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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | 56 | ||
57 | #include "main.h" |
57 | #include "main.h" |
58 | #include "mymath.h" |
58 | #include "mymath.h" |
59 | #include "isqrt.h" |
59 | #include "isqrt.h" |
60 | 60 | ||
61 | unsigned char h,m,s; |
61 | unsigned char h,m,s; |
62 | unsigned int BaroExpandActive = 0; |
62 | unsigned int BaroExpandActive = 0; |
63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
64 | int TrimNick, TrimRoll; |
64 | int TrimNick, TrimRoll; |
65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
69 | int NeutralAccZ = 0; |
69 | int NeutralAccZ = 0; |
70 | signed char NeutralAccZfine = 0; |
70 | signed char NeutralAccZfine = 0; |
71 | unsigned char ControlHeading = 0;// in 2° |
71 | unsigned char ControlHeading = 0;// in 2° |
72 | long IntegralNick = 0,IntegralNick2 = 0; |
72 | long IntegralNick = 0,IntegralNick2 = 0; |
73 | long IntegralRoll = 0,IntegralRoll2 = 0; |
73 | long IntegralRoll = 0,IntegralRoll2 = 0; |
74 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
74 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
75 | long Integral_Gier = 0; |
75 | long Integral_Gier = 0; |
76 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
76 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
77 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
77 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
79 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
79 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
80 | long SummeNick=0,SummeRoll=0; |
80 | long SummeNick=0,SummeRoll=0; |
81 | volatile long Mess_Integral_Hoch = 0; |
81 | volatile long Mess_Integral_Hoch = 0; |
82 | int KompassValue = -1; |
82 | int KompassValue = -1; |
83 | int KompassSollWert = 0; |
83 | int KompassSollWert = 0; |
84 | //int KompassRichtung = 0; |
84 | //int KompassRichtung = 0; |
85 | char CalculateCompassTimer = 100; |
85 | char CalculateCompassTimer = 100; |
86 | unsigned char KompassFusion = 32; |
86 | unsigned char KompassFusion = 32; |
87 | unsigned int KompassSignalSchlecht = 50; |
87 | unsigned int KompassSignalSchlecht = 50; |
88 | unsigned char MAX_GAS,MIN_GAS; |
88 | unsigned char MAX_GAS,MIN_GAS; |
89 | unsigned char HoehenReglerAktiv = 0; |
89 | unsigned char HoehenReglerAktiv = 0; |
90 | unsigned char TrichterFlug = 0; |
90 | unsigned char TrichterFlug = 0; |
91 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
91 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
92 | long ErsatzKompass; |
92 | long ErsatzKompass; |
93 | int ErsatzKompassInGrad; // Kompasswert in Grad |
93 | int ErsatzKompassInGrad; // Kompasswert in Grad |
94 | int GierGyroFehler = 0; |
94 | int GierGyroFehler = 0; |
95 | char GyroFaktor,GyroFaktorGier; |
95 | char GyroFaktor,GyroFaktorGier; |
96 | char IntegralFaktor,IntegralFaktorGier; |
96 | char IntegralFaktor,IntegralFaktorGier; |
97 | int DiffNick,DiffRoll; |
97 | int DiffNick,DiffRoll; |
98 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
98 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
100 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
100 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
101 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
101 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
102 | volatile unsigned char SenderOkay = 0; |
102 | volatile unsigned char SenderOkay = 0; |
103 | char MotorenEin = 0,StartTrigger = 0; |
103 | char MotorenEin = 0,StartTrigger = 0; |
104 | long HoehenWert = 0; |
104 | long HoehenWert = 0; |
105 | long SollHoehe = 0; |
105 | long SollHoehe = 0; |
106 | signed int AltitudeSetpointTrimming = 0; |
106 | signed int AltitudeSetpointTrimming = 0; |
107 | long FromNC_AltitudeSetpoint = 0; |
107 | long FromNC_AltitudeSetpoint = 0; |
108 | unsigned char FromNC_AltitudeSpeed = 0; |
108 | unsigned char FromNC_AltitudeSpeed = 0; |
109 | unsigned char carefree_old = 50; // to make the Beep when switching |
109 | unsigned char carefree_old = 50; // to make the Beep when switching |
110 | signed char WaypointTrimming = 0; |
110 | signed char WaypointTrimming = 0; |
111 | int CompassGierSetpoint = 0; |
111 | int CompassGierSetpoint = 0; |
112 | unsigned char CalibrationDone = 0; |
112 | unsigned char CalibrationDone = 0; |
113 | char NeueKompassRichtungMerken = 0; |
113 | char NeueKompassRichtungMerken = 0; |
114 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
114 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
115 | //float Ki = FAKTOR_I; |
115 | //float Ki = FAKTOR_I; |
116 | int Ki = 10300 / 33; |
116 | int Ki = 10300 / 33; |
117 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
117 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
118 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
118 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
119 | 119 | ||
120 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
120 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
121 | unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250 |
121 | unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250 |
122 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
122 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
123 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
123 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
124 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
124 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
125 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
125 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
126 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
126 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
127 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
127 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
128 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
128 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
129 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
129 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
130 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
130 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
131 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
131 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
132 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
132 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
133 | unsigned char Parameter_UserParam1 = 0; |
133 | unsigned char Parameter_UserParam1 = 0; |
134 | unsigned char Parameter_UserParam2 = 0; |
134 | unsigned char Parameter_UserParam2 = 0; |
135 | unsigned char Parameter_UserParam3 = 0; |
135 | unsigned char Parameter_UserParam3 = 0; |
136 | unsigned char Parameter_UserParam4 = 0; |
136 | unsigned char Parameter_UserParam4 = 0; |
137 | unsigned char Parameter_UserParam5 = 0; |
137 | unsigned char Parameter_UserParam5 = 0; |
138 | unsigned char Parameter_UserParam6 = 0; |
138 | unsigned char Parameter_UserParam6 = 0; |
139 | unsigned char Parameter_UserParam7 = 0; |
139 | unsigned char Parameter_UserParam7 = 0; |
140 | unsigned char Parameter_UserParam8 = 0; |
140 | unsigned char Parameter_UserParam8 = 0; |
141 | unsigned char Parameter_ServoNickControl = 100; |
141 | unsigned char Parameter_ServoNickControl = 100; |
142 | unsigned char Parameter_ServoRollControl = 100; |
142 | unsigned char Parameter_ServoRollControl = 100; |
143 | unsigned char Parameter_ServoNickComp = 50; |
143 | unsigned char Parameter_ServoNickComp = 50; |
144 | unsigned char Parameter_ServoRollComp = 85; |
144 | unsigned char Parameter_ServoRollComp = 85; |
145 | unsigned char Parameter_LoopGasLimit = 70; |
145 | unsigned char Parameter_LoopGasLimit = 70; |
146 | unsigned char Parameter_AchsKopplung1 = 90; |
146 | unsigned char Parameter_AchsKopplung1 = 90; |
147 | unsigned char Parameter_AchsKopplung2 = 65; |
147 | unsigned char Parameter_AchsKopplung2 = 65; |
148 | unsigned char Parameter_CouplingYawCorrection = 64; |
148 | unsigned char Parameter_CouplingYawCorrection = 64; |
149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
149 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
