { |
925 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
925 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
926 | } |
926 | } |
927 | } |
927 | } |
928 | 928 | ||
929 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
929 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
930 | else |
930 | else |
931 | { |
931 | { |
932 | if(Looping_Oben) // Hysterese |
932 | if(Looping_Oben) // Hysterese |
933 | { |
933 | { |
934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
935 | } |
935 | } |
936 | } |
936 | } |
937 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
937 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
938 | else |
938 | else |
939 | { |
939 | { |
940 | if(Looping_Unten) // Hysterese |
940 | if(Looping_Unten) // Hysterese |
941 | { |
941 | { |
942 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
942 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
943 | } |
943 | } |
944 | } |
944 | } |
945 | 945 | ||
946 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
946 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
947 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
947 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
948 | } // Ende neue Funken-Werte |
948 | } // Ende neue Funken-Werte |
949 | 949 | ||
950 | if(Looping_Roll || Looping_Nick) |
950 | if(Looping_Roll || Looping_Nick) |
951 | { |
951 | { |
952 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
952 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
953 | TrichterFlug = 1; |
953 | TrichterFlug = 1; |
954 | } |
954 | } |
955 | 955 | ||
956 | 956 | ||
957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
958 | // Bei Empfangsausfall im Flug |
958 | // Bei Empfangsausfall im Flug |
959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
960 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
960 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
961 | { |
961 | { |
962 | StickGier = 0; |
962 | StickGier = 0; |
963 | StickNick = 0; |
963 | StickNick = 0; |
964 | StickRoll = 0; |
964 | StickRoll = 0; |
965 | GyroFaktor = 90; |
965 | GyroFaktor = 90; |
966 | IntegralFaktor = 120; |
966 | IntegralFaktor = 120; |
967 | GyroFaktorGier = 90; |
967 | GyroFaktorGier = 90; |
968 | IntegralFaktorGier = 120; |
968 | IntegralFaktorGier = 120; |
969 | Looping_Roll = 0; |
969 | Looping_Roll = 0; |
970 | Looping_Nick = 0; |
970 | Looping_Nick = 0; |
971 | } |
971 | } |
972 | 972 | ||
973 | 973 | ||
974 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
974 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
975 | // Integrale auf ACC-Signal abgleichen |
975 | // Integrale auf ACC-Signal abgleichen |
976 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
976 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
977 | #define ABGLEICH_ANZAHL 256L |
977 | #define ABGLEICH_ANZAHL 256L |
978 | 978 | ||
979 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
979 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
980 | MittelIntegralRoll += IntegralRoll; |
980 | MittelIntegralRoll += IntegralRoll; |
981 | MittelIntegralNick2 += IntegralNick2; |
981 | MittelIntegralNick2 += IntegralNick2; |
982 | MittelIntegralRoll2 += IntegralRoll2; |
982 | MittelIntegralRoll2 += IntegralRoll2; |
983 | 983 | ||
984 | if(Looping_Nick || Looping_Roll) |
984 | if(Looping_Nick || Looping_Roll) |
985 | { |
985 | { |
986 | IntegralAccNick = 0; |
986 | IntegralAccNick = 0; |
987 | IntegralAccRoll = 0; |
987 | IntegralAccRoll = 0; |
988 | MittelIntegralNick = 0; |
988 | MittelIntegralNick = 0; |
989 | MittelIntegralRoll = 0; |
989 | MittelIntegralRoll = 0; |
990 | MittelIntegralNick2 = 0; |
990 | MittelIntegralNick2 = 0; |
991 | MittelIntegralRoll2 = 0; |
991 | MittelIntegralRoll2 = 0; |
992 | Mess_IntegralNick2 = Mess_IntegralNick; |
992 | Mess_IntegralNick2 = Mess_IntegralNick; |
993 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
993 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
994 | ZaehlMessungen = 0; |
994 | ZaehlMessungen = 0; |
995 | LageKorrekturNick = 0; |
995 | LageKorrekturNick = 0; |
996 | LageKorrekturRoll = 0; |
996 | LageKorrekturRoll = 0; |
997 | } |
997 | } |
998 | 998 | ||
999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1000 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1000 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1001 | { |
1001 | { |
1002 | long tmp_long, tmp_long2; |
1002 | long tmp_long, tmp_long2; |
1003 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1003 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1004 | { |
1004 | { |
1005 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1005 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1006 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1006 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1007 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1007 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1008 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1008 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1009 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1009 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1010 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1010 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1011 | { |
1011 | { |
1012 | tmp_long /= 2; |
1012 | tmp_long /= 2; |
1013 | tmp_long2 /= 2; |
1013 | tmp_long2 /= 2; |
1014 | } |
1014 | } |
1015 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1015 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1016 | { |
1016 | { |
1017 | tmp_long /= 3; |
1017 | tmp_long /= 3; |
1018 | tmp_long2 /= 3; |
1018 | tmp_long2 /= 3; |
1019 | } |
1019 | } |
1020 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1020 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1021 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1021 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1022 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1022 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1023 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1023 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1024 | } |
1024 | } |
1025 | else |
1025 | else |
1026 | { |
1026 | { |
1027 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1027 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1028 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1028 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1029 | tmp_long /= 16; |
1029 | tmp_long /= 16; |
1030 | tmp_long2 /= 16; |
1030 | tmp_long2 /= 16; |
1031 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1031 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1032 | { |
1032 | { |
1033 | tmp_long /= 3; |
1033 | tmp_long /= 3; |
1034 | tmp_long2 /= 3; |
1034 | tmp_long2 /= 3; |
1035 | } |
1035 | } |
1036 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1036 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1037 | { |
1037 | { |
1038 | tmp_long /= 3; |
1038 | tmp_long /= 3; |
1039 | tmp_long2 /= 3; |
1039 | tmp_long2 /= 3; |
1040 | } |
1040 | } |
1041 | KompassFusion = 25; |
1041 | KompassFusion = 25; |
1042 | #define AUSGLEICH 32 |
1042 | #define AUSGLEICH 32 |
1043 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1043 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1044 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1044 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1045 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1045 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1046 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1046 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1047 | } |
1047 | } |
1048 | 1048 | ||
1049 | Mess_IntegralNick -= tmp_long; |
1049 | Mess_IntegralNick -= tmp_long; |
1050 | Mess_IntegralRoll -= tmp_long2; |
1050 | Mess_IntegralRoll -= tmp_long2; |
1051 | } |
1051 | } |
1052 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1052 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1053 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1053 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1054 | { |
