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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = -1; |
80 | int KompassValue = -1; |
81 | int KompassSollWert = 0; |
81 | int KompassSollWert = 0; |
82 | //int KompassRichtung = 0; |
82 | //int KompassRichtung = 0; |
83 | char CalculateCompassTimer = 100; |
83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
84 | unsigned char KompassFusion = 32; |
85 | unsigned int KompassSignalSchlecht = 50; |
85 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned char MAX_GAS,MIN_GAS; |
86 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char HoehenReglerAktiv = 0; |
87 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char TrichterFlug = 0; |
88 | unsigned char TrichterFlug = 0; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long ErsatzKompass; |
90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int GierGyroFehler = 0; |
92 | int GierGyroFehler = 0; |
93 | char GyroFaktor,GyroFaktorGier; |
93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
95 | int DiffNick,DiffRoll; |
95 | int DiffNick,DiffRoll; |
96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
100 | volatile unsigned char SenderOkay = 0; |
100 | volatile unsigned char SenderOkay = 0; |
101 | char MotorenEin = 0,StartTrigger = 0; |
101 | char MotorenEin = 0,StartTrigger = 0; |
102 | long HoehenWert = 0; |
102 | long HoehenWert = 0; |
103 | long SollHoehe = 0; |
103 | long SollHoehe = 0; |
104 | signed int AltitudeSetpointTrimming = 0; |
104 | signed int AltitudeSetpointTrimming = 0; |
105 | long FromNC_AltitudeSetpoint = 0; |
105 | long FromNC_AltitudeSetpoint = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
106 | unsigned char FromNC_AltitudeSpeed = 0; |
107 | unsigned char carefree_old = 50; // to make the Beep when switching |
107 | unsigned char carefree_old = 50; // to make the Beep when switching |
108 | signed char WaypointTrimming = 0; |
108 | signed char WaypointTrimming = 0; |
109 | int CompassGierSetpoint = 0; |
109 | int CompassGierSetpoint = 0; |
110 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
110 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
111 | //float Ki = FAKTOR_I; |
111 | //float Ki = FAKTOR_I; |
112 | int Ki = 10300 / 33; |
112 | int Ki = 10300 / 33; |
113 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
113 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
114 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
114 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
115 | 115 | ||
116 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
116 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
117 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
117 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
118 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
118 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
119 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
119 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
120 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
120 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
121 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
121 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
122 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
122 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
123 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
124 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
125 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
125 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
126 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
126 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
127 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
128 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
128 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
129 | unsigned char Parameter_UserParam1 = 0; |
129 | unsigned char Parameter_UserParam1 = 0; |
130 | unsigned char Parameter_UserParam2 = 0; |
130 | unsigned char Parameter_UserParam2 = 0; |
131 | unsigned char Parameter_UserParam3 = 0; |
131 | unsigned char Parameter_UserParam3 = 0; |
132 | unsigned char Parameter_UserParam4 = 0; |
132 | unsigned char Parameter_UserParam4 = 0; |
133 | unsigned char Parameter_UserParam5 = 0; |
133 | unsigned char Parameter_UserParam5 = 0; |
134 | unsigned char Parameter_UserParam6 = 0; |
134 | unsigned char Parameter_UserParam6 = 0; |
135 | unsigned char Parameter_UserParam7 = 0; |
135 | unsigned char Parameter_UserParam7 = 0; |
136 | unsigned char Parameter_UserParam8 = 0; |
136 | unsigned char Parameter_UserParam8 = 0; |
137 | unsigned char Parameter_ServoNickControl = 100; |
137 | unsigned char Parameter_ServoNickControl = 100; |
138 | unsigned char Parameter_ServoRollControl = 100; |
138 | unsigned char Parameter_ServoRollControl = 100; |
139 | unsigned char Parameter_LoopGasLimit = 70; |
139 | unsigned char Parameter_LoopGasLimit = 70; |
140 | unsigned char Parameter_AchsKopplung1 = 90; |
140 | unsigned char Parameter_AchsKopplung1 = 90; |
141 | unsigned char Parameter_AchsKopplung2 = 65; |
141 | unsigned char Parameter_AchsKopplung2 = 65; |
142 | unsigned char Parameter_CouplingYawCorrection = 64; |
142 | unsigned char Parameter_CouplingYawCorrection = 64; |
143 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
143 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
144 | unsigned char Parameter_DynamicStability = 100; |
144 | unsigned char Parameter_DynamicStability = 100; |
145 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
145 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
146 | unsigned char Parameter_J16Timing; // for the J16 Output |
146 | unsigned char Parameter_J16Timing; // for the J16 Output |
147 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
147 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
148 | unsigned char Parameter_J17Timing; // for the J17 Output |
148 | unsigned char Parameter_J17Timing; // for the J17 Output |
149 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
149 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
150 | unsigned char Parameter_NaviGpsGain; |
150 | unsigned char Parameter_NaviGpsGain; |
151 | unsigned char Parameter_NaviGpsP; |
151 | unsigned char Parameter_NaviGpsP; |
152 | unsigned char Parameter_NaviGpsI; |
152 | unsigned char Parameter_NaviGpsI; |
153 | unsigned char Parameter_NaviGpsD; |
153 | unsigned char Parameter_NaviGpsD; |
154 | unsigned char Parameter_NaviGpsACC; |
154 | unsigned char Parameter_NaviGpsACC; |
155 | unsigned char Parameter_NaviOperatingRadius; |
155 | unsigned char Parameter_NaviOperatingRadius; |
156 | unsigned char Parameter_NaviWindCorrection; |
156 | unsigned char Parameter_NaviWindCorrection; |
157 | unsigned char Parameter_NaviSpeedCompensation; |
157 | unsigned char Parameter_NaviSpeedCompensation; |
158 | unsigned char Parameter_ExternalControl; |
158 | unsigned char Parameter_ExternalControl; |
159 | unsigned char Parameter_GlobalConfig; |
159 | unsigned char Parameter_GlobalConfig; |
160 | unsigned char Parameter_ExtraConfig; |
160 | unsigned char Parameter_ExtraConfig; |
161 | unsigned char Parameter_MaximumAltitude = 40; |
161 | unsigned char Parameter_MaximumAltitude = 40; |
162 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
162 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
163 | unsigned char CareFree = 0; |
163 | unsigned char CareFree = 0; |
164 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
164 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
165 | 165 | ||
166 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
166 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
167 | int MaxStickNick = 0,MaxStickRoll = 0; |
167 | int MaxStickNick = 0,MaxStickRoll = 0; |
168 | unsigned int modell_fliegt = 0; |
168 | unsigned int modell_fliegt = 0; |
169 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
169 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
170 | long GIER_GRAD_FAKTOR = 1291; |
170 | long GIER_GRAD_FAKTOR = 1291; |
171 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
171 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
172 | signed int tmp_motorwert[MAX_MOTORS]; |
172 | signed int tmp_motorwert[MAX_MOTORS]; |
173 | char VarioCharacter = ' '; |
173 | char VarioCharacter = ' '; |
174 | 174 | ||
175 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
175 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
176 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
176 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
177 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
177 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
178 | 178 | ||
179 | 179 | ||
180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
181 | // Debugwerte zuordnen |
181 | // Debugwerte zuordnen |
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
183 | void CopyDebugValues(void) |
183 | void CopyDebugValues(void) |
184 | { |
184 | { |
185 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
185 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
186 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
186 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
187 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
187 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
188 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
188 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
189 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
189 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
190 | DebugOut.Analog[5] = HoehenWert/5; |
190 | DebugOut.Analog[5] = HoehenWert/5; |
191 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
191 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
192 | DebugOut.Analog[8] = KompassValue; |
192 | DebugOut.Analog[8] = KompassValue; |
193 | DebugOut.Analog[9] = UBat; |
193 | DebugOut.Analog[9] = UBat; |
194 | DebugOut.Analog[10] = SenderOkay; |
194 | DebugOut.Analog[10] = SenderOkay; |
195 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
195 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
196 | DebugOut.Analog[12] = Motor[0].SetPoint; |
196 | DebugOut.Analog[12] = Motor[0].SetPoint; |
197 | DebugOut.Analog[13] = Motor[1].SetPoint; |
197 | DebugOut.Analog[13] = Motor[1].SetPoint; |
198 | DebugOut.Analog[14] = Motor[2].SetPoint; |
198 | DebugOut.Analog[14] = Motor[2].SetPoint; |
199 | DebugOut.Analog[15] = Motor[3].SetPoint; |
199 | DebugOut.Analog[15] = Motor[3].SetPoint; |
200 | DebugOut.Analog[20] = ServoNickValue; |
200 | DebugOut.Analog[20] = ServoNickValue; |
201 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
201 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
202 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
202 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
203 | DebugOut.Analog[24] = SollHoehe/5; |
203 | DebugOut.Analog[24] = SollHoehe/5; |
204 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
204 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
205 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
205 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
206 | DebugOut.Analog[27] = KompassSollWert; |
206 | DebugOut.Analog[27] = KompassSollWert; |
207 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
207 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
208 | DebugOut.Analog[30] = GPS_Nick; |
208 | DebugOut.Analog[30] = GPS_Nick; |
209 | DebugOut.Analog[31] = GPS_Roll; |
209 | DebugOut.Analog[31] = GPS_Roll; |
210 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
210 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
211 | } |
211 | } |
212 | 212 | ||
213 | 213 | ||
214 | 214 | ||
215 | void Piep(unsigned char Anzahl, unsigned int dauer) |
215 | void Piep(unsigned char Anzahl, unsigned int dauer) |
216 | { |
216 | { |
217 | if(MotorenEin) return; //auf keinen Fall im Flug! |
217 | if(MotorenEin) return; //auf keinen Fall im Flug! |
218 | while(Anzahl--) |
218 | while(Anzahl--) |
219 | { |
219 | { |
220 | beeptime = dauer; |
220 | beeptime = dauer; |
221 | while(beeptime); |
221 | while(beeptime); |
222 | Delay_ms(dauer * 2); |
222 | Delay_ms(dauer * 2); |
223 | } |
223 | } |
224 | } |
224 | } |
225 | 225 | ||
226 | //############################################################################ |
226 | //############################################################################ |
227 | // Messwerte beim Ermitteln der Nullage |
227 | // Messwerte beim Ermitteln der Nullage |
228 | void CalibrierMittelwert(void) |
228 | void CalibrierMittelwert(void) |
229 | //############################################################################ |
229 | //############################################################################ |
230 | { |
230 | { |
231 | unsigned char i; |
231 | unsigned char i; |
232 | if(PlatinenVersion == 13) SucheGyroOffset(); |
232 | if(PlatinenVersion == 13) SucheGyroOffset(); |
233 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
233 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
234 | ANALOG_OFF; |
234 | ANALOG_OFF; |
235 | MesswertNick = AdWertNick; |
235 | MesswertNick = AdWertNick; |
236 | MesswertRoll = AdWertRoll; |
236 | MesswertRoll = AdWertRoll; |
237 | MesswertGier = AdWertGier; |
237 | MesswertGier = AdWertGier; |
238 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
238 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
239 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
239 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
240 | // ADC einschalten |
240 | // ADC einschalten |
241 | ANALOG_ON; |
241 | ANALOG_ON; |
242 | for(i=0;i<8;i++) |
242 | for(i=0;i<8;i++) |
243 | { |
243 | { |
244 | int tmp; |
244 | int tmp; |
245 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
245 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
246 | LIMIT_MIN_MAX(tmp, 0, 255); |
246 | LIMIT_MIN_MAX(tmp, 0, 255); |
247 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
247 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
248 | } |
248 | } |
249 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
249 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
250 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
250 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
251 | } |
251 | } |
252 | 252 | ||
253 | //############################################################################ |
253 | //############################################################################ |
254 | // Nullwerte ermitteln |
254 | // Nullwerte ermitteln |
255 | void SetNeutral(unsigned char AccAdjustment) |
255 | void SetNeutral(unsigned char AccAdjustment) |
256 | //############################################################################ |
256 | //############################################################################ |
257 | { |
257 | { |
258 | unsigned char i; |
258 | unsigned char i; |
259 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
259 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
260 | VersionInfo.HardwareError[0] = 0; |
260 | VersionInfo.HardwareError[0] = 0; |
261 | HEF4017R_ON; |
261 | HEF4017R_ON; |
262 | NeutralAccX = 0; |
262 | NeutralAccX = 0; |
263 | NeutralAccY = 0; |
263 | NeutralAccY = 0; |
264 | NeutralAccZ = 0; |
264 | NeutralAccZ = 0; |
265 | 265 | ||
266 | AdNeutralNick = 0; |
266 | AdNeutralNick = 0; |
267 | AdNeutralRoll = 0; |
267 | AdNeutralRoll = 0; |
268 | AdNeutralGier = 0; |
268 | AdNeutralGier = 0; |
269 | 269 | ||
270 | Parameter_AchsKopplung1 = 0; |
270 | Parameter_AchsKopplung1 = 0; |
271 | Parameter_AchsKopplung2 = 0; |
271 | Parameter_AchsKopplung2 = 0; |
272 | 272 | ||
273 | ExpandBaro = 0; |
273 | ExpandBaro = 0; |
274 | 274 | ||
275 | CalibrierMittelwert(); |
275 | CalibrierMittelwert(); |
276 | Delay_ms_Mess(100); |
276 | Delay_ms_Mess(100); |
277 | 277 | ||
278 | CalibrierMittelwert(); |
278 | CalibrierMittelwert(); |
279 | 279 | ||
280 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
280 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
281 | { |
281 | { |
282 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
282 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
283 | } |
283 | } |
284 | #define NEUTRAL_FILTER 32 |
284 | #define NEUTRAL_FILTER 32 |
285 | for(i=0; i<NEUTRAL_FILTER; i++) |
285 | for(i=0; i<NEUTRAL_FILTER; i++) |
286 | { |
286 | { |
287 | Delay_ms_Mess(10); |
287 | Delay_ms_Mess(10); |
288 | gier_neutral += AdWertGier; |