150 | unsigned char Parameter_DynamicStability = 100; |
150 | unsigned char Parameter_DynamicStability = 100; |
151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
151 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
152 | unsigned char Parameter_J16Timing; // for the J16 Output |
152 | unsigned char Parameter_J16Timing; // for the J16 Output |
153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
153 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
154 | unsigned char Parameter_J17Timing; // for the J17 Output |
154 | unsigned char Parameter_J17Timing; // for the J17 Output |
155 | unsigned char Parameter_NaviGpsGain; |
155 | unsigned char Parameter_NaviGpsGain; |
156 | unsigned char Parameter_NaviGpsP; |
156 | unsigned char Parameter_NaviGpsP; |
157 | unsigned char Parameter_NaviGpsI; |
157 | unsigned char Parameter_NaviGpsI; |
158 | unsigned char Parameter_NaviGpsD; |
158 | unsigned char Parameter_NaviGpsD; |
159 | unsigned char Parameter_NaviGpsA; |
159 | unsigned char Parameter_NaviGpsA; |
160 | unsigned char Parameter_NaviOperatingRadius; |
160 | unsigned char Parameter_NaviOperatingRadius; |
161 | unsigned char Parameter_NaviWindCorrection; |
161 | unsigned char Parameter_NaviWindCorrection; |
162 | unsigned char Parameter_NaviSpeedCompensation; |
162 | unsigned char Parameter_NaviSpeedCompensation; |
163 | unsigned char Parameter_ExternalControl; |
163 | unsigned char Parameter_ExternalControl; |
164 | unsigned char Parameter_GlobalConfig; |
164 | unsigned char Parameter_GlobalConfig; |
165 | unsigned char Parameter_ExtraConfig; |
165 | unsigned char Parameter_ExtraConfig; |
166 | unsigned char Parameter_MaximumAltitude; |
166 | unsigned char Parameter_MaximumAltitude; |
167 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
167 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
168 | unsigned char CareFree = 0; |
168 | unsigned char CareFree = 0; |
169 | 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 |
169 | 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 |
170 | 170 | ||
171 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
171 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
172 | int MaxStickNick = 0,MaxStickRoll = 0; |
172 | int MaxStickNick = 0,MaxStickRoll = 0; |
173 | unsigned int modell_fliegt = 0; |
173 | unsigned int modell_fliegt = 0; |
174 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
174 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
175 | long GIER_GRAD_FAKTOR = 1291; |
175 | long GIER_GRAD_FAKTOR = 1291; |
176 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
176 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
177 | signed int tmp_motorwert[MAX_MOTORS]; |
177 | signed int tmp_motorwert[MAX_MOTORS]; |
178 | char VarioCharacter = ' '; |
178 | char VarioCharacter = ' '; |
179 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
179 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
180 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
180 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
181 | signed int Variance = 0; |
181 | signed int Variance = 0; |
182 | signed int CosAttitude; // for projection of hoover gas |
182 | signed int CosAttitude; // for projection of hoover gas |
183 | unsigned char ACC_AltitudeControl = 0; |
183 | unsigned char ACC_AltitudeControl = 0; |
184 | 184 | ||
185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
185 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
186 | // Debugwerte zuordnen |
186 | // Debugwerte zuordnen |
187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
187 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
188 | void CopyDebugValues(void) |
188 | void CopyDebugValues(void) |
189 | { |
189 | { |
190 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
190 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
191 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
191 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
192 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
192 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
193 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
193 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
194 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
194 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
195 | DebugOut.Analog[5] = HoehenWert/10; |
195 | DebugOut.Analog[5] = HoehenWert/10; |
196 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
196 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
197 | DebugOut.Analog[8] = KompassValue; |
197 | DebugOut.Analog[8] = KompassValue; |
198 | DebugOut.Analog[9] = UBat; |
198 | DebugOut.Analog[9] = UBat; |
199 | DebugOut.Analog[10] = SenderOkay; |
199 | DebugOut.Analog[10] = SenderOkay; |
200 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
200 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
201 | DebugOut.Analog[12] = Motor[0].SetPoint; |
201 | DebugOut.Analog[12] = Motor[0].SetPoint; |
202 | DebugOut.Analog[13] = Motor[1].SetPoint; |
202 | DebugOut.Analog[13] = Motor[1].SetPoint; |
203 | DebugOut.Analog[14] = Motor[2].SetPoint; |
203 | DebugOut.Analog[14] = Motor[2].SetPoint; |
204 | DebugOut.Analog[15] = Motor[3].SetPoint; |
204 | DebugOut.Analog[15] = Motor[3].SetPoint; |
205 | DebugOut.Analog[20] = ServoNickValue; |
205 | DebugOut.Analog[20] = ServoNickValue; |
206 | DebugOut.Analog[21] = HoverGas; |
206 | DebugOut.Analog[21] = HoverGas; |
207 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
207 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
208 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
208 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
209 | DebugOut.Analog[24] = SollHoehe/10; |
209 | DebugOut.Analog[24] = SollHoehe/10; |
210 | DebugOut.Analog[27] = KompassSollWert; |
210 | DebugOut.Analog[27] = KompassSollWert; |
211 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
211 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
212 | DebugOut.Analog[30] = GPS_Nick; |
212 | DebugOut.Analog[30] = GPS_Nick; |
213 | DebugOut.Analog[31] = GPS_Roll; |
213 | DebugOut.Analog[31] = GPS_Roll; |
214 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
214 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
215 | //DebugOut.Analog[16] = Variance; |
215 | //DebugOut.Analog[16] = Variance; |
216 | //DebugOut.Analog[17] = VarioMeter; |
216 | //DebugOut.Analog[17] = VarioMeter; |
217 | //DebugOut.Analog[18] = HoehenWertF; |
217 | //DebugOut.Analog[18] = HoehenWertF; |
218 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
218 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
219 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
219 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
220 | } |
220 | } |
221 | 221 | ||
222 | 222 | ||
223 | void Piep(unsigned char Anzahl, unsigned int dauer) |
223 | void Piep(unsigned char Anzahl, unsigned int dauer) |
224 | { |
224 | { |
225 | unsigned int wait = 0; |
225 | unsigned int wait = 0; |
226 | if(MotorenEin) return; //auf keinen Fall im Flug! |
226 | if(MotorenEin) return; //auf keinen Fall im Flug! |
227 | GRN_OFF; |
227 | GRN_OFF; |
228 | while(Anzahl--) |
228 | while(Anzahl--) |
229 | { |
229 | { |
230 | beeptime = dauer; |
230 | beeptime = dauer; |
231 | wait = dauer; |
231 | wait = dauer; |
232 | while(beeptime || wait) |
232 | while(beeptime || wait) |
233 | { |
233 | { |
234 | if(UpdateMotor) |
234 | if(UpdateMotor) |
235 | { |
235 | { |
236 | UpdateMotor = 0; |
236 | UpdateMotor = 0; |
237 | if(!beeptime) wait--; |
237 | if(!beeptime) wait--; |
238 | LIBFC_Polling(); |
238 | LIBFC_Polling(); |
239 | }; |
239 | }; |
240 | } |
240 | } |
241 | } |
241 | } |
242 | GRN_ON; |
242 | GRN_ON; |
243 | } |
243 | } |
244 | 244 | ||
245 | //############################################################################ |
245 | //############################################################################ |
246 | // Messwerte beim Ermitteln der Nullage |
246 | // Messwerte beim Ermitteln der Nullage |
247 | void CalibrierMittelwert(void) |
247 | void CalibrierMittelwert(void) |
248 | //############################################################################ |