1054 | { |
1055 | static int cnt = 0; |
1055 | static int cnt = 0; |
1056 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1056 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1057 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1057 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1058 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1058 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1059 | { |
1059 | { |
1060 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1060 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1061 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1061 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1062 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1062 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1063 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1063 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1064 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1064 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1065 | #define MAX_I 0 |
1065 | #define MAX_I 0 |
1066 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1066 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1067 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1067 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1068 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1068 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1069 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1069 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1070 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1070 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1071 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1071 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1072 | 1072 | ||
1073 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1073 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1074 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1074 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1075 | 1075 | ||
1076 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1076 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1077 | { |
1077 | { |
1078 | LageKorrekturNick /= 2; |
1078 | LageKorrekturNick /= 2; |
1079 | LageKorrekturRoll /= 2; |
1079 | LageKorrekturRoll /= 2; |
1080 | } |
1080 | } |
1081 | 1081 | ||
1082 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1082 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1083 | // Gyro-Drift ermitteln |
1083 | // Gyro-Drift ermitteln |
1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1084 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1085 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1085 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1086 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1086 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1087 | tmp_long = IntegralNick2 - IntegralNick; |
1087 | tmp_long = IntegralNick2 - IntegralNick; |
1088 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1088 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1089 | 1089 | ||
1090 | IntegralFehlerNick = tmp_long; |
1090 | IntegralFehlerNick = tmp_long; |
1091 | IntegralFehlerRoll = tmp_long2; |
1091 | IntegralFehlerRoll = tmp_long2; |
1092 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1092 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1093 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1093 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1094 | 1094 | ||
1095 | if(EE_Parameter.Driftkomp) |
1095 | if(EE_Parameter.Driftkomp) |
1096 | { |
1096 | { |
1097 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1097 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1098 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1098 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1099 | } |
1099 | } |
1100 | GierGyroFehler = 0; |
1100 | GierGyroFehler = 0; |
1101 | 1101 | ||
1102 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1102 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1103 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1103 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1104 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1104 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1105 | #define BEWEGUNGS_LIMIT 20000 |
1105 | #define BEWEGUNGS_LIMIT 20000 |
1106 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1106 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1107 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1107 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1108 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1108 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1109 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1109 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1110 | { |
1110 | { |
1111 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1111 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1112 | { |
1112 | { |
1113 | if(last_n_p) |
1113 | if(last_n_p) |
1114 | { |
1114 | { |
1115 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1115 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1116 | ausgleichNick = IntegralFehlerNick / 8; |
1116 | ausgleichNick = IntegralFehlerNick / 8; |
1117 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1117 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1118 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1118 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1119 | } |
1119 | } |
1120 | else last_n_p = 1; |
1120 | else last_n_p = 1; |
1121 | } else last_n_p = 0; |
1121 | } else last_n_p = 0; |
1122 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1122 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1123 | { |
1123 | { |
1124 | if(last_n_n) |
1124 | if(last_n_n) |
1125 | { |
1125 | { |
1126 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1126 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1127 | ausgleichNick = IntegralFehlerNick / 8; |
1127 | ausgleichNick = IntegralFehlerNick / 8; |
1128 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1128 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1129 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1129 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1130 | } |
1130 | } |
1131 | else last_n_n = 1; |
1131 | else last_n_n = 1; |
1132 | } else last_n_n = 0; |
1132 | } else last_n_n = 0; |
1133 | } |
1133 | } |
1134 | else |
1134 | else |
1135 | { |
1135 | { |
1136 | cnt = 0; |
1136 | cnt = 0; |
1137 | KompassSignalSchlecht = 100; |
1137 | KompassSignalSchlecht = 100; |
1138 | } |
1138 | } |
1139 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1139 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1140 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1140 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1141 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1141 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1142 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1142 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1143 | 1143 | ||
1144 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1144 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1145 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1145 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1146 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1146 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1147 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1147 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1148 | { |
1148 | { |
1149 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1149 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1150 | { |
1150 | { |
1151 | if(last_r_p) |
1151 | if(last_r_p) |
1152 | { |
1152 | { |
1153 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1153 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1154 | ausgleichRoll = IntegralFehlerRoll / 8; |
1154 | ausgleichRoll = IntegralFehlerRoll / 8; |