288 | gier_neutral += AdWertGier; |
289 | nick_neutral += AdWertNick; |
289 | nick_neutral += AdWertNick; |
290 | roll_neutral += AdWertRoll; |
290 | roll_neutral += AdWertRoll; |
291 | } |
291 | } |
292 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
292 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
293 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
293 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
294 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
294 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
295 | 295 | ||
296 | StartNeutralRoll = AdNeutralRoll; |
296 | StartNeutralRoll = AdNeutralRoll; |
297 | StartNeutralNick = AdNeutralNick; |
297 | StartNeutralNick = AdNeutralNick; |
298 | 298 | ||
299 | if(AccAdjustment) |
299 | if(AccAdjustment) |
300 | { |
300 | { |
301 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
301 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
302 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
302 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
303 | NeutralAccZ = Aktuell_az; |
303 | NeutralAccZ = Aktuell_az; |
304 | 304 | ||
305 | // Save ACC neutral settings to eeprom |
305 | // Save ACC neutral settings to eeprom |
306 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
306 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
307 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
307 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
308 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
308 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
309 | } |
309 | } |
310 | else |
310 | else |
311 | { |
311 | { |
312 | // restore from eeprom |
312 | // restore from eeprom |
313 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
313 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
314 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
314 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
315 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
315 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
316 | // strange settings? |
316 | // strange settings? |
317 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
317 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
318 | { |
318 | { |
319 | printf("\n\rACC not calibrated!\r\n"); |
319 | printf("\n\rACC not calibrated!\r\n"); |
320 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
320 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
321 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
321 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
322 | NeutralAccZ = Aktuell_az; |
322 | NeutralAccZ = Aktuell_az; |
323 | } |
323 | } |
324 | } |
324 | } |
325 | 325 | ||
326 | MesswertNick = 0; |
326 | MesswertNick = 0; |
327 | MesswertRoll = 0; |
327 | MesswertRoll = 0; |
328 | MesswertGier = 0; |
328 | MesswertGier = 0; |
329 | Delay_ms_Mess(100); |
329 | Delay_ms_Mess(100); |
330 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
330 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
331 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
331 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
332 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
332 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
333 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
333 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
334 | Mess_IntegralNick2 = IntegralNick; |
334 | Mess_IntegralNick2 = IntegralNick; |
335 | Mess_IntegralRoll2 = IntegralRoll; |
335 | Mess_IntegralRoll2 = IntegralRoll; |
336 | Mess_Integral_Gier = 0; |
336 | Mess_Integral_Gier = 0; |
337 | StartLuftdruck = Luftdruck; |
337 | StartLuftdruck = Luftdruck; |
338 | VarioMeter = 0; |
338 | VarioMeter = 0; |
339 | Mess_Integral_Hoch = 0; |
339 | Mess_Integral_Hoch = 0; |
340 | KompassSollWert = KompassValue; |
340 | KompassSollWert = KompassValue; |
341 | KompassSignalSchlecht = 100; |
341 | KompassSignalSchlecht = 100; |
342 | beeptime = 50; |
342 | beeptime = 50; |
343 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
343 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
344 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
344 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
345 | ExternHoehenValue = 0; |
345 | ExternHoehenValue = 0; |
346 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
346 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
347 | GierGyroFehler = 0; |
347 | GierGyroFehler = 0; |
348 | SendVersionToNavi = 1; |
348 | SendVersionToNavi = 1; |
349 | LED_Init(); |
349 | LED_Init(); |
350 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
350 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
351 | FromNaviCtrl_Value.Kalman_K = -1; |
351 | FromNaviCtrl_Value.Kalman_K = -1; |
352 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
352 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
353 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
353 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
354 | for(i=0;i<8;i++) |
354 | for(i=0;i<8;i++) |
355 | { |
355 | { |
356 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
356 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
357 | } |
357 | } |
358 | SenderOkay = 100; |
358 | SenderOkay = 100; |
359 | if(ServoActive) |
359 | if(ServoActive) |
360 | { |
360 | { |
361 | HEF4017R_ON; |
361 | HEF4017R_ON; |
362 | DDRD |=0x80; // enable J7 -> Servo signal |
362 | DDRD |=0x80; // enable J7 -> Servo signal |
363 | } |
363 | } |
364 | 364 | ||
365 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
365 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
366 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
366 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
367 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
367 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
368 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
368 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
369 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
369 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
370 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
370 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
371 | carefree_old = 70; |
371 | carefree_old = 70; |
372 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
372 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
373 | LIBFC_HoTT_Clear(); |
373 | LIBFC_HoTT_Clear(); |
374 | #endif |
374 | #endif |
375 | } |
375 | } |
376 | 376 | ||
377 | 377 | ||
378 | //############################################################################ |
378 | //############################################################################ |
379 | // Bearbeitet die Messwerte |
379 | // Bearbeitet die Messwerte |
380 | void Mittelwert(void) |
380 | void Mittelwert(void) |
381 | //############################################################################ |
381 | //############################################################################ |
382 | { |
382 | { |
383 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
383 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
384 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
384 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
385 | signed long winkel_nick, winkel_roll; |
385 | signed long winkel_nick, winkel_roll; |
386 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
386 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
387 | MesswertNick = (signed int) AdWertNickFilter / 8; |
387 | MesswertNick = (signed int) AdWertNickFilter / 8; |
388 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
388 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
389 | RohMesswertNick = MesswertNick; |
389 | RohMesswertNick = MesswertNick; |
390 | RohMesswertRoll = MesswertRoll; |
390 | RohMesswertRoll = MesswertRoll; |
391 | 391 | ||
392 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
392 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
393 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
393 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
394 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
394 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
395 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
395 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
396 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
396 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
397 | NaviAccNick += AdWertAccNick; |
397 | NaviAccNick += AdWertAccNick; |
398 | NaviAccRoll += AdWertAccRoll; |
398 | NaviAccRoll += AdWertAccRoll; |
399 | NaviCntAcc++; |
399 | NaviCntAcc++; |
400 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
400 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
401 | 401 | ||
402 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
402 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
403 | // ADC einschalten |
403 | // ADC einschalten |
404 | ANALOG_ON; |
404 | ANALOG_ON; |
405 | AdReady = 0; |
405 | AdReady = 0; |
406 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
406 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
407 | 407 | ||
408 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
408 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
409 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
409 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
410 | else winkel_roll = Mess_IntegralRoll; |
410 | else winkel_roll = Mess_IntegralRoll; |
411 | 411 | ||
412 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
412 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
413 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
413 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
414 | else winkel_nick = Mess_IntegralNick; |
414 | else winkel_nick = Mess_IntegralNick; |
415 | 415 | ||
416 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
416 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
417 | Mess_Integral_Gier += MesswertGier; |
417 | Mess_Integral_Gier += MesswertGier; |
418 | ErsatzKompass += MesswertGier; |
418 | ErsatzKompass += MesswertGier; |
419 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
419 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
420 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
420 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
421 | { |
421 | { |
422 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
422 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
423 | tmpl3 *= Parameter_AchsKopplung2; //65 |
423 | tmpl3 *= Parameter_AchsKopplung2; //65 |
424 | tmpl3 /= 4096L; |
424 | tmpl3 /= 4096L; |
425 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
425 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
426 | tmpl4 *= Parameter_AchsKopplung2; //65 |
426 | tmpl4 *= Parameter_AchsKopplung2; //65 |
427 | tmpl4 /= 4096L; |
427 | tmpl4 /= 4096L; |
428 | KopplungsteilNickRoll = tmpl3; |
428 | KopplungsteilNickRoll = tmpl3; |
429 | KopplungsteilRollNick = tmpl4; |
429 | KopplungsteilRollNick = tmpl4; |
430 | tmpl4 -= tmpl3; |
430 | tmpl4 -= tmpl3; |
431 | ErsatzKompass += tmpl4; |
431 | ErsatzKompass += tmpl4; |
432 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
432 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
433 | 433 | ||
434 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
434 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
435 | tmpl *= Parameter_AchsKopplung1; // 90 |
435 | tmpl *= Parameter_AchsKopplung1; // 90 |
436 | tmpl /= 4096L; |
436 | tmpl /= 4096L; |
437 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
437 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
438 | tmpl2 *= Parameter_AchsKopplung1; |
438 | tmpl2 *= Parameter_AchsKopplung1; |
439 | tmpl2 /= 4096L; |
439 | tmpl2 /= 4096L; |
440 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
440 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
441 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
441 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
442 | } |
442 | } |
443 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
443 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
444 | TrimRoll = tmpl - tmpl2 / 100L; |
444 | TrimRoll = tmpl - tmpl2 / 100L; |
445 | TrimNick = -tmpl2 + tmpl / 100L; |
445 | TrimNick = -tmpl2 + tmpl / 100L; |
446 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
446 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
447 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
447 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
448 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
448 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
449 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
449 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
450 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
450 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
451 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
451 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
452 | if(Mess_IntegralRoll > Umschlag180Roll) |
452 | if(Mess_IntegralRoll > Umschlag180Roll) |
453 | { |
453 | { |
454 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
454 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
455 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
455 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
456 | } |
456 | } |
457 | if(Mess_IntegralRoll <-Umschlag180Roll) |
457 | if(Mess_IntegralRoll <-Umschlag180Roll) |
458 | { |
458 | { |
459 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
459 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
460 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
460 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
461 | } |
461 | } |
462 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
462 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
463 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
463 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
464 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
464 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
465 | if(Mess_IntegralNick > Umschlag180Nick) |
465 | if(Mess_IntegralNick > Umschlag180Nick) |
466 | { |
466 | { |
467 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
467 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
468 | Mess_IntegralNick2 = Mess_IntegralNick; |
468 | Mess_IntegralNick2 = Mess_IntegralNick; |
469 | } |
469 | } |
470 | if(Mess_IntegralNick <-Umschlag180Nick) |
470 | if(Mess_IntegralNick <-Umschlag180Nick) |
471 | { |
471 | { |
472 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
472 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
473 | Mess_IntegralNick2 = Mess_IntegralNick; |
473 | Mess_IntegralNick2 = Mess_IntegralNick; |
474 | } |
474 | } |
475 | 475 | ||
476 | Integral_Gier = Mess_Integral_Gier; |
476 | Integral_Gier = Mess_Integral_Gier; |
477 | IntegralNick = Mess_IntegralNick; |
477 | IntegralNick = Mess_IntegralNick; |
478 | IntegralRoll = Mess_IntegralRoll; |
478 | IntegralRoll = Mess_IntegralRoll; |
479 | IntegralNick2 = Mess_IntegralNick2; |
479 | IntegralNick2 = Mess_IntegralNick2; |
480 | IntegralRoll2 = Mess_IntegralRoll2; |
480 | IntegralRoll2 = Mess_IntegralRoll2; |
481 | 481 | ||
482 | #define D_LIMIT 128 |
482 | #define D_LIMIT 128 |
483 | 483 | ||
484 | MesswertNick = HiResNick / 8; |
484 | MesswertNick = HiResNick / 8; |
485 | MesswertRoll = HiResRoll / 8; |
485 | MesswertRoll = HiResRoll / 8; |
486 | 486 | ||
487 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
487 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
488 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
488 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
489 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
489 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
490 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
490 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
491 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
491 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
492 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
492 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
493 | 493 | ||
494 | if(Parameter_Gyro_D) |
494 | if(Parameter_Gyro_D) |
495 | { |
495 | { |
496 | d2Nick = HiResNick - oldNick; |
496 | d2Nick = HiResNick - oldNick; |
497 | oldNick = (oldNick + HiResNick)/2; |
497 | oldNick = (oldNick + HiResNick)/2; |
498 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