248 | //############################################################################ |
249 | { |
249 | { |
250 | unsigned char i; |
250 | unsigned char i; |
251 | if(PlatinenVersion == 13) SucheGyroOffset(); |
251 | if(PlatinenVersion == 13) SucheGyroOffset(); |
252 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
252 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
253 | ANALOG_OFF; |
253 | ANALOG_OFF; |
254 | MesswertNick = AdWertNick; |
254 | MesswertNick = AdWertNick; |
255 | MesswertRoll = AdWertRoll; |
255 | MesswertRoll = AdWertRoll; |
256 | MesswertGier = AdWertGier; |
256 | MesswertGier = AdWertGier; |
257 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
257 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
258 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
258 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
259 | // ADC einschalten |
259 | // ADC einschalten |
260 | ANALOG_ON; |
260 | ANALOG_ON; |
261 | for(i=0;i<8;i++) |
261 | for(i=0;i<8;i++) |
262 | { |
262 | { |
263 | int tmp; |
263 | int tmp; |
264 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
264 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
265 | LIMIT_MIN_MAX(tmp, 0, 255); |
265 | LIMIT_MIN_MAX(tmp, 0, 255); |
266 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
266 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
267 | } |
267 | } |
268 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
268 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
269 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
269 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
270 | } |
270 | } |
271 | 271 | ||
272 | //############################################################################ |
272 | //############################################################################ |
273 | // Nullwerte ermitteln |
273 | // Nullwerte ermitteln |
274 | // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
274 | // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
275 | // Parameter: 1 -> before Start |
275 | // Parameter: 1 -> before Start |
276 | // Parameter: 2 -> calibrate and store ACC |
276 | // Parameter: 2 -> calibrate and store ACC |
277 | unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
277 | unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
278 | //############################################################################ |
278 | //############################################################################ |
279 | { |
279 | { |
280 | unsigned char i, sucess = 1; |
280 | unsigned char i, sucess = 1; |
281 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0; |
281 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0; |
282 | VersionInfo.HardwareError[0] = 0; |
282 | VersionInfo.HardwareError[0] = 0; |
283 | // HEF4017Reset_ON; |
283 | // HEF4017Reset_ON; |
284 | NeutralAccX = 0; |
284 | NeutralAccX = 0; |
285 | NeutralAccY = 0; |
285 | NeutralAccY = 0; |
286 | NeutralAccZ = 0; |
286 | NeutralAccZ = 0; |
287 | NeutralAccZfine = 0; |
287 | NeutralAccZfine = 0; |
288 | 288 | ||
289 | AdNeutralNick = 0; |
289 | AdNeutralNick = 0; |
290 | AdNeutralRoll = 0; |
290 | AdNeutralRoll = 0; |
291 | AdNeutralGier = 0; |
291 | AdNeutralGier = 0; |
292 | 292 | ||
293 | Parameter_AchsKopplung1 = 0; |
293 | Parameter_AchsKopplung1 = 0; |
294 | Parameter_AchsKopplung2 = 0; |
294 | Parameter_AchsKopplung2 = 0; |
295 | 295 | ||
296 | ExpandBaro = 0; |
296 | ExpandBaro = 0; |
297 | 297 | ||
298 | CalibrierMittelwert(); |
298 | CalibrierMittelwert(); |
299 | Delay_ms_Mess(100); |
299 | Delay_ms_Mess(100); |
300 | 300 | ||
301 | CalibrierMittelwert(); |
301 | CalibrierMittelwert(); |
302 | 302 | ||
303 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
303 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
304 | { |
304 | { |
305 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
305 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
306 | } |
306 | } |
307 | #define NEUTRAL_FILTER 32 |
307 | #define NEUTRAL_FILTER 32 |
308 | for(i=0; i<NEUTRAL_FILTER; i++) |
308 | for(i=0; i<NEUTRAL_FILTER; i++) |
309 | { |
309 | { |
310 | Delay_ms_Mess(10); |
310 | Delay_ms_Mess(10); |
311 | gier_neutral += AdWertGier; |
311 | gier_neutral += AdWertGier; |
312 | nick_neutral += AdWertNick; |
312 | nick_neutral += AdWertNick; |
313 | roll_neutral += AdWertRoll; |
313 | roll_neutral += AdWertRoll; |
314 | acc_z_neutral += Aktuell_az; |
314 | acc_z_neutral += Aktuell_az; |
315 | } |
315 | } |
316 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
316 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
317 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
317 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
318 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
318 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
319 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
319 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
320 | 320 | ||
321 | StartNeutralRoll = AdNeutralRoll; |
321 | StartNeutralRoll = AdNeutralRoll; |
322 | StartNeutralNick = AdNeutralNick; |
322 | StartNeutralNick = AdNeutralNick; |
323 | 323 | ||
324 | if(AdjustmentMode == 2) |
324 | if(AdjustmentMode == 2) |
325 | { |
325 | { |
326 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
326 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
327 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
327 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
328 | // Save ACC neutral settings to eeprom |
328 | // Save ACC neutral settings to eeprom |
329 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
329 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
330 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
330 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
331 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
331 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
332 | } |
332 | } |
333 | else |
333 | else |
334 | { |
334 | { |
335 | // restore from eeprom |
335 | // restore from eeprom |
336 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
336 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
337 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
337 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
338 | // strange settings? |
338 | // strange settings? |
339 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
339 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
340 | { |
340 | { |
341 | printf("\n\rACC not calibrated!\r\n"); |
341 | printf("\n\rACC not calibrated!\r\n"); |
342 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
342 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
343 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
343 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
344 | sucess = 0; |
344 | sucess = 0; |
345 | } |
345 | } |
346 | } |
346 | } |
347 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
347 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
348 | MesswertNick = 0; |
348 | MesswertNick = 0; |
349 | MesswertRoll = 0; |
349 | MesswertRoll = 0; |
350 | MesswertGier = 0; |
350 | MesswertGier = 0; |
351 | Delay_ms_Mess(100); |
351 | Delay_ms_Mess(100); |
352 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
352 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
353 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
353 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
354 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
354 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
355 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
355 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
356 | Mess_IntegralNick = IntegralNick; |
356 | Mess_IntegralNick = IntegralNick; |
357 | Mess_IntegralRoll = IntegralRoll; |
357 | Mess_IntegralRoll = IntegralRoll; |
358 | Mess_Integral_Gier = 0; |
358 | Mess_Integral_Gier = 0; |
359 | StartLuftdruck = Luftdruck; |
359 | StartLuftdruck = Luftdruck; |
360 | VarioMeter = 0; |
360 | VarioMeter = 0; |
361 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
361 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
362 | KompassSollWert = KompassValue; |