1155 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1155 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1156 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1156 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1157 | } |
1157 | } |
1158 | else last_r_p = 1; |
1158 | else last_r_p = 1; |
1159 | } else last_r_p = 0; |
1159 | } else last_r_p = 0; |
1160 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1160 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1161 | { |
1161 | { |
1162 | if(last_r_n) |
1162 | if(last_r_n) |
1163 | { |
1163 | { |
1164 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1164 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1165 | ausgleichRoll = IntegralFehlerRoll / 8; |
1165 | ausgleichRoll = IntegralFehlerRoll / 8; |
1166 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1166 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1167 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1167 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1168 | } |
1168 | } |
1169 | else last_r_n = 1; |
1169 | else last_r_n = 1; |
1170 | } else last_r_n = 0; |
1170 | } else last_r_n = 0; |
1171 | } else |
1171 | } else |
1172 | { |
1172 | { |
1173 | cnt = 0; |
1173 | cnt = 0; |
1174 | KompassSignalSchlecht = 100; |
1174 | KompassSignalSchlecht = 100; |
1175 | } |
1175 | } |
1176 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1176 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1177 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1177 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1178 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1178 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1179 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1179 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1180 | } |
1180 | } |
1181 | else |
1181 | else |
1182 | { |
1182 | { |
1183 | LageKorrekturRoll = 0; |
1183 | LageKorrekturRoll = 0; |
1184 | LageKorrekturNick = 0; |
1184 | LageKorrekturNick = 0; |
1185 | TrichterFlug = 0; |
1185 | TrichterFlug = 0; |
1186 | } |
1186 | } |
1187 | 1187 | ||
1188 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1188 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1189 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1190 | MittelIntegralNick_Alt = MittelIntegralNick; |
1190 | MittelIntegralNick_Alt = MittelIntegralNick; |
1191 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1191 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1192 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1193 | IntegralAccNick = 0; |
1193 | IntegralAccNick = 0; |
1194 | IntegralAccRoll = 0; |
1194 | IntegralAccRoll = 0; |
1195 | IntegralAccZ = 0; |
1195 | IntegralAccZ = 0; |
1196 | MittelIntegralNick = 0; |
1196 | MittelIntegralNick = 0; |
1197 | MittelIntegralRoll = 0; |
1197 | MittelIntegralRoll = 0; |
1198 | MittelIntegralNick2 = 0; |
1198 | MittelIntegralNick2 = 0; |
1199 | MittelIntegralRoll2 = 0; |
1199 | MittelIntegralRoll2 = 0; |
1200 | ZaehlMessungen = 0; |
1200 | ZaehlMessungen = 0; |
1201 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1201 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1202 | 1202 | ||
1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1204 | // Gieren |
1204 | // Gieren |
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | if(abs(StickGier) > 3) // war 15 |
1206 | if(abs(StickGier) > 3) // war 15 |
1207 | { |
1207 | { |
1208 | // KompassSignalSchlecht = 1000; |
1208 | // KompassSignalSchlecht = 1000; |
1209 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1209 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1210 | { |
1210 | { |
1211 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1211 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1212 | }; |
1212 | }; |
1213 | } |
1213 | } |
1214 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1214 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1215 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1215 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1216 | tmp_int += CompassGierSetpoint; |
1216 | tmp_int += CompassGierSetpoint; |
1217 | sollGier = tmp_int; |
1217 | sollGier = tmp_int; |
1218 | Mess_Integral_Gier -= tmp_int; |
1218 | Mess_Integral_Gier -= tmp_int; |
1219 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1219 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1220 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1220 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1221 | 1221 | ||
1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1222 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1223 | // Kompass |
1223 | // Kompass |
1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1224 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1225 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1225 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1226 | { |
1226 | { |
1227 | if(CalculateCompassTimer-- == 1) |
1227 | if(CalculateCompassTimer-- == 1) |
1228 | { |
1228 | { |
1229 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1229 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1230 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1230 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1231 | // max. Korrekturwert schätzen |
1231 | // max. Korrekturwert schätzen |
1232 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1232 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1233 | v = abs(IntegralRoll /512); |
1233 | v = abs(IntegralRoll /512); |
1234 | if(v > w) w = v; // grösste Neigung ermitteln |
1234 | if(v > w) w = v; // grösste Neigung ermitteln |
1235 | korrektur = w / 4 + 1; |
1235 | korrektur = w / 4 + 1; |
1236 | // Kompassfehlerwert bestimmen |
1236 | // Kompassfehlerwert bestimmen |
1237 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1237 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1238 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1238 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1239 | 1239 | ||
1240 | // Kompasswert einloggen |
1240 | // Kompasswert einloggen |
1241 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1241 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1242 | else |
1242 | else |
1243 | if(w < 25) |
1243 | if(w < 25) |
1244 | { |
1244 | { |
1245 | GierGyroFehler += fehler; |
1245 | GierGyroFehler += fehler; |
1246 | if(NeueKompassRichtungMerken) |
1246 | if(NeueKompassRichtungMerken) |
1247 | { |
1247 | { |
1248 | if(--NeueKompassRichtungMerken == 0) |
1248 | if(--NeueKompassRichtungMerken == 0) |
1249 | { |
1249 | { |
1250 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1250 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1251 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1251 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1252 | } |
1252 | } |
1253 | } |
1253 | } |
1254 | } |
1254 | } |
1255 | // Kompass fusionieren |
1255 | // Kompass fusionieren |
1256 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1256 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1257 | 1257 | ||
1258 | // MK Gieren |
1258 | // MK Gieren |
1259 | if(!NeueKompassRichtungMerken) |
1259 | if(!NeueKompassRichtungMerken) |
1260 | { |
1260 | { |
1261 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1261 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1262 | DebugOut.Analog[19] = r; |
1262 | DebugOut.Analog[19] = r; |
1263 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1263 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1264 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
1264 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
1265 | CompassGierSetpoint = v / 16; |
1265 | CompassGierSetpoint = v / 16; |
1266 | } |
1266 | } |
1267 | else CompassGierSetpoint = 0; |
1267 | else CompassGierSetpoint = 0; |
1268 | 1268 | ||
1269 | /* |
1269 | /* |
1270 | DebugOut.Analog[16] = fehler; |
1270 | DebugOut.Analog[16] = fehler; |
1271 | DebugOut.Analog[17] = korrektur; |
1271 | DebugOut.Analog[17] = korrektur; |
1272 | */ |
1272 | */ |
1273 | DebugOut.Analog[25] = CompassGierSetpoint; |
1273 | DebugOut.Analog[25] = CompassGierSetpoint; |
1274 | DebugOut.Analog[18] = KompassFusion; |