498 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
499 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
499 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
500 | 500 | ||
501 | d2Roll = HiResRoll - oldRoll; |
501 | d2Roll = HiResRoll - oldRoll; |
502 | oldRoll = (oldRoll + HiResRoll)/2; |
502 | oldRoll = (oldRoll + HiResRoll)/2; |
503 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
503 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
504 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
504 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
505 | 505 | ||
506 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
506 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
507 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
507 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
508 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
508 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
509 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
509 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
510 | } |
510 | } |
511 | 511 | ||
512 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
512 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
513 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
513 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
514 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
514 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
515 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
515 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
516 | 516 | ||
517 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
517 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
518 | { |
518 | { |
519 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
519 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
520 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
520 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
521 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
521 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
522 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
522 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
523 | } |
523 | } |
524 | } |
524 | } |
525 | 525 | ||
526 | //############################################################################ |
526 | //############################################################################ |
527 | // Senden der Motorwerte per I2C-Bus |
527 | // Senden der Motorwerte per I2C-Bus |
528 | void SendMotorData(void) |
528 | void SendMotorData(void) |
529 | //############################################################################ |
529 | //############################################################################ |
530 | { |
530 | { |
531 | unsigned char i; |
531 | unsigned char i; |
532 | if(!MotorenEin) |
532 | if(!MotorenEin) |
533 | { |
533 | { |
534 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
534 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
535 | for(i=0;i<MAX_MOTORS;i++) |
535 | for(i=0;i<MAX_MOTORS;i++) |
536 | { |
536 | { |
537 | if(!PC_MotortestActive) MotorTest[i] = 0; |
537 | if(!PC_MotortestActive) MotorTest[i] = 0; |
538 | Motor[i].SetPoint = MotorTest[i]; |
538 | Motor[i].SetPoint = MotorTest[i]; |
539 | Motor[i].SetPointLowerBits = 0; |
539 | Motor[i].SetPointLowerBits = 0; |
540 | /* |
540 | /* |
541 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
541 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
542 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
542 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
543 | */ |
543 | */ |
544 | } |
544 | } |
545 | if(PC_MotortestActive) PC_MotortestActive--; |
545 | if(PC_MotortestActive) PC_MotortestActive--; |
546 | } |
546 | } |
547 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
547 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
548 | 548 | ||
549 | if(I2C_TransferActive) |
549 | if(I2C_TransferActive) |
550 | { |
550 | { |
551 | I2C_TransferActive = 0; // enable for the next time |
551 | I2C_TransferActive = 0; // enable for the next time |
552 | } |
552 | } |
553 | else |
553 | else |
554 | { |
554 | { |
555 | motor_write = 0; |
555 | motor_write = 0; |
556 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
556 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
557 | } |
557 | } |
558 | } |
558 | } |
559 | 559 | ||
560 | 560 | ||
561 | 561 | ||
562 | //############################################################################ |
562 | //############################################################################ |
563 | // Trägt ggf. das Poti als Parameter ein |
563 | // Trägt ggf. das Poti als Parameter ein |
564 | void ParameterZuordnung(void) |
564 | void ParameterZuordnung(void) |
565 | //############################################################################ |
565 | //############################################################################ |
566 | { |
566 | { |
567 | unsigned char tmp,i; |
567 | unsigned char tmp,i; |
568 | for(i=0;i<8;i++) |
568 | for(i=0;i<8;i++) |
569 | { |
569 | { |
570 | int tmp2; |
570 | int tmp2; |
571 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
571 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
572 | tmp2 = PPM_in[tmp] + 127; |
572 | tmp2 = PPM_in[tmp] + 127; |
573 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
573 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
574 | 574 | ||
575 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
575 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
576 | else |
576 | else |
577 | if(tmp2 != Poti[i]) |
577 | if(tmp2 != Poti[i]) |
578 | { |
578 | { |
579 | Poti[i] += (tmp2 - Poti[i]) / 4; |
579 | Poti[i] += (tmp2 - Poti[i]) / 4; |
580 | if(Poti[i] > tmp2) Poti[i]--; |
580 | if(Poti[i] > tmp2) Poti[i]--; |
581 | else Poti[i]++; |
581 | else Poti[i]++; |
582 | } |
582 | } |
583 | } |
583 | } |
584 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
584 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
585 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
585 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
586 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
586 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
587 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
587 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
588 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
588 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
589 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
589 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
590 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
590 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
591 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
591 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
592 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
592 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
593 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
593 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
594 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
594 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
595 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
595 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
596 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
596 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
597 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
597 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
598 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
598 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
599 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
599 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
600 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
600 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
601 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
601 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
602 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
602 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
603 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
603 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
604 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
604 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
605 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
605 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
606 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
606 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
607 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
607 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
608 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
608 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
609 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
609 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
610 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
610 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
611 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
611 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
612 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
612 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
613 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
613 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
614 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
614 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
615 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
615 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
616 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
616 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
617 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
617 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
618 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
618 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
619 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
619 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
620 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
620 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
621 | Ki = 10300 / (Parameter_I_Faktor + 1); |
621 | Ki = 10300 / (Parameter_I_Faktor + 1); |
622 | MAX_GAS = EE_Parameter.Gas_Max; |
622 | MAX_GAS = EE_Parameter.Gas_Max; |
623 | MIN_GAS = EE_Parameter.Gas_Min; |
623 | MIN_GAS = EE_Parameter.Gas_Min; |
624 | 624 | ||
625 | tmp = EE_Parameter.CareFreeModeControl; |
625 | tmp = EE_Parameter.CareFreeModeControl; |
626 | if(tmp > 50) |
626 | if(tmp > 50) |
627 | { |
627 | { |
628 | CareFree = 1; |
628 | CareFree = 1; |
629 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
629 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
630 | if(carefree_old != CareFree) |
630 | if(carefree_old != CareFree) |
631 | { |
631 | { |
632 | if(carefree_old < 3) |
632 | if(carefree_old < 3) |
633 | { |
633 | { |
634 | if(CareFree) beeptime = 1500; |
634 | if(CareFree) beeptime = 1500; |
635 | else beeptime = 200; |
635 | else beeptime = 200; |
636 | carefree_old = CareFree; |
636 | carefree_old = CareFree; |
637 | } else carefree_old--; |
637 | } else carefree_old--; |
638 | } |
638 | } |
639 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
639 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
640 | } |
640 | } |
641 | else |
641 | else |
642 | { |
642 | { |
643 | CareFree = 0; |
643 | CareFree = 0; |
644 | carefree_old = 10; |
644 | carefree_old = 10; |
645 | } |
645 | } |
646 | 646 | ||
647 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
647 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
648 | { |
648 | { |
649 | beeptime = 15000; |
649 | beeptime = 15000; |
650 | BeepMuster = 0xA400; |
650 | BeepMuster = 0xA400; |
651 | CareFree = 0; |
651 | CareFree = 0; |
652 | } |
652 | } |
653 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
653 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
654 | // Limit the maximum Altitude |
654 | // Limit the maximum Altitude |
655 | if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
655 | if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
656 | } |
656 | } |
657 | 657 | ||
658 | //############################################################################ |
658 | //############################################################################ |
659 | // |
659 | // |
660 | void MotorRegler(void) |
660 | void MotorRegler(void) |
661 | //############################################################################ |
661 | //############################################################################ |
662 | { |
662 | { |
663 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
663 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
664 | int GierMischanteil,GasMischanteil; |
664 | int GierMischanteil,GasMischanteil; |
665 | static long sollGier = 0,tmp_long,tmp_long2; |
665 | static long sollGier = 0,tmp_long,tmp_long2; |
666 | static long IntegralFehlerNick = 0; |
666 | static long IntegralFehlerNick = 0; |
667 | static long IntegralFehlerRoll = 0; |
667 | static long IntegralFehlerRoll = 0; |
668 | static unsigned int RcLostTimer; |
668 | static unsigned int RcLostTimer; |
669 | static unsigned char delay_neutral = 0; |
669 | static unsigned char delay_neutral = 0; |
670 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
670 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
671 | static unsigned char calibration_done = 0; |
671 | static unsigned char calibration_done = 0; |
672 | static char NeueKompassRichtungMerken = 0; |
672 | static char NeueKompassRichtungMerken = 0; |
673 | static long ausgleichNick, ausgleichRoll; |
673 | static long ausgleichNick, ausgleichRoll; |
674 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
674 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
675 | unsigned char i; |
675 | unsigned char i; |
676 | Mittelwert(); |
676 | Mittelwert(); |
677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
678 | // Gaswert ermitteln |
678 | // Gaswert ermitteln |
679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
679 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
680 | GasMischanteil = StickGas; |
680 | GasMischanteil = StickGas; |
681 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
681 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
682 | 682 | ||
683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
684 | // Empfang schlecht |
684 | // Empfang schlecht |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
686 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
687 | { |
687 | { |
688 | if(RcLostTimer) RcLostTimer--; |
688 | if(RcLostTimer) RcLostTimer--; |
689 | else |
689 | else |
690 | { |
690 | { |
691 | MotorenEin = 0; |
691 | MotorenEin = 0; |
692 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
692 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
693 | } |
693 | } |
694 | ROT_ON; |
694 | ROT_ON; |
695 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
695 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
696 | { |
696 | { |
697 | GasMischanteil = EE_Parameter.NotGas; |
697 | GasMischanteil = EE_Parameter.NotGas; |
698 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
698 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
699 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
699 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
700 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
700 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
701 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
701 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
702 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
702 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
703 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
703 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
704 | } |
704 | } |
705 | else MotorenEin = 0; |
705 | else MotorenEin = 0; |
706 | } |
706 | } |
707 | else |
707 | else |
708 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
708 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
709 | // Emfang gut |
709 | // Emfang gut |
710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | if(SenderOkay > 140) |
711 | if(SenderOkay > 140) |
712 | { |
712 | { |
713 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
713 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
714 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