362 | KompassSollWert = KompassValue; |
363 | KompassSignalSchlecht = 100; |
363 | KompassSignalSchlecht = 100; |
364 | beeptime = 50; |
364 | beeptime = 50; |
365 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
365 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
366 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
366 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
367 | ExternHoehenValue = 0; |
367 | ExternHoehenValue = 0; |
368 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
368 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
369 | GierGyroFehler = 0; |
369 | GierGyroFehler = 0; |
370 | LED_Init(); |
370 | LED_Init(); |
371 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
371 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
372 | FromNaviCtrl_Value.Kalman_K = -1; |
372 | FromNaviCtrl_Value.Kalman_K = -1; |
373 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
373 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
374 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
374 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
375 | for(i=0;i<8;i++) |
375 | for(i=0;i<8;i++) |
376 | { |
376 | { |
377 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
377 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
378 | } |
378 | } |
379 | SenderOkay = 100; |
379 | SenderOkay = 100; |
380 | if(ServoActive) |
380 | if(ServoActive) |
381 | { |
381 | { |
382 | DDRD |=0x80; // enable J7 -> Servo signal |
382 | DDRD |=0x80; // enable J7 -> Servo signal |
383 | } |
383 | } |
384 | else |
384 | else |
385 | { |
385 | { |
386 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
386 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
387 | // else |
387 | // else |
388 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
388 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
389 | } |
389 | } |
390 | 390 | ||
391 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
391 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
392 | signed int tilt1, tilt2; |
392 | signed int tilt1, tilt2; |
393 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
393 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
394 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
394 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
395 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
395 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
396 | CosAttitude = c_cos_8192(tilt1); |
396 | CosAttitude = c_cos_8192(tilt1); |
397 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
397 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
398 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
398 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
399 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
399 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
400 | #else |
400 | #else |
401 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
401 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
402 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
402 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
403 | #endif |
403 | #endif |
404 | 404 | ||
405 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
405 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
406 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
406 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
407 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
407 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
408 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
408 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
409 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
409 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
410 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
410 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
411 | if(VersionInfo.HardwareError[0]) sucess = 0; |
411 | if(VersionInfo.HardwareError[0]) sucess = 0; |
412 | carefree_old = 70; |
412 | carefree_old = 70; |
413 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
413 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
414 | LIBFC_HoTT_Clear(); |
414 | LIBFC_HoTT_Clear(); |
415 | ACC_AltitudeFusion(2); // initalisation |
415 | ACC_AltitudeFusion(2); // initalisation |
416 | #endif |
416 | #endif |
417 | return(sucess); |
417 | return(sucess); |
418 | } |
418 | } |
419 | 419 | ||
420 | 420 | ||
421 | //############################################################################ |
421 | //############################################################################ |
422 | // Bearbeitet die Messwerte |
422 | // Bearbeitet die Messwerte |
423 | void Mittelwert(void) |
423 | void Mittelwert(void) |
424 | //############################################################################ |
424 | //############################################################################ |
425 | { |
425 | { |
426 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
426 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
427 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
427 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
428 | signed long winkel_nick, winkel_roll; |
428 | signed long winkel_nick, winkel_roll; |
429 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
429 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
430 | MesswertNick = (signed int) AdWertNickFilter / 8; |
430 | MesswertNick = (signed int) AdWertNickFilter / 8; |
431 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
431 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
432 | RohMesswertNick = MesswertNick; |
432 | RohMesswertNick = MesswertNick; |
433 | RohMesswertRoll = MesswertRoll; |
433 | RohMesswertRoll = MesswertRoll; |
434 | 434 | ||
435 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
435 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
436 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
436 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
437 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
437 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
438 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
438 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
439 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
439 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
440 | NaviAccNick += AdWertAccNick; |
440 | NaviAccNick += AdWertAccNick; |
441 | NaviAccRoll += AdWertAccRoll; |
441 | NaviAccRoll += AdWertAccRoll; |
442 | NaviCntAcc++; |
442 | NaviCntAcc++; |
443 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
443 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
444 | 444 | ||
445 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
445 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
446 | // ADC einschalten |
446 | // ADC einschalten |
447 | ANALOG_ON; |
447 | ANALOG_ON; |
448 | AdReady = 0; |
448 | AdReady = 0; |
449 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
449 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
450 | 450 | ||
451 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
451 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
452 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
452 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
453 | else winkel_roll = Mess_IntegralRoll; |
453 | else winkel_roll = Mess_IntegralRoll; |
454 | 454 | ||
455 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
455 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
456 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
456 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
457 | else winkel_nick = Mess_IntegralNick; |
457 | else winkel_nick = Mess_IntegralNick; |
458 | 458 | ||
459 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
459 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
460 | Mess_Integral_Gier += MesswertGier; |
460 | Mess_Integral_Gier += MesswertGier; |
461 | ErsatzKompass += MesswertGier; |
461 | ErsatzKompass += MesswertGier; |
462 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
462 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