1274 | DebugOut.Analog[18] = KompassFusion; |
1275 | 1275 | ||
1276 | /* |
1276 | /* |
1277 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1277 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
1278 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1278 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1279 | if(w >= 0) |
1279 | if(w >= 0) |
1280 | { |
1280 | { |
1281 | if(!KompassSignalSchlecht) |
1281 | if(!KompassSignalSchlecht) |
1282 | { |
1282 | { |
1283 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1283 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
1284 | DebugOut.Analog[16] = korrektur; |
1284 | DebugOut.Analog[16] = korrektur; |
1285 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1285 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
1286 | v = (r * w) / v; // nach Kompass ausrichten |
1286 | v = (r * w) / v; // nach Kompass ausrichten |
1287 | w = 3 * Parameter_KompassWirkung; |
1287 | w = 3 * Parameter_KompassWirkung; |
1288 | if(v > w) v = w; // Begrenzen |
1288 | if(v > w) v = w; // Begrenzen |
1289 | else |
1289 | else |
1290 | if(v < -w) v = -w; |
1290 | if(v < -w) v = -w; |
1291 | // Mess_Integral_Gier += v; |
1291 | // Mess_Integral_Gier += v; |
1292 | } |
1292 | } |
1293 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1293 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1294 | } |
1294 | } |
1295 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1295 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
1296 | */ |
1296 | */ |
1297 | } // CalculateCompassTimer |
1297 | } // CalculateCompassTimer |
1298 | } |
1298 | } |
1299 | else CompassGierSetpoint = 0; |
1299 | else CompassGierSetpoint = 0; |
1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1301 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1301 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1302 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1302 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1303 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1303 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1304 | 1304 | ||
1305 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1305 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1306 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1306 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1307 | 1307 | ||
1308 | #define TRIM_MAX 200 |
1308 | #define TRIM_MAX 200 |
1309 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1309 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1310 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1310 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1311 | 1311 | ||
1312 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1312 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1313 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1313 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1314 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1314 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1315 | 1315 | ||
1316 | // Maximalwerte abfangen |
1316 | // Maximalwerte abfangen |
1317 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1317 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1318 | #define MAX_SENSOR (4096) |
1318 | #define MAX_SENSOR (4096) |
1319 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1319 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1320 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1320 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1321 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1321 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1322 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1322 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1323 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1323 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1324 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1324 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1325 | 1325 | ||
1326 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1326 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1327 | // Höhenregelung |
1327 | // Höhenregelung |
1328 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1328 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1329 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1329 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1330 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1330 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1331 | GasMischanteil *= STICK_GAIN; |
1331 | GasMischanteil *= STICK_GAIN; |
1332 | // if height control is activated |
1332 | // if height control is activated |
1333 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1333 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1334 | { |
1334 | { |
1335 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1335 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1336 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1336 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1337 | 1337 | ||
1338 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1338 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1339 | #define OPA_OFFSET_STEP 15 |
1339 | #define OPA_OFFSET_STEP 15 |
1340 | #else |
1340 | #else |
1341 | #define OPA_OFFSET_STEP 10 |
1341 | #define OPA_OFFSET_STEP 10 |
1342 | #endif |
1342 | #endif |
1343 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1343 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1344 | static int HeightTrimming = 0; // rate for change of height setpoint |
1344 | static int HeightTrimming = 0; // rate for change of height setpoint |
1345 | static int FilterHCGas = 0; |
1345 | static int FilterHCGas = 0; |
1346 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1346 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1347 | static unsigned long HoverGasFilter = 0; |
1347 | static unsigned long HoverGasFilter = 0; |
1348 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1348 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
- | 1349 | static signed char WaypointTrimming = 0; |
|
1349 | int CosAttitude; // for projection of hoover gas |
1350 | int CosAttitude; // for projection of hoover gas |
1350 | 1351 | ||
1351 | // get the current hooverpoint |
1352 | // get the current hooverpoint |
1352 | DebugOut.Analog[21] = HoverGas; |
1353 | DebugOut.Analog[21] = HoverGas; |
1353 | 1354 | ||
1354 | // Expand the measurement |
1355 | // Expand the measurement |
1355 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1356 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1356 | if(!BaroExpandActive) |
1357 | if(!BaroExpandActive) |
1357 | { |
1358 | { |
1358 | if(MessLuftdruck > 920) |
1359 | if(MessLuftdruck > 920) |
1359 | { // increase offset |
1360 | { // increase offset |
1360 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1361 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1361 | { |
1362 | { |
1362 | ExpandBaro -= 1; |
1363 | ExpandBaro -= 1; |
1363 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1364 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1364 | beeptime = 300; |
1365 | beeptime = 300; |
1365 | BaroExpandActive = 350; |
1366 | BaroExpandActive = 350; |
1366 | } |
1367 | } |
1367 | else |
1368 | else |
1368 | { |
1369 | { |
1369 | BaroAtLowerLimit = 1; |
1370 | BaroAtLowerLimit = 1; |
1370 | } |
1371 | } |
1371 | } |
1372 | } |
1372 | // measurement of air pressure close to lower limit and |
1373 | // measurement of air pressure close to lower limit and |
1373 | else |
1374 | else |
1374 | if(MessLuftdruck < 100) |
1375 | if(MessLuftdruck < 100) |
1375 | { // decrease offset |
1376 | { // decrease offset |
1376 | if(OCR0A > OPA_OFFSET_STEP) |
1377 | if(OCR0A > OPA_OFFSET_STEP) |
1377 | { |
1378 | { |
1378 | ExpandBaro += 1; |
1379 | ExpandBaro += 1; |
1379 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1380 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1380 | beeptime = 300; |
1381 | beeptime = 300; |
1381 | BaroExpandActive = 350; |
1382 | BaroExpandActive = 350; |
1382 | } |