714 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
715 | if(GasMischanteil > 40 && MotorenEin) |
715 | if(GasMischanteil > 40 && MotorenEin) |
716 | { |
716 | { |
717 | if(modell_fliegt < 0xffff) modell_fliegt++; |
717 | if(modell_fliegt < 0xffff) modell_fliegt++; |
718 | } |
718 | } |
719 | if((modell_fliegt < 256)) |
719 | if((modell_fliegt < 256)) |
720 | { |
720 | { |
721 | SummeNick = 0; |
721 | SummeNick = 0; |
722 | SummeRoll = 0; |
722 | SummeRoll = 0; |
723 | sollGier = 0; |
723 | sollGier = 0; |
724 | Mess_Integral_Gier = 0; |
724 | Mess_Integral_Gier = 0; |
725 | } else FC_StatusFlags |= FC_STATUS_FLY; |
725 | } else FC_StatusFlags |= FC_STATUS_FLY; |
726 | 726 | ||
727 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
727 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
728 | { |
728 | { |
729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
729 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
730 | // auf Nullwerte kalibrieren |
730 | // auf Nullwerte kalibrieren |
731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
731 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
733 | { |
733 | { |
734 | if(++delay_neutral > 200) // nicht sofort |
734 | if(++delay_neutral > 200) // nicht sofort |
735 | { |
735 | { |
736 | GRN_OFF; |
736 | GRN_OFF; |
737 | MotorenEin = 0; |
737 | MotorenEin = 0; |
738 | delay_neutral = 0; |
738 | delay_neutral = 0; |
739 | modell_fliegt = 0; |
739 | modell_fliegt = 0; |
740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
741 | { |
741 | { |
742 | unsigned char setting=1; |
742 | unsigned char setting=1; |
743 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
743 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
744 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
744 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
745 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
745 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
746 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
746 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
747 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
747 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
748 | SetActiveParamSet(setting); // aktiven Datensatz merken |
748 | SetActiveParamSet(setting); // aktiven Datensatz merken |
749 | } |
749 | } |
750 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
750 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
751 | { |
751 | { |
752 | WinkelOut.CalcState = 1; |
752 | WinkelOut.CalcState = 1; |
753 | beeptime = 1000; |
753 | beeptime = 1000; |
754 | } |
754 | } |
755 | else |
755 | else |
756 | { |
756 | { |
757 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
757 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
758 | LipoDetection(0); |
758 | LipoDetection(0); |
759 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
759 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
760 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
760 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
761 | { |
761 | { |
762 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
762 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
763 | } |
763 | } |
764 | ServoActive = 0; |
764 | ServoActive = 0; |
765 | SetNeutral(0); |
765 | SetNeutral(0); |
766 | calibration_done = 1; |
766 | calibration_done = 1; |
767 | ServoActive = 1; |
767 | ServoActive = 1; |
768 | DDRD |=0x80; // enable J7 -> Servo signal |
768 | DDRD |=0x80; // enable J7 -> Servo signal |
769 | Piep(GetActiveParamSet(),120); |
769 | Piep(GetActiveParamSet(),120); |
770 | } |
770 | } |
771 | } |
771 | } |
772 | } |
772 | } |
773 | else |
773 | else |
774 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
774 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
775 | { |
775 | { |
776 | if(++delay_neutral > 200) // nicht sofort |
776 | if(++delay_neutral > 200) // nicht sofort |
777 | { |
777 | { |
778 | GRN_OFF; |
778 | GRN_OFF; |
779 | MotorenEin = 0; |
779 | MotorenEin = 0; |
780 | delay_neutral = 0; |
780 | delay_neutral = 0; |
781 | modell_fliegt = 0; |
781 | modell_fliegt = 0; |
782 | SetNeutral(1); |
782 | SetNeutral(1); |
783 | calibration_done = 1; |
783 | calibration_done = 1; |
784 | Piep(GetActiveParamSet(),120); |
784 | Piep(GetActiveParamSet(),120); |
785 | } |
785 | } |
786 | } |
786 | } |
787 | else delay_neutral = 0; |
787 | else delay_neutral = 0; |
788 | } |
788 | } |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
789 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | // Gas ist unten |
790 | // Gas ist unten |
791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
791 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | 792 | ||
793 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
793 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
794 | { |
794 | { |
795 | // Motoren Starten |
795 | // Motoren Starten |
796 | if(!MotorenEin) |
796 | if(!MotorenEin) |
797 | { |
797 | { |
798 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
798 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
799 | { |
799 | { |
800 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
800 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
801 | // Einschalten |
801 | // Einschalten |
802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
803 | if(++delay_einschalten > 200) |
803 | if(++delay_einschalten > 200) |
804 | { |
804 | { |
805 | delay_einschalten = 0; |
805 | delay_einschalten = 0; |
806 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
806 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
807 | { |
807 | { |
808 | modell_fliegt = 1; |
808 | modell_fliegt = 1; |
809 | MotorenEin = 1; |
809 | MotorenEin = 1; |
810 | sollGier = 0; |
810 | sollGier = 0; |
811 | Mess_Integral_Gier = 0; |
811 | Mess_Integral_Gier = 0; |
812 | Mess_Integral_Gier2 = 0; |
812 | Mess_Integral_Gier2 = 0; |
813 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
813 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
814 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
814 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
815 | Mess_IntegralNick2 = IntegralNick; |
815 | Mess_IntegralNick2 = IntegralNick; |
816 | Mess_IntegralRoll2 = IntegralRoll; |
816 | Mess_IntegralRoll2 = IntegralRoll; |
817 | SummeNick = 0; |
817 | SummeNick = 0; |
818 | SummeRoll = 0; |
818 | SummeRoll = 0; |
819 | FC_StatusFlags |= FC_STATUS_START; |
819 | FC_StatusFlags |= FC_STATUS_START; |
820 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
820 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
821 | NeueKompassRichtungMerken = 100; // 2 sekunden |
821 | NeueKompassRichtungMerken = 100; // 2 sekunden |
822 | } |
822 | } |
823 | else |
823 | else |
824 | { |
824 | { |
825 | beeptime = 1500; // indicate missing calibration |
825 | beeptime = 1500; // indicate missing calibration |
826 | } |
826 | } |
827 | } |
827 | } |
828 | } |
828 | } |
829 | else delay_einschalten = 0; |
829 | else delay_einschalten = 0; |
830 | } |
830 | } |
831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
831 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
832 | // Auschalten |
832 | // Auschalten |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
833 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
834 | else // only if motors are running |
834 | else // only if motors are running |
835 | { |
835 | { |
836 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
836 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
837 | { |
837 | { |
838 | if(++delay_ausschalten > 200) // nicht sofort |
838 | if(++delay_ausschalten > 200) // nicht sofort |
839 | { |
839 | { |
840 | MotorenEin = 0; |
840 | MotorenEin = 0; |
841 | delay_ausschalten = 0; |
841 | delay_ausschalten = 0; |
842 | modell_fliegt = 0; |
842 | modell_fliegt = 0; |
843 | } |
843 | } |
844 | } |
844 | } |
845 | else delay_ausschalten = 0; |
845 | else delay_ausschalten = 0; |
846 | } |
846 | } |
847 | } |
847 | } |
848 | } |
848 | } |
849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
849 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
850 | // neue Werte von der Funke |
850 | // neue Werte von der Funke |
851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
852 | 852 | ||
853 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
853 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
854 | { |
854 | { |
855 | static int stick_nick,stick_roll; |
855 | static int stick_nick,stick_roll; |
856 | unsigned char stick_p; |
856 | unsigned char stick_p; |
857 | ParameterZuordnung(); |
857 | ParameterZuordnung(); |
858 | stick_p = EE_Parameter.Stick_P; |
858 | stick_p = EE_Parameter.Stick_P; |
859 | 859 | ||
860 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
860 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
861 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
861 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
862 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
862 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
863 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
863 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
864 | 864 | ||
865 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
865 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
866 | // CareFree und freie Wahl der vorderen Richtung |
866 | // CareFree und freie Wahl der vorderen Richtung |
867 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
867 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
868 | if(CareFree) |
868 | if(CareFree) |
869 | { |
869 | { |
870 | signed int nick, roll; |
870 | signed int nick, roll; |
871 | nick = stick_nick / 4; |
871 | nick = stick_nick / 4; |
872 | roll = stick_roll / 4; |
872 | roll = stick_roll / 4; |
873 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
873 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
874 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
874 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
875 | } |
875 | } |
876 | else |
876 | else |
877 | { |
877 | { |
878 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
878 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
879 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
879 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
880 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
880 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
881 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
881 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
882 | } |
882 | } |
883 | 883 | ||
884 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
884 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
885 | if(StickGier > 4) StickGier -= 4; else |
885 | if(StickGier > 4) StickGier -= 4; else |
886 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
886 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
887 | 887 | ||
888 | if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
888 | if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
889 | 889 | ||
890 | StickNick -= GPS_Nick; |
890 | StickNick -= GPS_Nick; |
891 | StickRoll -= GPS_Roll; |
891 | StickRoll -= GPS_Roll; |
892 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
892 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
893 | 893 | ||
894 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
894 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
895 | IntegralFaktor = Parameter_Gyro_I; |
895 | IntegralFaktor = Parameter_Gyro_I; |
896 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
896 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
897 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
897 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
898 | 898 | ||
899 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
899 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
900 | //+ Analoge Steuerung per Seriell |
900 | //+ Analoge Steuerung per Seriell |
901 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
901 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
902 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
902 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
903 | { |
903 | { |
904 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
904 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
905 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
905 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
906 | StickGier += ExternControl.Gier; |
906 | StickGier += ExternControl.Gier; |
907 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
907 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
908 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
908 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
909 | } |
909 | } |
910 | if(StickGas < 0) StickGas = 0; |
910 | if(StickGas < 0) StickGas = 0; |
911 | 911 | ||
912 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
912 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
913 | 913 | ||
914 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
914 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
915 | { |
915 | { |
916 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
916 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
917 | if(MaxStickNick > 100) MaxStickNick = 100; |
917 | if(MaxStickNick > 100) MaxStickNick = 100; |
918 | } |
918 | } |
919 | else MaxStickNick--; |
919 | else MaxStickNick--; |
920 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
920 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
921 | { |
921 | { |
922 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
922 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
923 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
923 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
924 | } |
924 | } |
925 | else MaxStickRoll--; |
925 | else MaxStickRoll--; |
926 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
926 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
927 | 927 | ||
928 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
928 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
929 | // Looping? |
929 | // Looping? |
930 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
930 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
931 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
931 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
932 | else |
932 | else |
933 | { |
933 | { |
934 | { |
934 | { |
935 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
935 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
936 | } |
936 | } |
937 | } |
937 | } |
938 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
938 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
939 | else |
939 | else |
940 | { |
940 | { |
941 | if(Looping_Rechts) // Hysterese |
941 | if(Looping_Rechts) // Hysterese |
942 | { |
942 | { |
943 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
943 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
944 | } |
944 | } |
945 | } |
945 | } |
946 | 946 | ||
947 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
947 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
948 | else |
948 | else |
949 | { |
949 | { |
950 | if(Looping_Oben) // Hysterese |
950 | if(Looping_Oben) // Hysterese |
951 | { |
951 | { |
952 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
952 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
953 | } |
953 | } |
954 | } |
954 | } |
955 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
955 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
956 | else |
956 | else |
957 | { |
957 | { |
958 | if(Looping_Unten) // Hysterese |
958 | if(Looping_Unten) // Hysterese |
959 | { |
959 | { |
960 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
960 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
961 | } |
961 | } |
962 | } |
962 | } |
963 | 963 | ||
964 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
964 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
965 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
965 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
966 | } // Ende neue Funken-Werte |
966 | } // Ende neue Funken-Werte |
967 | 967 | ||
968 | if(Looping_Roll || Looping_Nick) |
968 | if(Looping_Roll || Looping_Nick) |
969 | { |
969 | { |
970 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
970 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
971 | TrichterFlug = 1; |