463 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
463 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
464 | { |
464 | { |
465 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
465 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
466 | tmpl3 *= Parameter_AchsKopplung2; //65 |
466 | tmpl3 *= Parameter_AchsKopplung2; //65 |
467 | tmpl3 /= 4096L; |
467 | tmpl3 /= 4096L; |
468 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
468 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
469 | tmpl4 *= Parameter_AchsKopplung2; //65 |
469 | tmpl4 *= Parameter_AchsKopplung2; //65 |
470 | tmpl4 /= 4096L; |
470 | tmpl4 /= 4096L; |
471 | KopplungsteilNickRoll = tmpl3; |
471 | KopplungsteilNickRoll = tmpl3; |
472 | KopplungsteilRollNick = tmpl4; |
472 | KopplungsteilRollNick = tmpl4; |
473 | tmpl4 -= tmpl3; |
473 | tmpl4 -= tmpl3; |
474 | ErsatzKompass += tmpl4; |
474 | ErsatzKompass += tmpl4; |
475 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
475 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
476 | 476 | ||
477 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
477 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
478 | tmpl *= Parameter_AchsKopplung1; // 90 |
478 | tmpl *= Parameter_AchsKopplung1; // 90 |
479 | tmpl /= 4096L; |
479 | tmpl /= 4096L; |
480 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
480 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
481 | tmpl2 *= Parameter_AchsKopplung1; |
481 | tmpl2 *= Parameter_AchsKopplung1; |
482 | tmpl2 /= 4096L; |
482 | tmpl2 /= 4096L; |
483 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
483 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
484 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
484 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
485 | } |
485 | } |
486 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
486 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
487 | TrimRoll = tmpl - tmpl2 / 100L; |
487 | TrimRoll = tmpl - tmpl2 / 100L; |
488 | TrimNick = -tmpl2 + tmpl / 100L; |
488 | TrimNick = -tmpl2 + tmpl / 100L; |
489 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
489 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
490 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
490 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
491 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
491 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
492 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
492 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
493 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
493 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
494 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
494 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
495 | if(Mess_IntegralRoll > Umschlag180Roll) |
495 | if(Mess_IntegralRoll > Umschlag180Roll) |
496 | { |
496 | { |
497 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
497 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
498 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
498 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
499 | } |
499 | } |
500 | if(Mess_IntegralRoll <-Umschlag180Roll) |
500 | if(Mess_IntegralRoll <-Umschlag180Roll) |
501 | { |
501 | { |
502 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
502 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
503 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
503 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
504 | } |
504 | } |
505 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
505 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
506 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
506 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
507 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
507 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
508 | if(Mess_IntegralNick > Umschlag180Nick) |
508 | if(Mess_IntegralNick > Umschlag180Nick) |
509 | { |
509 | { |
510 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
510 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
511 | Mess_IntegralNick2 = Mess_IntegralNick; |
511 | Mess_IntegralNick2 = Mess_IntegralNick; |
512 | } |
512 | } |
513 | if(Mess_IntegralNick <-Umschlag180Nick) |
513 | if(Mess_IntegralNick <-Umschlag180Nick) |
514 | { |
514 | { |
515 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
515 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
516 | Mess_IntegralNick2 = Mess_IntegralNick; |
516 | Mess_IntegralNick2 = Mess_IntegralNick; |
517 | } |
517 | } |
518 | 518 | ||
519 | Integral_Gier = Mess_Integral_Gier; |
519 | Integral_Gier = Mess_Integral_Gier; |
520 | IntegralNick = Mess_IntegralNick; |
520 | IntegralNick = Mess_IntegralNick; |
521 | IntegralRoll = Mess_IntegralRoll; |
521 | IntegralRoll = Mess_IntegralRoll; |
522 | IntegralNick2 = Mess_IntegralNick2; |
522 | IntegralNick2 = Mess_IntegralNick2; |
523 | IntegralRoll2 = Mess_IntegralRoll2; |
523 | IntegralRoll2 = Mess_IntegralRoll2; |
524 | 524 | ||
525 | #define D_LIMIT 128 |
525 | #define D_LIMIT 128 |
526 | 526 | ||
527 | MesswertNick = HiResNick / 8; |
527 | MesswertNick = HiResNick / 8; |
528 | MesswertRoll = HiResRoll / 8; |
528 | MesswertRoll = HiResRoll / 8; |
529 | 529 | ||
530 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
530 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
531 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
531 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
532 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
532 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
533 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
533 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
534 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
534 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
535 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
535 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
536 | 536 | ||
537 | if(Parameter_Gyro_D) |
537 | if(Parameter_Gyro_D) |
538 | { |
538 | { |
539 | d2Nick = HiResNick - oldNick; |
539 | d2Nick = HiResNick - oldNick; |
540 | oldNick = (oldNick + HiResNick)/2; |
540 | oldNick = (oldNick + HiResNick)/2; |
541 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
541 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
542 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
542 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
543 | 543 | ||
544 | d2Roll = HiResRoll - oldRoll; |
544 | d2Roll = HiResRoll - oldRoll; |
545 | oldRoll = (oldRoll + HiResRoll)/2; |
545 | oldRoll = (oldRoll + HiResRoll)/2; |
546 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
546 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
547 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
547 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
548 | 548 | ||
549 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
549 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
550 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
550 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
551 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
551 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
552 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
552 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
553 | } |
553 | } |
554 | 554 | ||
555 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
555 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
556 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
556 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
557 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
557 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
558 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
558 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
559 | 559 | ||
560 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
560 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
561 | { |
561 | { |
562 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
562 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
563 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