1383 | } |
1383 | else |
1384 | else |
1384 | { |
1385 | { |
1385 | BaroAtUpperLimit = 1; |
1386 | BaroAtUpperLimit = 1; |
1386 | } |
1387 | } |
1387 | } |
1388 | } |
1388 | else |
1389 | else |
1389 | { |
1390 | { |
1390 | BaroAtUpperLimit = 0; |
1391 | BaroAtUpperLimit = 0; |
1391 | BaroAtLowerLimit = 0; |
1392 | BaroAtLowerLimit = 0; |
1392 | } |
1393 | } |
1393 | } |
1394 | } |
1394 | else // delay, because of expanding the Baro-Range |
1395 | else // delay, because of expanding the Baro-Range |
1395 | { |
1396 | { |
1396 | // now clear the D-values |
1397 | // now clear the D-values |
1397 | SummenHoehe = HoehenWert * SM_FILTER; |
1398 | SummenHoehe = HoehenWert * SM_FILTER; |
1398 | VarioMeter = 0; |
1399 | VarioMeter = 0; |
1399 | BaroExpandActive--; |
1400 | BaroExpandActive--; |
1400 | } |
1401 | } |
1401 | 1402 | ||
1402 | // if height control is activated by an rc channel |
1403 | // if height control is activated by an rc channel |
1403 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1404 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1404 | { // check if parameter is less than activation threshold |
1405 | { // check if parameter is less than activation threshold |
1405 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1406 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1406 | { //height control not active |
1407 | { //height control not active |
1407 | if(!delay--) |
1408 | if(!delay--) |
1408 | { |
1409 | { |
1409 | HoehenReglerAktiv = 0; // disable height control |
1410 | HoehenReglerAktiv = 0; // disable height control |
1410 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1411 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1411 | delay = 1; |
1412 | delay = 1; |
1412 | } |
1413 | } |
1413 | } |
1414 | } |
1414 | else |
1415 | else |
1415 | { //height control is activated |
1416 | { //height control is activated |
1416 | HoehenReglerAktiv = 1; // enable height control |
1417 | HoehenReglerAktiv = 1; // enable height control |
1417 | delay = 200; |
1418 | delay = 200; |
1418 | } |
1419 | } |
1419 | } |
1420 | } |
1420 | else // no switchable height control |
1421 | else // no switchable height control |
1421 | { |
1422 | { |
1422 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1423 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1423 | HoehenReglerAktiv = 1; |
1424 | HoehenReglerAktiv = 1; |
1424 | } |
1425 | } |
1425 | 1426 | ||
1426 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1427 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1427 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1428 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1428 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1429 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1429 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1430 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1430 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1431 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1431 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1432 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1432 | VarioCharacter = ' '; |
1433 | VarioCharacter = ' '; |
1433 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1434 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1434 | { |
1435 | { |
1435 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1436 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1436 | // Holger original version |
1437 | // Holger original version |
1437 | // start of height control algorithm |
1438 | // start of height control algorithm |
1438 | // the height control is only an attenuation of the actual gas stick. |
1439 | // the height control is only an attenuation of the actual gas stick. |
1439 | // I.e. it will work only if the gas stick is higher than the hover gas |
1440 | // I.e. it will work only if the gas stick is higher than the hover gas |
1440 | // and the hover height will be allways larger than height setpoint. |
1441 | // and the hover height will be allways larger than height setpoint. |
1441 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1442 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1442 | { // old version |
1443 | { // old version |
1443 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1444 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1444 | HeightTrimming = 0; |
1445 | HeightTrimming = 0; |
1445 | // set both flags to indicate no vario mode |
1446 | // set both flags to indicate no vario mode |
1446 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1447 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1447 | } |
1448 | } |
1448 | else |
1449 | else |
1449 | { |
1450 | { |
1450 | // alternative height control |
1451 | // alternative height control |
1451 | // PD-Control with respect to hoover point |
1452 | // PD-Control with respect to hoover point |
1452 | // the thrust loss out of horizontal attitude is compensated |
1453 | // the thrust loss out of horizontal attitude is compensated |
1453 | // the setpoint will be fine adjusted with the gas stick position |
1454 | // the setpoint will be fine adjusted with the gas stick position |
1454 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1455 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1455 | { // gas stick is above hoover point |
1456 | { // gas stick is above hoover point |
1456 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1457 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1457 | { |
1458 | { |
1458 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1459 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1459 | { |
1460 | { |
1460 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1461 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1461 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1462 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1462 | } |
1463 | } |
1463 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1464 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1464 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1465 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1465 | VarioCharacter = '+'; |
1466 | VarioCharacter = '+'; |
1466 | } // gas stick is below hoover point |
1467 | } // gas stick is below hoover point |
1467 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1468 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1468 | { |
1469 | { |
1469 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1470 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1470 | { |
1471 | { |
1471 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1472 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1472 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1473 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1473 | } |
1474 | } |
1474 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1475 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1475 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1476 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1476 | VarioCharacter = '-'; |
1477 | VarioCharacter = '-'; |
1477 | } |
1478 | } |
1478 | else // Gas Stick in Hover Range |
1479 | else // Gas Stick in Hover Range |
1479 | { |
1480 | { |
1480 | VarioCharacter = '='; |
1481 | VarioCharacter = '='; |
1481 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint - SollHoehe > FromNC_AltitudeSpeed) // von NC gesteuert -> Steigen |
1482 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1482 | { |
1483 | { |
1483 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1484 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1484 | HeightTrimming += FromNC_AltitudeSpeed; |
1485 | HeightTrimming += FromNC_AltitudeSpeed; |
- | 1486 | WaypointTrimming = 10; |
|
1485 | VarioCharacter = 'u'; |
1487 | VarioCharacter = '^'; |
1486 | } |
1488 | } |
1487 | else |
1489 | else |
1488 | if(FromNC_AltitudeSpeed && SollHoehe - FromNC_AltitudeSetpoint > FromNC_AltitudeSpeed) // von NC gesteuert -> sinken |
1490 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1489 | { |
1491 | { |