971 | TrichterFlug = 1; |
972 | } |
972 | } |
973 | 973 | ||
974 | 974 | ||
975 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
975 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
976 | // Bei Empfangsausfall im Flug |
976 | // Bei Empfangsausfall im Flug |
977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
978 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
978 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
979 | { |
979 | { |
980 | StickNick = -GPS_Nick; |
980 | StickNick = -GPS_Nick; |
981 | StickRoll = -GPS_Roll; |
981 | StickRoll = -GPS_Roll; |
982 | StickGas = StickGasHover; |
982 | StickGas = StickGasHover; |
983 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
983 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
984 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
984 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
985 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
985 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
986 | Parameter_HoehenSchalter = 200; // switch on |
986 | Parameter_HoehenSchalter = 200; // switch on |
987 | } |
987 | } |
988 | else |
988 | else |
989 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
989 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
990 | { |
990 | { |
991 | StickGier = 0; |
991 | StickGier = 0; |
992 | StickNick = 0; |
992 | StickNick = 0; |
993 | StickRoll = 0; |
993 | StickRoll = 0; |
994 | GyroFaktor = 90; |
994 | GyroFaktor = 90; |
995 | IntegralFaktor = 120; |
995 | IntegralFaktor = 120; |
996 | GyroFaktorGier = 90; |
996 | GyroFaktorGier = 90; |
997 | IntegralFaktorGier = 120; |
997 | IntegralFaktorGier = 120; |
998 | Looping_Roll = 0; |
998 | Looping_Roll = 0; |
999 | Looping_Nick = 0; |
999 | Looping_Nick = 0; |
1000 | } |
1000 | } |
1001 | 1001 | ||
1002 | 1002 | ||
1003 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1003 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1004 | // Integrale auf ACC-Signal abgleichen |
1004 | // Integrale auf ACC-Signal abgleichen |
1005 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1005 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1006 | #define ABGLEICH_ANZAHL 256L |
1006 | #define ABGLEICH_ANZAHL 256L |
1007 | 1007 | ||
1008 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1008 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1009 | MittelIntegralRoll += IntegralRoll; |
1009 | MittelIntegralRoll += IntegralRoll; |
1010 | MittelIntegralNick2 += IntegralNick2; |
1010 | MittelIntegralNick2 += IntegralNick2; |
1011 | MittelIntegralRoll2 += IntegralRoll2; |
1011 | MittelIntegralRoll2 += IntegralRoll2; |
1012 | 1012 | ||
1013 | if(Looping_Nick || Looping_Roll) |
1013 | if(Looping_Nick || Looping_Roll) |
1014 | { |
1014 | { |
1015 | IntegralAccNick = 0; |
1015 | IntegralAccNick = 0; |
1016 | IntegralAccRoll = 0; |
1016 | IntegralAccRoll = 0; |
1017 | MittelIntegralNick = 0; |
1017 | MittelIntegralNick = 0; |
1018 | MittelIntegralRoll = 0; |
1018 | MittelIntegralRoll = 0; |
1019 | MittelIntegralNick2 = 0; |
1019 | MittelIntegralNick2 = 0; |
1020 | MittelIntegralRoll2 = 0; |
1020 | MittelIntegralRoll2 = 0; |
1021 | Mess_IntegralNick2 = Mess_IntegralNick; |
1021 | Mess_IntegralNick2 = Mess_IntegralNick; |
1022 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1022 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1023 | ZaehlMessungen = 0; |
1023 | ZaehlMessungen = 0; |
1024 | LageKorrekturNick = 0; |
1024 | LageKorrekturNick = 0; |
1025 | LageKorrekturRoll = 0; |
1025 | LageKorrekturRoll = 0; |
1026 | } |
1026 | } |
1027 | 1027 | ||
1028 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1028 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1029 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1029 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1030 | { |
1030 | { |
1031 | long tmp_long, tmp_long2; |
1031 | long tmp_long, tmp_long2; |
1032 | 1032 | ||
1033 | //if(Poti3 < 120) FromNaviCtrl_Value.Kalman_K = Poti3/2; |
1033 | //if(Poti3 < 120) FromNaviCtrl_Value.Kalman_K = Poti3/2; |
1034 | //DebugOut.Analog[25] = FromNaviCtrl_Value.Kalman_K; |
1034 | //DebugOut.Analog[25] = FromNaviCtrl_Value.Kalman_K; |
1035 | //DebugOut.Analog[26] = FromNaviCtrl_Value.Kalman_MaxFusion; |
1035 | //DebugOut.Analog[26] = FromNaviCtrl_Value.Kalman_MaxFusion; |
1036 | //DebugOut.Analog[16] = (Mittelwert_AccNick-FromNaviCtrl.AccErrorN) / 4; |
1036 | //DebugOut.Analog[16] = (Mittelwert_AccNick-FromNaviCtrl.AccErrorN) / 4; |
1037 | //DebugOut.Analog[18] = (Mittelwert_AccRoll-FromNaviCtrl.AccErrorR) / 4; |
1037 | //DebugOut.Analog[18] = (Mittelwert_AccRoll-FromNaviCtrl.AccErrorR) / 4; |
1038 | //DebugOut.Analog[19] = -FromNaviCtrl.AccErrorR / 4; |
1038 | //DebugOut.Analog[19] = -FromNaviCtrl.AccErrorR / 4; |
1039 | 1039 | ||
1040 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1040 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1041 | { |
1041 | { |
1042 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1042 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1043 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1043 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1044 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1044 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1045 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1045 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1046 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
- | |
1047 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1046 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1048 | { |
1047 | { |
1049 | tmp_long /= 2; |
1048 | tmp_long /= 2; |
1050 | tmp_long2 /= 2; |
1049 | tmp_long2 /= 2; |
1051 | } |
1050 | } |
1052 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1051 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1053 | { |
1052 | { |
1054 | tmp_long /= 3; |
1053 | tmp_long /= 3; |
1055 | tmp_long2 /= 3; |
1054 | tmp_long2 /= 3; |
1056 | } |
1055 | } |
1057 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1056 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1058 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1057 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1059 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1058 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1060 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1059 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1061 | } |
1060 | } |
1062 | else |
1061 | else |
1063 | { |
1062 | { |
1064 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1063 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1065 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1064 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1066 | tmp_long /= 16; |
1065 | tmp_long /= 16; |
1067 | tmp_long2 /= 16; |
1066 | tmp_long2 /= 16; |
1068 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1067 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1069 | { |
1068 | { |
1070 | tmp_long /= 3; |
1069 | tmp_long /= 3; |
1071 | tmp_long2 /= 3; |
1070 | tmp_long2 /= 3; |
1072 | } |
1071 | } |
1073 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1072 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1074 | { |
1073 | { |
1075 | tmp_long /= 3; |
1074 | tmp_long /= 3; |
1076 | tmp_long2 /= 3; |
1075 | tmp_long2 /= 3; |
1077 | } |
1076 | } |
1078 | KompassFusion = 25; |
1077 | KompassFusion = 25; |
1079 | #define AUSGLEICH 32 |
1078 | #define AUSGLEICH 32 |
1080 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1079 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1081 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1080 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1082 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1081 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1083 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1082 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1084 | } |
1083 | } |
1085 | 1084 | ||
1086 | Mess_IntegralNick -= tmp_long; |
1085 | Mess_IntegralNick -= tmp_long; |
1087 | Mess_IntegralRoll -= tmp_long2; |
1086 | Mess_IntegralRoll -= tmp_long2; |
1088 | } |
1087 | } |
1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1088 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1090 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1089 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1091 | { |
1090 | { |
1092 | static int cnt = 0; |
1091 | static int cnt = 0; |
1093 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1092 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1094 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1093 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1095 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1094 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1096 | { |
1095 | { |
1097 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1096 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1098 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1097 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1099 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1098 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1100 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1099 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1101 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1100 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1102 | #define MAX_I 0 |
1101 | #define MAX_I 0 |
1103 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1102 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1104 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1103 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1105 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1104 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1106 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1105 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1107 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1106 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1108 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1107 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1109 | 1108 | ||
1110 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1109 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1111 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1110 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1112 | 1111 | ||
1113 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1112 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1114 | { |
1113 | { |
1115 | LageKorrekturNick /= 2; |
1114 | LageKorrekturNick /= 2; |
1116 | LageKorrekturRoll /= 2; |
1115 | LageKorrekturRoll /= 2; |
1117 | } |
1116 | } |
1118 | 1117 | ||
1119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1118 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1120 | // Gyro-Drift ermitteln |
1119 | // Gyro-Drift ermitteln |
1121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1120 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1122 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1121 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1123 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1122 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1124 | tmp_long = IntegralNick2 - IntegralNick; |
1123 | tmp_long = IntegralNick2 - IntegralNick; |
1125 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1124 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1126 | 1125 | ||
1127 | IntegralFehlerNick = tmp_long; |
1126 | IntegralFehlerNick = tmp_long; |
1128 | IntegralFehlerRoll = tmp_long2; |
1127 | IntegralFehlerRoll = tmp_long2; |
1129 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1128 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1130 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1129 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1131 | 1130 | ||
1132 | if(EE_Parameter.Driftkomp) |
1131 | if(EE_Parameter.Driftkomp) |
1133 | { |
1132 | { |
1134 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1133 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1135 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1134 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1136 | } |
1135 | } |
1137 | GierGyroFehler = 0; |
1136 | GierGyroFehler = 0; |
1138 | 1137 | ||
1139 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1138 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1140 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1139 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1141 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1140 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1142 | #define BEWEGUNGS_LIMIT 20000 |
1141 | #define BEWEGUNGS_LIMIT 20000 |
1143 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1142 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1144 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1143 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1145 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1144 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1146 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1145 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1147 | { |
1146 | { |
1148 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1147 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1149 | { |
1148 | { |
1150 | if(last_n_p) |
1149 | if(last_n_p) |
1151 | { |
1150 | { |
1152 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1151 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1153 | ausgleichNick = IntegralFehlerNick / 8; |
1152 | ausgleichNick = IntegralFehlerNick / 8; |
1154 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1153 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1155 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1154 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1156 | } |
1155 | } |
1157 | else last_n_p = 1; |
1156 | else last_n_p = 1; |
1158 | } else last_n_p = 0; |
1157 | } else last_n_p = 0; |
1159 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1158 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1160 | { |
1159 | { |
1161 | if(last_n_n) |
1160 | if(last_n_n) |
1162 | { |
1161 | { |
1163 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1162 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1164 | ausgleichNick = IntegralFehlerNick / 8; |
1163 | ausgleichNick = IntegralFehlerNick / 8; |
1165 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1164 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1166 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1165 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1167 | } |
1166 | } |
1168 | else last_n_n = 1; |
1167 | else last_n_n = 1; |
1169 | } else last_n_n = 0; |
1168 | } else last_n_n = 0; |
1170 | } |
1169 | } |
1171 | else |
1170 | else |
1172 | { |
1171 | { |
1173 | cnt = 0; |
1172 | cnt = 0; |
1174 | KompassSignalSchlecht = 100; |
1173 | KompassSignalSchlecht = 100; |
1175 | } |
1174 | } |
1176 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1175 | 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; |
1176 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1178 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1177 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1179 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1178 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1180 | 1179 | ||
1181 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1180 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1182 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1181 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1183 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1182 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1184 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1183 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1185 | { |
1184 | { |
1186 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1185 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1187 | { |
1186 | { |
1188 | if(last_r_p) |
1187 | if(last_r_p) |
1189 | { |
1188 | { |
1190 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1189 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1191 | ausgleichRoll = IntegralFehlerRoll / 8; |
1190 | ausgleichRoll = IntegralFehlerRoll / 8; |