563 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
564 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
564 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
565 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
565 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
566 | } |
566 | } |
567 | } |
567 | } |
568 | 568 | ||
569 | //############################################################################ |
569 | //############################################################################ |
570 | // Senden der Motorwerte per I2C-Bus |
570 | // Senden der Motorwerte per I2C-Bus |
571 | void SendMotorData(void) |
571 | void SendMotorData(void) |
572 | //############################################################################ |
572 | //############################################################################ |
573 | { |
573 | { |
574 | unsigned char i; |
574 | unsigned char i; |
575 | if(!MotorenEin) |
575 | if(!MotorenEin) |
576 | { |
576 | { |
577 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
577 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
578 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
578 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
579 | for(i=0;i<MAX_MOTORS;i++) |
579 | for(i=0;i<MAX_MOTORS;i++) |
580 | { |
580 | { |
581 | if(!PC_MotortestActive) MotorTest[i] = 0; |
581 | if(!PC_MotortestActive) MotorTest[i] = 0; |
582 | Motor[i].SetPoint = MotorTest[i]; |
582 | Motor[i].SetPoint = MotorTest[i]; |
583 | Motor[i].SetPointLowerBits = 0; |
583 | Motor[i].SetPointLowerBits = 0; |
584 | /* |
584 | /* |
585 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
585 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
586 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
586 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
587 | */ |
587 | */ |
588 | } |
588 | } |
589 | if(PC_MotortestActive) PC_MotortestActive--; |
589 | if(PC_MotortestActive) PC_MotortestActive--; |
590 | } |
590 | } |
591 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
591 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
592 | 592 | ||
593 | if(I2C_TransferActive) |
593 | if(I2C_TransferActive) |
594 | { |
594 | { |
595 | I2C_TransferActive = 0; // enable for the next time |
595 | I2C_TransferActive = 0; // enable for the next time |
596 | } |
596 | } |
597 | else |
597 | else |
598 | { |
598 | { |
599 | motor_write = 0; |
599 | motor_write = 0; |
600 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
600 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
601 | } |
601 | } |
602 | } |
602 | } |
603 | 603 | ||
604 | unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
604 | unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
605 | { |
605 | { |
606 | int tmp2; |
606 | int tmp2; |
607 | if(ch == 0) return(0); |
607 | if(ch == 0) return(0); |
608 | tmp2 = PPM_in[ch] + 127; |
608 | tmp2 = PPM_in[ch] + 127; |
609 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
609 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
610 | return(tmp2); |
610 | return(tmp2); |
611 | } |
611 | } |
612 | 612 | ||
613 | //############################################################################ |
613 | //############################################################################ |
614 | // Trägt ggf. das Poti als Parameter ein |
614 | // Trägt ggf. das Poti als Parameter ein |
615 | void ParameterZuordnung(void) |
615 | void ParameterZuordnung(void) |
616 | //############################################################################ |
616 | //############################################################################ |
617 | { |
617 | { |
618 | unsigned char tmp,i; |
618 | unsigned char tmp,i; |
619 | for(i=0;i<8;i++) |
619 | for(i=0;i<8;i++) |
620 | { |
620 | { |
621 | int tmp2; |
621 | int tmp2; |
622 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
622 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
623 | tmp2 = PPM_in[tmp] + 127; |
623 | tmp2 = PPM_in[tmp] + 127; |
624 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
624 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
625 | 625 | ||
626 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
626 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
627 | else |
627 | else |
628 | if(tmp2 != Poti[i]) |
628 | if(tmp2 != Poti[i]) |
629 | { |
629 | { |
630 | Poti[i] += (tmp2 - Poti[i]) / 4; |
630 | Poti[i] += (tmp2 - Poti[i]) / 4; |
631 | if(Poti[i] > tmp2) Poti[i]--; |
631 | if(Poti[i] > tmp2) Poti[i]--; |
632 | else Poti[i]++; |
632 | else Poti[i]++; |
633 | } |
633 | } |
634 | } |
634 | } |
635 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
635 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
636 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
636 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
637 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
637 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
638 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
638 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
639 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
639 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
640 | 640 | ||
641 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
641 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
642 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
642 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
643 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
643 | else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
644 | 644 | ||
645 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
645 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
646 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
646 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
647 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
647 | else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
648 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
648 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
649 | Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
649 | Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
650 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
650 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
651 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
651 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
652 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
652 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
653 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
653 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
654 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
654 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
655 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
655 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
656 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
656 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
657 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
657 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
658 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
658 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
659 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
659 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
660 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
660 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
661 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
661 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
662 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
662 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
663 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
663 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
664 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
664 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
665 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
665 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
666 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
666 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
667 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