1490 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1492 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1491 | HeightTrimming -= FromNC_AltitudeSpeed; |
1493 | HeightTrimming -= FromNC_AltitudeSpeed; |
- | 1494 | WaypointTrimming = -10; |
|
1492 | VarioCharacter = 'd'; |
1495 | VarioCharacter = 'v'; |
1493 | } |
1496 | } |
1494 | else |
1497 | else |
1495 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1498 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1496 | { |
1499 | { |
- | 1500 | if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
|
- | 1501 | else WaypointTrimming = 0; |
|
1497 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1502 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1498 | HeightTrimming = 0; |
1503 | HeightTrimming = 0; |
1499 | SollHoehe = HoehenWert; // update setpoint to current height |
- | |
1500 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1504 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1501 | if(!StartTrigger && HoehenWert > 50) |
1505 | if(!StartTrigger && HoehenWert > 50) |
1502 | { |
1506 | { |
1503 | StartTrigger = 1; |
1507 | StartTrigger = 1; |
1504 | } |
1508 | } |
1505 | } |
1509 | } |
1506 | } |
1510 | } |
1507 | // Trim height set point |
1511 | // Trim height set point |
1508 | if(abs(HeightTrimming) > 512) |
1512 | if(abs(HeightTrimming) > 512) |
1509 | { |
1513 | { |
- | 1514 | if(WaypointTrimming) |
|
- | 1515 | { |
|
- | 1516 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
|
- | 1517 | else SollHoehe += WaypointTrimming; |
|
- | 1518 | } |
|
- | 1519 | else |
|
1510 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1520 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1511 | HeightTrimming = 0; |
1521 | HeightTrimming = 0; |
1512 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1522 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1513 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1523 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1514 | //update hoover gas stick value when setpoint is shifted |
1524 | //update hoover gas stick value when setpoint is shifted |
1515 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1525 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1516 | { |
1526 | { |
1517 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1527 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1518 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1528 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1519 | if(StickGasHover < 70) StickGasHover = 70; |
1529 | if(StickGasHover < 70) StickGasHover = 70; |
1520 | else if(StickGasHover > 150) StickGasHover = 150; |
1530 | else if(StickGasHover > 150) StickGasHover = 150; |
1521 | } |
1531 | } |
1522 | } |
1532 | } |
1523 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1533 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1524 | } //if FCFlags & MKFCFLAG_FLY |
1534 | } //if FCFlags & MKFCFLAG_FLY |
1525 | else |
1535 | else |
1526 | { |
1536 | { |
1527 | SollHoehe = HoehenWert - 400; |
1537 | SollHoehe = HoehenWert - 400; |
1528 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1538 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1529 | else StickGasHover = 120; |
1539 | else StickGasHover = 120; |
1530 | HoverGas = GasMischanteil; |
1540 | HoverGas = GasMischanteil; |
1531 | } |
1541 | } |
1532 | HCGas = HoverGas; // take hover gas (neutral point) |
1542 | HCGas = HoverGas; // take hover gas (neutral point) |
1533 | } |
1543 | } |
1534 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1544 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1535 | { |
1545 | { |
1536 | // from this point the Heigth Control Algorithm is identical for both versions |
1546 | // from this point the Heigth Control Algorithm is identical for both versions |
1537 | if(BaroExpandActive) // baro range expanding active |
1547 | if(BaroExpandActive) // baro range expanding active |
1538 | { |
1548 | { |
1539 | HCGas = HoverGas; // hover while expanding baro adc range |
1549 | HCGas = HoverGas; // hover while expanding baro adc range |
1540 | HeightDeviation = 0; |
1550 | HeightDeviation = 0; |
1541 | } // EOF // baro range expanding active |
1551 | } // EOF // baro range expanding active |
1542 | else // valid data from air pressure sensor |
1552 | else // valid data from air pressure sensor |
1543 | { |
1553 | { |
1544 | // ------------------------- P-Part ---------------------------- |
1554 | // ------------------------- P-Part ---------------------------- |
1545 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1555 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1546 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1556 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1547 | HeightDeviation = (int)(tmp_long); // positive when too high |
1557 | HeightDeviation = (int)(tmp_long); // positive when too high |
1548 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1558 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1549 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1559 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1550 | GasReduction = tmp_long; |
1560 | GasReduction = tmp_long; |
1551 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1561 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1552 | tmp_int = VarioMeter / 8; |
1562 | tmp_int = VarioMeter / 8; |
1553 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1563 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1554 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1564 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1555 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1565 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1556 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1566 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1557 | else |
1567 | else |
1558 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1568 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1559 | GasReduction += tmp_int; |
1569 | GasReduction += tmp_int; |
1560 | } // EOF no baro range expanding |
1570 | } // EOF no baro range expanding |
1561 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1571 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1562 | if(Parameter_Hoehe_ACC_Wirkung) |
1572 | if(Parameter_Hoehe_ACC_Wirkung) |
1563 | { |
1573 | { |
1564 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1574 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1565 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1575 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1566 | GasReduction += tmp_long; |
1576 | GasReduction += tmp_long; |
1567 | } |
1577 | } |
1568 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1578 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1569 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1579 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1570 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1580 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1571 | GasReduction += tmp_int; |
1581 | GasReduction += tmp_int; |
1572 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1582 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1573 | // ------------------------ ---------------------------------- |
1583 | // ------------------------ ---------------------------------- |
1574 | HCGas -= GasReduction; |
1584 | HCGas -= GasReduction; |
1575 | // limit deviation from hoover point within the target region |
1585 | // limit deviation from hoover point within the target region |
1576 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1586 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1577 | { |
1587 | { |
1578 | unsigned int tmp; |
1588 | unsigned int tmp; |
1579 | tmp = abs(HeightDeviation); |
1589 | tmp = abs(HeightDeviation); |
1580 | if(tmp <= 60) |
1590 | if(tmp <= 60) |
1581 | { |
1591 | { |
1582 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1592 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1583 | } |
1593 | } |
1584 | else |
1594 | else |
1585 | { |
1595 | { |