1192 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1191 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1193 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1192 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1194 | } |
1193 | } |
1195 | else last_r_p = 1; |
1194 | else last_r_p = 1; |
1196 | } else last_r_p = 0; |
1195 | } else last_r_p = 0; |
1197 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1196 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1198 | { |
1197 | { |
1199 | if(last_r_n) |
1198 | if(last_r_n) |
1200 | { |
1199 | { |
1201 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1200 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1202 | ausgleichRoll = IntegralFehlerRoll / 8; |
1201 | ausgleichRoll = IntegralFehlerRoll / 8; |
1203 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1202 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1204 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1203 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1205 | } |
1204 | } |
1206 | else last_r_n = 1; |
1205 | else last_r_n = 1; |
1207 | } else last_r_n = 0; |
1206 | } else last_r_n = 0; |
1208 | } else |
1207 | } else |
1209 | { |
1208 | { |
1210 | cnt = 0; |
1209 | cnt = 0; |
1211 | KompassSignalSchlecht = 100; |
1210 | KompassSignalSchlecht = 100; |
1212 | } |
1211 | } |
1213 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1212 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1214 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1213 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1215 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1214 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1216 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1215 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1217 | } |
1216 | } |
1218 | else |
1217 | else |
1219 | { |
1218 | { |
1220 | LageKorrekturRoll = 0; |
1219 | LageKorrekturRoll = 0; |
1221 | LageKorrekturNick = 0; |
1220 | LageKorrekturNick = 0; |
1222 | TrichterFlug = 0; |
1221 | TrichterFlug = 0; |
1223 | } |
1222 | } |
1224 | 1223 | ||
1225 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1224 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1226 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1225 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1227 | MittelIntegralNick_Alt = MittelIntegralNick; |
1226 | MittelIntegralNick_Alt = MittelIntegralNick; |
1228 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1227 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1229 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1228 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1230 | IntegralAccNick = 0; |
1229 | IntegralAccNick = 0; |
1231 | IntegralAccRoll = 0; |
1230 | IntegralAccRoll = 0; |
1232 | IntegralAccZ = 0; |
1231 | IntegralAccZ = 0; |
1233 | MittelIntegralNick = 0; |
1232 | MittelIntegralNick = 0; |
1234 | MittelIntegralRoll = 0; |
1233 | MittelIntegralRoll = 0; |
1235 | MittelIntegralNick2 = 0; |
1234 | MittelIntegralNick2 = 0; |
1236 | MittelIntegralRoll2 = 0; |
1235 | MittelIntegralRoll2 = 0; |
1237 | ZaehlMessungen = 0; |
1236 | ZaehlMessungen = 0; |
1238 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1237 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1239 | 1238 | ||
1240 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1239 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | // Gieren |
1240 | // Gieren |
1242 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1243 | if(abs(StickGier) > 3) // war 15 |
1242 | if(abs(StickGier) > 3) // war 15 |
1244 | { |
1243 | { |
1245 | // KompassSignalSchlecht = 1000; |
1244 | // KompassSignalSchlecht = 1000; |
1246 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1245 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1247 | { |
1246 | { |
1248 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1247 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1249 | }; |
1248 | }; |
1250 | } |
1249 | } |
1251 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1250 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1252 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1251 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1253 | tmp_int += CompassGierSetpoint; |
1252 | tmp_int += CompassGierSetpoint; |
1254 | sollGier = tmp_int; |
1253 | sollGier = tmp_int; |
1255 | Mess_Integral_Gier -= tmp_int; |
1254 | Mess_Integral_Gier -= tmp_int; |
1256 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1255 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1257 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1256 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1258 | 1257 | ||
1259 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1258 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1260 | // Kompass |
1259 | // Kompass |
1261 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1260 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1262 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1261 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1263 | { |
1262 | { |
1264 | if(CalculateCompassTimer-- == 1) |
1263 | if(CalculateCompassTimer-- == 1) |
1265 | { |
1264 | { |
1266 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1265 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1267 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1266 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1268 | // max. Korrekturwert schätzen |
1267 | // max. Korrekturwert schätzen |
1269 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1268 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1270 | v = abs(IntegralRoll /512); |
1269 | v = abs(IntegralRoll /512); |
1271 | if(v > w) w = v; // grösste Neigung ermitteln |
1270 | if(v > w) w = v; // grösste Neigung ermitteln |
1272 | korrektur = w / 4 + 1; |
1271 | korrektur = w / 4 + 1; |
1273 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1272 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1274 | // Kompassfehlerwert bestimmen |
1273 | // Kompassfehlerwert bestimmen |
1275 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1274 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1276 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1275 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1277 | 1276 | ||
1278 | // Kompasswert einloggen |
1277 | // Kompasswert einloggen |
1279 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1278 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1280 | else |
1279 | else |
1281 | if(w < 25) |
1280 | if(w < 25) |
1282 | { |
1281 | { |
1283 | GierGyroFehler += fehler; |
1282 | GierGyroFehler += fehler; |
1284 | if(NeueKompassRichtungMerken) |
1283 | if(NeueKompassRichtungMerken) |
1285 | { |
1284 | { |
1286 | if(--NeueKompassRichtungMerken == 0) |
1285 | if(--NeueKompassRichtungMerken == 0) |
1287 | { |
1286 | { |
1288 | //--> ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
- | |
1289 | KompassSollWert = ErsatzKompassInGrad; |
1287 | KompassSollWert = ErsatzKompassInGrad; |
1290 | } |
1288 | } |
1291 | } |
1289 | } |
1292 | } |
1290 | } |
1293 | // Kompass fusionieren |
1291 | // Kompass fusionieren |
1294 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1292 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1295 | - | ||
- | 1293 | DebugOut.Analog[16] = KompassFusion; |
|
1296 | // MK Gieren |
1294 | // MK Gieren |
1297 | if(!NeueKompassRichtungMerken) |
1295 | if(!NeueKompassRichtungMerken) |
1298 | { |
1296 | { |
1299 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1297 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1300 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1298 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1301 | CompassGierSetpoint = v / 16; |
1299 | CompassGierSetpoint = v / 16; |
1302 | } |
1300 | } |
1303 | else CompassGierSetpoint = 0; |
1301 | else CompassGierSetpoint = 0; |
1304 | } // CalculateCompassTimer |
1302 | } // CalculateCompassTimer |
1305 | } |
1303 | } |
1306 | else CompassGierSetpoint = 0; |
1304 | else CompassGierSetpoint = 0; |
1307 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1305 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1308 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1306 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1309 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1307 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1310 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1308 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1311 | 1309 | ||
1312 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1310 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1313 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1311 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1314 | 1312 | ||
1315 | #define TRIM_MAX 200 |
1313 | #define TRIM_MAX 200 |
1316 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1314 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1317 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1315 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1318 | 1316 | ||
1319 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1317 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1320 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1318 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1321 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1319 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1322 | 1320 | ||
1323 | // Maximalwerte abfangen |
1321 | // Maximalwerte abfangen |
1324 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1322 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1325 | #define MAX_SENSOR (4096) |
1323 | #define MAX_SENSOR (4096) |
1326 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1324 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1327 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1325 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1328 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1326 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1329 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1327 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1330 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1328 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1331 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1329 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1332 | 1330 | ||
1333 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1331 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1334 | // Höhenregelung |
1332 | // Höhenregelung |
1335 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1333 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1336 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1334 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1337 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1335 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1338 | GasMischanteil *= STICK_GAIN; |
1336 | GasMischanteil *= STICK_GAIN; |
1339 | // if height control is activated |
1337 | // if height control is activated |
1340 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1338 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1341 | { |
1339 | { |
1342 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1340 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1343 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1341 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1344 | 1342 | ||
1345 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1343 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1346 | #define OPA_OFFSET_STEP 15 |
1344 | #define OPA_OFFSET_STEP 15 |
1347 | #else |
1345 | #else |
1348 | #define OPA_OFFSET_STEP 10 |
1346 | #define OPA_OFFSET_STEP 10 |
1349 | #endif |
1347 | #endif |
1350 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1348 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1351 | static int HeightTrimming = 0; // rate for change of height setpoint |
1349 | static int HeightTrimming = 0; // rate for change of height setpoint |
1352 | static int FilterHCGas = 0; |
1350 | static int FilterHCGas = 0; |
1353 | static unsigned long HoverGasFilter = 0; |
1351 | static unsigned long HoverGasFilter = 0; |
1354 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1352 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1355 | int CosAttitude; // for projection of hoover gas |
1353 | int CosAttitude; // for projection of hoover gas |
1356 | 1354 | ||
1357 | // get the current hooverpoint |
1355 | // get the current hooverpoint |
1358 | DebugOut.Analog[21] = HoverGas; |
1356 | DebugOut.Analog[21] = HoverGas; |
1359 | 1357 | ||
1360 | // Expand the measurement |
1358 | // Expand the measurement |
1361 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1359 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1362 | if(!BaroExpandActive) |
1360 | if(!BaroExpandActive) |
1363 | { |
1361 | { |
1364 | if(MessLuftdruck > 920) |
1362 | if(MessLuftdruck > 920) |
1365 | { // increase offset |
1363 | { // increase offset |
1366 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1364 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1367 | { |
1365 | { |
1368 | ExpandBaro -= 1; |
1366 | ExpandBaro -= 1; |
1369 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1367 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1370 | beeptime = 300; |
1368 | beeptime = 300; |
1371 | BaroExpandActive = 350; |
1369 | BaroExpandActive = 350; |
1372 | } |
1370 | } |
1373 | else |
1371 | else |
1374 | { |
1372 | { |
1375 | BaroAtLowerLimit = 1; |
1373 | BaroAtLowerLimit = 1; |
1376 | } |
1374 | } |
1377 | } |
1375 | } |
1378 | // measurement of air pressure close to lower limit and |
1376 | // measurement of air pressure close to lower limit and |
1379 | else |
1377 | else |
1380 | if(MessLuftdruck < 100) |
1378 | if(MessLuftdruck < 100) |
1381 | { // decrease offset |
1379 | { // decrease offset |
1382 | if(OCR0A > OPA_OFFSET_STEP) |
1380 | if(OCR0A > OPA_OFFSET_STEP) |
1383 | { |
1381 | { |
1384 | ExpandBaro += 1; |
1382 | ExpandBaro += 1; |
1385 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1383 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1386 | beeptime = 300; |
1384 | beeptime = 300; |
1387 | BaroExpandActive = 350; |
1385 | BaroExpandActive = 350; |
1388 | } |
1386 | } |
1389 | else |
1387 | else |
1390 | { |
1388 | { |
1391 | BaroAtUpperLimit = 1; |
1389 | BaroAtUpperLimit = 1; |
1392 | } |
1390 | } |
1393 | } |
1391 | } |
1394 | else |
1392 | else |
1395 | { |
1393 | { |
1396 | BaroAtUpperLimit = 0; |
1394 | BaroAtUpperLimit = 0; |
1397 | BaroAtLowerLimit = 0; |
1395 | BaroAtLowerLimit = 0; |
1398 | } |
1396 | } |
1399 | } |
1397 | } |
1400 | else // delay, because of expanding the Baro-Range |
1398 | else // delay, because of expanding the Baro-Range |
1401 | { |
1399 | { |
1402 | // now clear the D-values |
1400 | // now clear the D-values |
1403 | SummenHoehe = HoehenWert * SM_FILTER; |
1401 | SummenHoehe = HoehenWert * SM_FILTER; |
1404 | VarioMeter = 0; |
1402 | VarioMeter = 0; |
1405 | BaroExpandActive--; |
1403 | BaroExpandActive--; |
1406 | } |
1404 | } |
1407 | 1405 | ||
1408 | // if height control is activated by an rc channel |
1406 | // if height control is activated by an rc channel |
1409 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1407 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1410 | { // check if parameter is less than activation threshold |
1408 | { // check if parameter is less than activation threshold |
1411 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1409 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1412 | { //height control not active |
1410 | { //height control not active |
1413 | if(!delay--) |
1411 | if(!delay--) |
1414 | { |
1412 | { |
1415 | HoehenReglerAktiv = 0; // disable height control |
1413 | HoehenReglerAktiv = 0; // disable height control |
1416 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1414 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1417 | delay = 1; |
1415 | delay = 1; |
1418 | } |
1416 | } |
1419 | } |
1417 | } |
1420 | else |
1418 | else |
1421 | { //height control is activated |
1419 | { //height control is activated |
1422 | HoehenReglerAktiv = 1; // enable height control |
1420 | HoehenReglerAktiv = 1; // enable height control |
1423 | delay = 200; |
1421 | delay = 200; |
1424 | } |
1422 | } |
1425 | } |
1423 | } |
1426 | else // no switchable height control |
1424 | else // no switchable height control |