667 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
668 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
668 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
669 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
669 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
670 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
670 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
671 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
671 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
672 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
672 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
673 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
673 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
674 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
674 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
675 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
675 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
676 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
676 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
677 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
677 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
678 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
678 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
679 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
679 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
680 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
680 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
681 | Ki = 10300 / (Parameter_I_Faktor + 1); |
681 | Ki = 10300 / (Parameter_I_Faktor + 1); |
682 | MAX_GAS = EE_Parameter.Gas_Max; |
682 | MAX_GAS = EE_Parameter.Gas_Max; |
683 | MIN_GAS = EE_Parameter.Gas_Min; |
683 | MIN_GAS = EE_Parameter.Gas_Min; |
684 | 684 | ||
685 | if(EE_Parameter.CareFreeChannel) |
685 | if(EE_Parameter.CareFreeChannel) |
686 | { |
686 | { |
687 | CareFree = 1; |
687 | CareFree = 1; |
688 | if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0; |
688 | if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0; |
689 | // if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
689 | // if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
690 | if(carefree_old != CareFree) |
690 | if(carefree_old != CareFree) |
691 | { |
691 | { |
692 | if(carefree_old < 3) |
692 | if(carefree_old < 3) |
693 | { |
693 | { |
694 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
694 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
695 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
695 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
696 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
696 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
697 | #else |
697 | #else |
698 | if(CareFree) beeptime = 1500; |
698 | if(CareFree) beeptime = 1500; |
699 | else beeptime = 200; |
699 | else beeptime = 200; |
700 | #endif |
700 | #endif |
701 | NeueKompassRichtungMerken = 5; |
701 | NeueKompassRichtungMerken = 5; |
702 | carefree_old = CareFree; |
702 | carefree_old = CareFree; |
703 | } else carefree_old--; |
703 | } else carefree_old--; |
704 | } |
704 | } |
705 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
705 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
706 | } |
706 | } |
707 | else |
707 | else |
708 | { |
708 | { |
709 | CareFree = 0; |
709 | CareFree = 0; |
710 | carefree_old = 10; |
710 | carefree_old = 10; |
711 | } |
711 | } |
712 | 712 | ||
713 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
713 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
714 | { |
714 | { |
715 | beeptime = 15000; |
715 | beeptime = 15000; |
716 | BeepMuster = 0xA400; |
716 | BeepMuster = 0xA400; |
717 | CareFree = 0; |
717 | CareFree = 0; |
718 | } |
718 | } |
719 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; /*if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;*/} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
719 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; /*if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;*/} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
720 | } |
720 | } |
721 | 721 | ||
722 | //############################################################################ |
722 | //############################################################################ |
723 | // |
723 | // |
724 | void MotorRegler(void) |
724 | void MotorRegler(void) |
725 | //############################################################################ |
725 | //############################################################################ |
726 | { |
726 | { |
727 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
727 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
728 | int GierMischanteil,GasMischanteil; |
728 | int GierMischanteil,GasMischanteil; |
729 | static long sollGier = 0,tmp_long,tmp_long2; |
729 | static long sollGier = 0,tmp_long,tmp_long2; |
730 | static long IntegralFehlerNick = 0; |
730 | static long IntegralFehlerNick = 0; |
731 | static long IntegralFehlerRoll = 0; |
731 | static long IntegralFehlerRoll = 0; |
732 | static unsigned int RcLostTimer; |
732 | static unsigned int RcLostTimer; |
733 | static unsigned char delay_neutral = 0; |
733 | static unsigned char delay_neutral = 0; |
734 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
734 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
735 | static signed char move_safety_switch = 0; |
735 | static signed char move_safety_switch = 0; |
736 | static long ausgleichNick, ausgleichRoll; |
736 | static long ausgleichNick, ausgleichRoll; |
737 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
737 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
738 | unsigned char i; |
738 | unsigned char i; |
739 | Mittelwert(); |
739 | Mittelwert(); |
740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
741 | // Gaswert ermitteln |
741 | // Gaswert ermitteln |
742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
742 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
743 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
743 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
744 | { |
744 | { |
745 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
745 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
746 | { |
746 | { |
747 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
747 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
748 | { |
748 | { |
749 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
749 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
750 | } |
750 | } |
751 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
751 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
752 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
752 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
753 | } |
753 | } |
754 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
754 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
755 | { |
755 | { |
756 | StickGas = 0; // Hold Gas down in that case |
756 | StickGas = 0; // Hold Gas down in that case |
757 | HooverGasEmergencyPercent = MIN_GAS; |
757 | HooverGasEmergencyPercent = MIN_GAS; |
758 | } |
758 | } |
759 | GasMischanteil = StickGas; |
759 | GasMischanteil = StickGas; |
760 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
760 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
761 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
761 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
762 | // Empfang schlecht |
762 | // Empfang schlecht |
763 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
763 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
764 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
764 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
765 | { |
765 | { |
766 | if(RcLostTimer) RcLostTimer--; |
766 | if(RcLostTimer) RcLostTimer--; |
767 | else |
767 | else |
768 | { |
768 | { |
769 | MotorenEin = 0; |
769 | MotorenEin = 0; |
770 | modell_fliegt = 0; |
770 | modell_fliegt = 0; |
771 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
771 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