1586 | tmp = (tmp - 60) / 32; |
1596 | tmp = (tmp - 60) / 32; |
1587 | if(tmp > 15) tmp = 15; |
1597 | if(tmp > 15) tmp = 15; |
1588 | if(HeightDeviation > 0) |
1598 | if(HeightDeviation > 0) |
1589 | { |
1599 | { |
1590 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1600 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1591 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1601 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1592 | } |
1602 | } |
1593 | else |
1603 | else |
1594 | { |
1604 | { |
1595 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1605 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1596 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1606 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1597 | } |
1607 | } |
1598 | } |
1608 | } |
1599 | } |
1609 | } |
1600 | // strech control output by inverse attitude projection 1/cos |
1610 | // strech control output by inverse attitude projection 1/cos |
1601 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1611 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1602 | tmp_long2 = (int32_t)HCGas; |
1612 | tmp_long2 = (int32_t)HCGas; |
1603 | tmp_long2 *= 8192L; |
1613 | tmp_long2 *= 8192L; |
1604 | tmp_long2 /= CosAttitude; |
1614 | tmp_long2 /= CosAttitude; |
1605 | HCGas = (int16_t)tmp_long2; |
1615 | HCGas = (int16_t)tmp_long2; |
1606 | // update height control gas averaging |
1616 | // update height control gas averaging |
1607 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1617 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1608 | // limit height control gas pd-control output |
1618 | // limit height control gas pd-control output |
1609 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1619 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1610 | // set GasMischanteil to HeightControlGasFilter |
1620 | // set GasMischanteil to HeightControlGasFilter |
1611 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1621 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1612 | { // old version |
1622 | { // old version |
1613 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1623 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1614 | GasMischanteil = FilterHCGas; |
1624 | GasMischanteil = FilterHCGas; |
1615 | } |
1625 | } |
1616 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1626 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1617 | } |
1627 | } |
1618 | }// EOF height control active |
1628 | }// EOF height control active |
1619 | else // HC not active |
1629 | else // HC not active |
1620 | { |
1630 | { |
1621 | //update hoover gas stick value when HC is not active |
1631 | //update hoover gas stick value when HC is not active |
1622 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1632 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1623 | { |
1633 | { |
1624 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1634 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1625 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1635 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1626 | } |
1636 | } |
1627 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1637 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1628 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1638 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1629 | FilterHCGas = GasMischanteil; |
1639 | FilterHCGas = GasMischanteil; |
1630 | // set both flags to indicate no vario mode |
1640 | // set both flags to indicate no vario mode |
1631 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1641 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1632 | } |
1642 | } |
1633 | 1643 | ||
1634 | // Hover gas estimation by averaging gas control output on small z-velocities |
1644 | // Hover gas estimation by averaging gas control output on small z-velocities |
1635 | // this is done only if height contol option is selected in global config and aircraft is flying |
1645 | // this is done only if height contol option is selected in global config and aircraft is flying |
1636 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1646 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1637 | { |
1647 | { |
1638 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1648 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1639 | if(StartTrigger == 1) StartTrigger = 2; |
1649 | if(StartTrigger == 1) StartTrigger = 2; |
1640 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1650 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1641 | tmp_long2 *= CosAttitude; // apply attitude projection |
1651 | tmp_long2 *= CosAttitude; // apply attitude projection |
1642 | tmp_long2 /= 8192; |
1652 | tmp_long2 /= 8192; |
1643 | // average vertical projected thrust |
1653 | // average vertical projected thrust |
1644 | if(modell_fliegt < 4000) // the first 8 seconds |
1654 | if(modell_fliegt < 4000) // the first 8 seconds |
1645 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1655 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1646 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1656 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1647 | HoverGasFilter += 16L * tmp_long2; |
1657 | HoverGasFilter += 16L * tmp_long2; |
1648 | } |
1658 | } |
1649 | if(modell_fliegt < 8000) // the first 16 seconds |
1659 | if(modell_fliegt < 8000) // the first 16 seconds |
1650 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1660 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1651 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1661 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1652 | HoverGasFilter += 4L * tmp_long2; |
1662 | HoverGasFilter += 4L * tmp_long2; |
1653 | } |
1663 | } |
1654 | else //later |
1664 | else //later |
1655 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1665 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1656 | { |
1666 | { |
1657 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1667 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1658 | HoverGasFilter += tmp_long2; |
1668 | HoverGasFilter += tmp_long2; |
1659 | } |
1669 | } |
1660 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1670 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1661 | if(EE_Parameter.Hoehe_HoverBand) |
1671 | if(EE_Parameter.Hoehe_HoverBand) |
1662 | { |
1672 | { |
1663 | int16_t band; |
1673 | int16_t band; |
1664 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1674 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1665 | HoverGasMin = HoverGas - band; |
1675 | HoverGasMin = HoverGas - band; |
1666 | HoverGasMax = HoverGas + band; |
1676 | HoverGasMax = HoverGas + band; |
1667 | } |
1677 | } |
1668 | else |
1678 | else |
1669 | { // no limit |
1679 | { // no limit |
1670 | HoverGasMin = 0; |
1680 | HoverGasMin = 0; |
1671 | HoverGasMax = 1023; |
1681 | HoverGasMax = 1023; |
1672 | } |
1682 | } |
1673 | } |
1683 | } |
1674 | else |
1684 | else |
1675 | { |
1685 | { |
1676 | StartTrigger = 0; |
1686 | StartTrigger = 0; |
1677 | HoverGasFilter = 0; |
1687 | HoverGasFilter = 0; |
1678 | HoverGas = 0; |
1688 | HoverGas = 0; |
1679 | } |
1689 | } |
1680 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1690 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1681 | else |
1691 | else |
1682 | { |
1692 | { |
1683 | // set undefined state to indicate vario off |
1693 | // set undefined state to indicate vario off |
1684 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1694 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1685 | } // EOF no height control |
1695 | } // EOF no height control |
1686 | 1696 | ||
1687 | // limit gas to parameter setting |
1697 | // limit gas to parameter setting |
1688 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1698 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1689 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1699 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1690 | 1700 | ||
1691 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1701 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1692 | // all BL-Ctrl connected? |