1427 | { |
1425 | { |
1428 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1426 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1429 | HoehenReglerAktiv = 1; |
1427 | HoehenReglerAktiv = 1; |
1430 | } |
1428 | } |
1431 | 1429 | ||
1432 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1430 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1433 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1431 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1434 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1432 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1435 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1433 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1436 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1434 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1437 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1435 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1438 | VarioCharacter = ' '; |
1436 | VarioCharacter = ' '; |
1439 | AltitudeSetpointTrimming = 0; |
1437 | AltitudeSetpointTrimming = 0; |
1440 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1438 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1441 | { |
1439 | { |
1442 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1440 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1443 | // Holger original version |
1441 | // Holger original version |
1444 | // start of height control algorithm |
1442 | // start of height control algorithm |
1445 | // the height control is only an attenuation of the actual gas stick. |
1443 | // the height control is only an attenuation of the actual gas stick. |
1446 | // I.e. it will work only if the gas stick is higher than the hover gas |
1444 | // I.e. it will work only if the gas stick is higher than the hover gas |
1447 | // and the hover height will be allways larger than height setpoint. |
1445 | // and the hover height will be allways larger than height setpoint. |
1448 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1446 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1449 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1447 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1450 | { // old version |
1448 | { // old version |
1451 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1449 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1452 | HeightTrimming = 0; |
1450 | HeightTrimming = 0; |
1453 | AltitudeSetpointTrimming = 0; |
1451 | AltitudeSetpointTrimming = 0; |
1454 | // set both flags to indicate no vario mode |
1452 | // set both flags to indicate no vario mode |
1455 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1453 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1456 | } |
1454 | } |
1457 | else |
1455 | else |
1458 | { |
1456 | { |
1459 | // alternative height control |
1457 | // alternative height control |
1460 | // PD-Control with respect to hoover point |
1458 | // PD-Control with respect to hoover point |
1461 | // the thrust loss out of horizontal attitude is compensated |
1459 | // the thrust loss out of horizontal attitude is compensated |
1462 | // the setpoint will be fine adjusted with the gas stick position |
1460 | // the setpoint will be fine adjusted with the gas stick position |
1463 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1461 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1464 | { // gas stick is above hoover point |
1462 | { // gas stick is above hoover point |
1465 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1463 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1466 | { |
1464 | { |
1467 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1465 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1468 | { |
1466 | { |
1469 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1467 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1470 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1468 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1471 | } |
1469 | } |
1472 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1470 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1473 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1471 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1474 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1472 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1475 | VarioCharacter = '+'; |
1473 | VarioCharacter = '+'; |
1476 | WaypointTrimming = 0; |
1474 | WaypointTrimming = 0; |
1477 | } // gas stick is below hoover point |
1475 | } // gas stick is below hoover point |
1478 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1476 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1479 | { |
1477 | { |
1480 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1478 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1481 | { |
1479 | { |
1482 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1480 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1483 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1481 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1484 | } |
1482 | } |
1485 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1483 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1486 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1484 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1487 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1485 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1488 | VarioCharacter = '-'; |
1486 | VarioCharacter = '-'; |
1489 | WaypointTrimming = 0; |
1487 | WaypointTrimming = 0; |
1490 | } |
1488 | } |
1491 | else // Gas Stick in Hover Range |
1489 | else // Gas Stick in Hover Range |
1492 | { |
1490 | { |
1493 | VarioCharacter = '='; |
1491 | VarioCharacter = '='; |
1494 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1492 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1495 | { |
1493 | { |
1496 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1494 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1497 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1495 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1498 | //HeightTrimming += FromNC_AltitudeSpeed; |
1496 | //HeightTrimming += FromNC_AltitudeSpeed; |
1499 | WaypointTrimming = 10; |
1497 | WaypointTrimming = 10; |
1500 | VarioCharacter = '^'; |
1498 | VarioCharacter = '^'; |
1501 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1499 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1502 | { |
1500 | { |
1503 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1501 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1504 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1502 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1505 | } |
1503 | } |
1506 | } |
1504 | } |
1507 | else |
1505 | else |
1508 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1506 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1509 | { |
1507 | { |
1510 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1508 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1511 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1509 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1512 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1510 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1513 | WaypointTrimming = -10; |
1511 | WaypointTrimming = -10; |
1514 | VarioCharacter = 'v'; |
1512 | VarioCharacter = 'v'; |
1515 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1513 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1516 | { |
1514 | { |
1517 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1515 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1518 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1516 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1519 | } |
1517 | } |
1520 | } |
1518 | } |
1521 | else |
1519 | else |
1522 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1520 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1523 | { |
1521 | { |
1524 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1522 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
1525 | else WaypointTrimming = 0; |
1523 | else WaypointTrimming = 0; |
1526 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1524 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1527 | HeightTrimming = 0; |
1525 | HeightTrimming = 0; |
1528 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1526 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1529 | if(!StartTrigger && HoehenWert > 50) |
1527 | if(!StartTrigger && HoehenWert > 50) |
1530 | { |
1528 | { |
1531 | StartTrigger = 1; |
1529 | StartTrigger = 1; |
1532 | } |
1530 | } |
1533 | } |
1531 | } |
1534 | } |
1532 | } |
1535 | // Trim height set point |
1533 | // Trim height set point |
1536 | HeightTrimming += AltitudeSetpointTrimming; |
1534 | HeightTrimming += AltitudeSetpointTrimming; |
1537 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1535 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1538 | { |
1536 | { |
1539 | if(WaypointTrimming) |
1537 | if(WaypointTrimming) |
1540 | { |
1538 | { |
1541 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1539 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1542 | else SollHoehe += WaypointTrimming; |
1540 | else SollHoehe += WaypointTrimming; |
1543 | } |
1541 | } |
1544 | else |
1542 | else |
1545 | 1543 | ||
1546 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1544 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1547 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1545 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1548 | HeightTrimming = 0; |
1546 | HeightTrimming = 0; |
1549 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1547 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1550 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1548 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1551 | //update hoover gas stick value when setpoint is shifted |
1549 | //update hoover gas stick value when setpoint is shifted |
1552 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1550 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1553 | { |
1551 | { |
1554 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1552 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1555 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1553 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1556 | if(StickGasHover < 70) StickGasHover = 70; |
1554 | if(StickGasHover < 70) StickGasHover = 70; |
1557 | else if(StickGasHover > 150) StickGasHover = 150; |
1555 | else if(StickGasHover > 150) StickGasHover = 150; |
1558 | } |
1556 | } |
1559 | } |
1557 | } |
1560 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1558 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1561 | } //if FCFlags & MKFCFLAG_FLY |
1559 | } //if FCFlags & MKFCFLAG_FLY |
1562 | else |
1560 | else |
1563 | { |
1561 | { |
1564 | SollHoehe = HoehenWert - 400; |
1562 | SollHoehe = HoehenWert - 400; |
1565 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1563 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1566 | else StickGasHover = 120; |
1564 | else StickGasHover = 120; |
1567 | HoverGas = GasMischanteil; |
1565 | HoverGas = GasMischanteil; |
1568 | } |
1566 | } |
1569 | HCGas = HoverGas; // take hover gas (neutral point) |
1567 | HCGas = HoverGas; // take hover gas (neutral point) |
1570 | } |
1568 | } |
1571 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1569 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1572 | { |
1570 | { |
1573 | // from this point the Heigth Control Algorithm is identical for both versions |
1571 | // from this point the Heigth Control Algorithm is identical for both versions |
1574 | if(BaroExpandActive) // baro range expanding active |
1572 | if(BaroExpandActive) // baro range expanding active |
1575 | { |
1573 | { |
1576 | HCGas = HoverGas; // hover while expanding baro adc range |
1574 | HCGas = HoverGas; // hover while expanding baro adc range |
1577 | HeightDeviation = 0; |
1575 | HeightDeviation = 0; |
1578 | } // EOF // baro range expanding active |
1576 | } // EOF // baro range expanding active |
1579 | else // valid data from air pressure sensor |
1577 | else // valid data from air pressure sensor |
1580 | { |
1578 | { |
1581 | // ------------------------- P-Part ---------------------------- |
1579 | // ------------------------- P-Part ---------------------------- |
1582 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1580 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1583 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1581 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1584 | HeightDeviation = (int)(tmp_long); // positive when too high |
1582 | HeightDeviation = (int)(tmp_long); // positive when too high |
1585 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1583 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1586 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1584 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1587 | GasReduction = tmp_long; |
1585 | GasReduction = tmp_long; |
1588 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1586 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1589 | tmp_int = VarioMeter / 8; |
1587 | tmp_int = VarioMeter / 8; |
1590 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1588 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1591 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1589 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1592 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1590 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1593 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1591 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1594 | else |
1592 | else |
1595 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1593 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1596 | GasReduction += tmp_int; |
1594 | GasReduction += tmp_int; |
1597 | } // EOF no baro range expanding |
1595 | } // EOF no baro range expanding |
1598 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1596 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1599 | if(Parameter_Hoehe_ACC_Wirkung) |
1597 | if(Parameter_Hoehe_ACC_Wirkung) |
1600 | { |
1598 | { |
1601 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1599 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1602 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1600 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1603 | GasReduction += tmp_long; |
1601 | GasReduction += tmp_long; |
1604 | } |
1602 | } |
1605 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1603 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1606 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1604 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1607 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1605 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1608 | GasReduction += tmp_int; |
1606 | GasReduction += tmp_int; |
1609 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1607 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1610 | // ------------------------ ---------------------------------- |
1608 | // ------------------------ ---------------------------------- |
1611 | HCGas -= GasReduction; |
1609 | HCGas -= GasReduction; |
1612 | // limit deviation from hoover point within the target region |
1610 | // limit deviation from hoover point within the target region |
1613 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1611 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1614 | { |
1612 | { |
1615 | unsigned int tmp; |
1613 | unsigned int tmp; |
1616 | tmp = abs(HeightDeviation); |
1614 | tmp = abs(HeightDeviation); |
1617 | if(tmp <= 60) |
1615 | if(tmp <= 60) |
1618 | { |
1616 | { |
1619 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1617 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1620 | } |
1618 | } |
1621 | else |
1619 | else |
1622 | { |
1620 | { |
1623 | tmp = (tmp - 60) / 32; |
1621 | tmp = (tmp - 60) / 32; |
1624 | if(tmp > 15) tmp = 15; |
1622 | if(tmp > 15) tmp = 15; |
1625 | if(HeightDeviation > 0) |
1623 | if(HeightDeviation > 0) |
1626 | { |
1624 | { |
1627 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1625 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1628 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1626 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1629 | } |