1702 | // all BL-Ctrl connected? |
1693 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1694 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1704 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1695 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1705 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1696 | { |
1706 | { |
1697 | modell_fliegt = 1; |
1707 | modell_fliegt = 1; |
1698 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1708 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1699 | } |
1709 | } |
1700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1701 | // + Mischer und PI-Regler |
1711 | // + Mischer und PI-Regler |
1702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1703 | DebugOut.Analog[7] = GasMischanteil; |
1713 | DebugOut.Analog[7] = GasMischanteil; |
1704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1705 | // Gier-Anteil |
1715 | // Gier-Anteil |
1706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1707 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1717 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1708 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1718 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1709 | if(GasMischanteil > MIN_GIERGAS) |
1719 | if(GasMischanteil > MIN_GIERGAS) |
1710 | { |
1720 | { |
1711 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1721 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1712 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1722 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1713 | } |
1723 | } |
1714 | else |
1724 | else |
1715 | { |
1725 | { |
1716 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1726 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1717 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1727 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1718 | } |
1728 | } |
1719 | tmp_int = MAX_GAS*STICK_GAIN; |
1729 | tmp_int = MAX_GAS*STICK_GAIN; |
1720 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1730 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1721 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1731 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1722 | 1732 | ||
1723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1733 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1724 | // Nick-Achse |
1734 | // Nick-Achse |
1725 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1735 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1726 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1736 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1727 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1737 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1728 | else SummeNick += DiffNick; // I-Anteil bei HH |
1738 | else SummeNick += DiffNick; // I-Anteil bei HH |
1729 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1739 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1730 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1740 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1731 | 1741 | ||
1732 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1742 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1733 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1743 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1734 | pd_ergebnis_nick += SummeNick / Ki; |
1744 | pd_ergebnis_nick += SummeNick / Ki; |
1735 | 1745 | ||
1736 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1746 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1737 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1747 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1738 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1748 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1739 | 1749 | ||
1740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1750 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1741 | // Roll-Achse |
1751 | // Roll-Achse |
1742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1752 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1743 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1753 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1744 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1754 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1745 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1755 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1746 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1756 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1747 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1757 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1748 | 1758 | ||
1749 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1759 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1750 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1760 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1751 | pd_ergebnis_roll += SummeRoll / Ki; |
1761 | pd_ergebnis_roll += SummeRoll / Ki; |
1752 | 1762 | ||
1753 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1763 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1754 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1764 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1755 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1765 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1756 | 1766 | ||
1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1767 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1758 | // Universal Mixer |
1768 | // Universal Mixer |
1759 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1769 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | for(i=0; i<MAX_MOTORS; i++) |
1770 | for(i=0; i<MAX_MOTORS; i++) |
1761 | { |
1771 | { |
1762 | signed int tmp_int; |
1772 | signed int tmp_int; |
1763 | if(Mixer.Motor[i][0] > 0) |
1773 | if(Mixer.Motor[i][0] > 0) |
1764 | { |
1774 | { |
1765 | // Gas |
1775 | // Gas |
1766 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1776 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1767 | // Nick |
1777 | // Nick |
1768 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1778 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1769 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1779 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1770 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1780 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1771 | // Roll |
1781 | // Roll |
1772 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1782 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1773 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1783 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1774 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1784 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1775 | // Gier |
1785 | // Gier |
1776 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1786 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1777 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1787 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1778 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1788 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1779 | 1789 | ||
1780 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1790 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1781 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1791 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1782 | 1792 | ||
1783 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1793 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1784 | Motor[i].SetPoint = tmp_int / 4; |
1794 | Motor[i].SetPoint = tmp_int / 4; |
1785 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1795 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1786 | tmp_motorwert[i] = tmp_int; |
1796 | tmp_motorwert[i] = tmp_int; |
1787 | } |
1797 | } |
1788 | else |
1798 | else |
1789 | { |
1799 | { |
1790 | Motor[i].SetPoint = 0; |
1800 | Motor[i].SetPoint = 0; |
1791 | Motor[i].SetPointLowerBits = 0; |
1801 | Motor[i].SetPointLowerBits = 0; |
1792 | } |
1802 | } |
1793 | } |
1803 | } |
1794 | } |
1804 | } |
1795 | 1805 |