1627 | } |
1630 | else |
1628 | else |
1631 | { |
1629 | { |
1632 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1630 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1633 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1631 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1634 | } |
1632 | } |
1635 | } |
1633 | } |
1636 | } |
1634 | } |
1637 | // strech control output by inverse attitude projection 1/cos |
1635 | // strech control output by inverse attitude projection 1/cos |
1638 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1636 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1639 | tmp_long2 = (int32_t)HCGas; |
1637 | tmp_long2 = (int32_t)HCGas; |
1640 | tmp_long2 *= 8192L; |
1638 | tmp_long2 *= 8192L; |
1641 | tmp_long2 /= CosAttitude; |
1639 | tmp_long2 /= CosAttitude; |
1642 | HCGas = (int16_t)tmp_long2; |
1640 | HCGas = (int16_t)tmp_long2; |
1643 | // update height control gas averaging |
1641 | // update height control gas averaging |
1644 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1642 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1645 | // limit height control gas pd-control output |
1643 | // limit height control gas pd-control output |
1646 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1644 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1647 | // set GasMischanteil to HeightControlGasFilter |
1645 | // set GasMischanteil to HeightControlGasFilter |
1648 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1646 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1649 | { // old version |
1647 | { // old version |
1650 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1648 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1651 | GasMischanteil = FilterHCGas; |
1649 | GasMischanteil = FilterHCGas; |
1652 | } |
1650 | } |
1653 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1651 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1654 | } |
1652 | } |
1655 | }// EOF height control active |
1653 | }// EOF height control active |
1656 | else // HC not active |
1654 | else // HC not active |
1657 | { |
1655 | { |
1658 | //update hoover gas stick value when HC is not active |
1656 | //update hoover gas stick value when HC is not active |
1659 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1657 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1660 | { |
1658 | { |
1661 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1659 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1662 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1660 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1663 | } |
1661 | } |
1664 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1662 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1665 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1663 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1666 | FilterHCGas = GasMischanteil; |
1664 | FilterHCGas = GasMischanteil; |
1667 | // set both flags to indicate no vario mode |
1665 | // set both flags to indicate no vario mode |
1668 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1666 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1669 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1667 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1670 | } |
1668 | } |
1671 | // Hover gas estimation by averaging gas control output on small z-velocities |
1669 | // Hover gas estimation by averaging gas control output on small z-velocities |
1672 | // this is done only if height contol option is selected in global config and aircraft is flying |
1670 | // this is done only if height contol option is selected in global config and aircraft is flying |
1673 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1671 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1674 | { |
1672 | { |
1675 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1673 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1676 | if(StartTrigger == 1) StartTrigger = 2; |
1674 | if(StartTrigger == 1) StartTrigger = 2; |
1677 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1675 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1678 | tmp_long2 *= CosAttitude; // apply attitude projection |
1676 | tmp_long2 *= CosAttitude; // apply attitude projection |
1679 | tmp_long2 /= 8192; |
1677 | tmp_long2 /= 8192; |
1680 | // average vertical projected thrust |
1678 | // average vertical projected thrust |
1681 | if(modell_fliegt < 4000) // the first 8 seconds |
1679 | if(modell_fliegt < 4000) // the first 8 seconds |
1682 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1680 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1683 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1681 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1684 | HoverGasFilter += 16L * tmp_long2; |
1682 | HoverGasFilter += 16L * tmp_long2; |
1685 | } |
1683 | } |
1686 | if(modell_fliegt < 8000) // the first 16 seconds |
1684 | if(modell_fliegt < 8000) // the first 16 seconds |
1687 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1685 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1688 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1686 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1689 | HoverGasFilter += 4L * tmp_long2; |
1687 | HoverGasFilter += 4L * tmp_long2; |
1690 | } |
1688 | } |
1691 | else //later |
1689 | else //later |
1692 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1690 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1693 | { |
1691 | { |
1694 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1692 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1695 | HoverGasFilter += tmp_long2; |
1693 | HoverGasFilter += tmp_long2; |
1696 | } |
1694 | } |
1697 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1695 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1698 | if(EE_Parameter.Hoehe_HoverBand) |
1696 | if(EE_Parameter.Hoehe_HoverBand) |
1699 | { |
1697 | { |
1700 | int16_t band; |
1698 | int16_t band; |
1701 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1699 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1702 | HoverGasMin = HoverGas - band; |
1700 | HoverGasMin = HoverGas - band; |
1703 | HoverGasMax = HoverGas + band; |
1701 | HoverGasMax = HoverGas + band; |
1704 | } |
1702 | } |
1705 | else |
1703 | else |
1706 | { // no limit |
1704 | { // no limit |
1707 | HoverGasMin = 0; |
1705 | HoverGasMin = 0; |
1708 | HoverGasMax = 1023; |
1706 | HoverGasMax = 1023; |
1709 | } |
1707 | } |
1710 | } |
1708 | } |
1711 | else |
1709 | else |
1712 | { |
1710 | { |
1713 | StartTrigger = 0; |
1711 | StartTrigger = 0; |
1714 | HoverGasFilter = 0; |
1712 | HoverGasFilter = 0; |
1715 | HoverGas = 0; |
1713 | HoverGas = 0; |
1716 | } |
1714 | } |
1717 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1715 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
1718 | else |
1716 | else |
1719 | { |
1717 | { |
1720 | // set undefined state to indicate vario off |
1718 | // set undefined state to indicate vario off |
1721 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1719 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1722 | } // EOF no height control |
1720 | } // EOF no height control |
1723 | 1721 | ||
1724 | // limit gas to parameter setting |
1722 | // limit gas to parameter setting |
1725 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1723 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1726 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1724 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1727 | 1725 | ||
1728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1729 | // all BL-Ctrl connected? |
1727 | // all BL-Ctrl connected? |
1730 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1731 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) // wait until all BL-Ctrls started |
1729 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
1732 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1730 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
1733 | { |
1731 | { |
1734 | modell_fliegt = 1; |
1732 | modell_fliegt = 1; |
1735 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1733 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1736 | } |
1734 | } |
1737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1735 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1738 | // + Mischer und PI-Regler |
1736 | // + Mischer und PI-Regler |
1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1740 | DebugOut.Analog[7] = GasMischanteil; |
1738 | DebugOut.Analog[7] = GasMischanteil; |
1741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1742 | // Gier-Anteil |
1740 | // Gier-Anteil |
1743 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1744 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1742 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1745 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1743 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1746 | if(GasMischanteil > MIN_GIERGAS) |
1744 | if(GasMischanteil > MIN_GIERGAS) |
1747 | { |
1745 | { |
1748 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1746 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1749 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1747 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1750 | } |
1748 | } |
1751 | else |
1749 | else |
1752 | { |
1750 | { |
1753 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1751 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1754 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1752 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1755 | } |
1753 | } |
1756 | tmp_int = MAX_GAS*STICK_GAIN; |
1754 | tmp_int = MAX_GAS*STICK_GAIN; |
1757 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1755 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1758 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1756 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1759 | 1757 | ||
1760 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1761 | // Nick-Achse |
1759 | // Nick-Achse |
1762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1760 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1763 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1761 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1764 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1762 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1765 | else SummeNick += DiffNick; // I-Anteil bei HH |
1763 | else SummeNick += DiffNick; // I-Anteil bei HH |
1766 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1764 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1767 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1765 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1768 | 1766 | ||
1769 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1767 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1770 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1768 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1771 | pd_ergebnis_nick += SummeNick / Ki; |
1769 | pd_ergebnis_nick += SummeNick / Ki; |
1772 | 1770 | ||
1773 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1771 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1774 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1772 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1775 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1773 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1776 | 1774 | ||
1777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1778 | // Roll-Achse |
1776 | // Roll-Achse |
1779 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1777 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1780 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1778 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1781 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1779 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1782 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1780 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1783 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1781 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1784 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1782 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1785 | 1783 | ||
1786 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1784 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1787 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1785 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1788 | pd_ergebnis_roll += SummeRoll / Ki; |
1786 | pd_ergebnis_roll += SummeRoll / Ki; |
1789 | 1787 | ||
1790 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1788 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1791 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1789 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1792 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1790 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1793 | 1791 | ||
1794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1795 | // Universal Mixer |
1793 | // Universal Mixer |
1796 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1797 | for(i=0; i<MAX_MOTORS; i++) |
1795 | for(i=0; i<MAX_MOTORS; i++) |
1798 | { |
1796 | { |
1799 | signed int tmp_int; |
1797 | signed int tmp_int; |
1800 | if(Mixer.Motor[i][0] > 0) |
1798 | if(Mixer.Motor[i][0] > 0) |
1801 | { |
1799 | { |
1802 | // Gas |
1800 | // Gas |
1803 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1801 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1804 | // Nick |
1802 | // Nick |
1805 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1803 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1806 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1804 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1807 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1805 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1808 | // Roll |
1806 | // Roll |
1809 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1807 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1810 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1808 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1811 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1809 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1812 | // Gier |
1810 | // Gier |
1813 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1811 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1814 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1812 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1815 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1813 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1816 | 1814 | ||
1817 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1815 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1818 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1816 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1819 | else |
1817 | else |
1820 | { |
1818 | { |
1821 | if(EE_Parameter.MotorSmooth == 0) |
1819 | if(EE_Parameter.MotorSmooth == 0) |
1822 | { |
1820 | { |
1823 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1821 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
1824 | } |
1822 | } |
1825 | else // 1 means tmp_int = tmp_int; |
1823 | else // 1 means tmp_int = tmp_int; |
1826 | if(EE_Parameter.MotorSmooth > 1) |
1824 | if(EE_Parameter.MotorSmooth > 1) |
1827 | { |
1825 | { |
1828 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1826 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
1829 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1827 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
1830 | } |
1828 | } |
1831 | } |
1829 | } |
1832 | 1830 | ||
1833 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1831 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1834 | Motor[i].SetPoint = tmp_int / 4; |
1832 | Motor[i].SetPoint = tmp_int / 4; |
1835 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1833 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1836 | tmp_motorwert[i] = tmp_int; |
1834 | tmp_motorwert[i] = tmp_int; |
1837 | } |
1835 | } |
1838 | else |
1836 | else |
1839 | { |
1837 | { |
1840 | Motor[i].SetPoint = 0; |
1838 | Motor[i].SetPoint = 0; |
1841 | Motor[i].SetPointLowerBits = 0; |
1839 | Motor[i].SetPointLowerBits = 0; |
1842 | } |
1840 | } |
1843 | } |
1841 | } |
1844 | } |
1842 | } |
1845 | 1843 |