772 | } |
772 | } |
773 | ROT_ON; |
773 | ROT_ON; |
774 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
774 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
775 | { |
775 | { |
776 | GasMischanteil = HooverGasEmergencyPercent; |
776 | GasMischanteil = HooverGasEmergencyPercent; |
777 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
777 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
778 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
778 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
779 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
779 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
780 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
780 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
781 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
781 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
782 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
782 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
783 | } |
783 | } |
784 | else |
784 | else |
785 | { |
785 | { |
786 | MotorenEin = 0; |
786 | MotorenEin = 0; |
787 | } |
787 | } |
788 | } |
788 | } |
789 | else |
789 | else |
790 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
790 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
791 | // Emfang gut |
791 | // Emfang gut |
792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
793 | if(SenderOkay > 140) |
793 | if(SenderOkay > 140) |
794 | { |
794 | { |
795 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
795 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
796 | static unsigned int trigger = 0; |
796 | static unsigned int trigger = 1000; |
797 | static unsigned char old_switch = 100; |
797 | static unsigned char old_switch = 100; |
798 | if(EE_Parameter.StartLandChannel && EE_Parameter.LandingSpeed) |
798 | if(EE_Parameter.StartLandChannel && EE_Parameter.LandingSpeed) |
799 | { |
799 | { |
800 | if(PPM_in[EE_Parameter.StartLandChannel] > 50) |
800 | if(PPM_in[EE_Parameter.StartLandChannel] > 50) |
801 | { |
801 | { |
802 | if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
802 | if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
803 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
803 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
804 | old_switch = 150; |
804 | old_switch = 150; |
805 | } |
805 | } |
806 | else |
806 | else |
807 | if(PPM_in[EE_Parameter.StartLandChannel] < -50) |
807 | if(PPM_in[EE_Parameter.StartLandChannel] < -50) |
808 | { |
808 | { |
809 | if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
809 | if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
810 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
810 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
811 | old_switch = 50; |
811 | old_switch = 50; |
812 | } |
812 | } |
813 | else |
813 | else |
814 | { |
814 | { |
815 | FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
815 | FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
816 | } |
816 | } |
817 | } |
817 | } |
818 | #endif |
818 | #endif |
819 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
819 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
820 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
820 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
821 | if(GasMischanteil > 40 && MotorenEin) |
821 | if(GasMischanteil > 40 && MotorenEin) |
822 | { |
822 | { |
823 | if(modell_fliegt < 0xffff) modell_fliegt++; |
823 | if(modell_fliegt < 0xffff) modell_fliegt++; |
824 | } |
824 | } |
825 | if((modell_fliegt < 256)) |
825 | if((modell_fliegt < 256)) |
826 | { |
826 | { |
827 | SummeNick = 0; |
827 | SummeNick = 0; |
828 | SummeRoll = 0; |
828 | SummeRoll = 0; |
829 | sollGier = 0; |
829 | sollGier = 0; |
830 | Mess_Integral_Gier = 0; |
830 | Mess_Integral_Gier = 0; |
831 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
831 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
832 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
832 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
833 | old_switch = 100; |
833 | old_switch = 100; |
834 | #endif |
834 | #endif |
835 | } |
835 | } |
836 | else |
836 | else |
837 | { |
837 | { |
838 | FC_StatusFlags |= FC_STATUS_FLY; |
838 | FC_StatusFlags |= FC_STATUS_FLY; |
839 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
839 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
840 | { |
840 | { |
841 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
841 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
842 | if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl) |
842 | if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl) |
843 | { |
843 | { |
844 | FromNC_AltitudeSpeed = 80; |
844 | FromNC_AltitudeSpeed = 80; |
845 | FromNC_AltitudeSetpoint = 500; |
845 | FromNC_AltitudeSetpoint = 500; |
846 | SollHoehe = 500; |
846 | SollHoehe = 500; |
847 | trigger = 1000; |
847 | trigger = 1000; |
848 | if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP; |
848 | if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP; |
849 | /* if(StartTrigger != 2) |
849 | /* if(StartTrigger != 2) |
850 | { |
850 | { |
851 | StartTrigger = 1; |
851 | StartTrigger = 1; |
852 | if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
852 | if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
853 | } |
853 | } |
854 | */ |
854 | */ |
855 | } |
855 | } |
856 | // else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING); |
856 | // else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING); |
857 | #endif |
857 | #endif |
858 | if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
858 | if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
859 | { |
859 | { |
860 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
860 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
861 | trigger = 1000; |
861 | trigger = 1000; |
862 | if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/} |
862 | if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/} |
863 | else SpeakHoTT = SPEAK_RISING; |
863 | else SpeakHoTT = SPEAK_RISING; |
864 | #endif |
864 | #endif |
865 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
865 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
866 | } |
866 | } |
867 | SummeNick = 0; |
867 | SummeNick = 0; |
868 | SummeRoll = 0; |
868 | SummeRoll = 0; |
869 | Mess_Integral_Gier = 0; |
869 | Mess_Integral_Gier = 0; |
870 | // sollGier = 0; |
870 | // sollGier = 0; |
871 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
871 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
872 | } |
872 | } |
873 | else // Flying mode |
873 | else // Flying mode |
874 | { |
874 | { |
875 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
875 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
876 | if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl) |
876 | if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl) |
877 | { |
877 | { |
878 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
878 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
879 | FromNC_AltitudeSetpoint = -20000; |
879 | FromNC_AltitudeSetpoint = -20000; |
880 | } |
880 | } |
881 | if(trigger < 1000) |
881 | if(trigger < 1000) |
882 | { |
882 | { |
883 | trigger++; |
883 | trigger++; |
884 | SummeNick = 0; |
884 | SummeNick = 0; |
885 | SummeRoll = 0; |
885 | SummeRoll = 0; |
886 | Mess_Integral_Gier = 0; |
886 | Mess_Integral_Gier = 0; |
887 | SollHoehe = HoehenWertF - 300; |
887 | SollHoehe = HoehenWertF - 300; |
- | 888 | if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+') |
|
- | 889 | { |
|
- | 890 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
|
- | 891 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state |
|
- | 892 | } |
|
888 | } |
893 | } |
889 | else |
894 | else |
890 | if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
895 | if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
891 | { |
896 | { |
- | 897 | if(Aktuell_az > 940) |
|
- | 898 | { |
|
- | 899 | trigger = 0; |
|
892 | if(Aktuell_az > 940) { trigger = 0; SpeakHoTT = SPEAK_LANDING; }; |
900 | SpeakHoTT = SPEAK_LANDING; |
- | 901 | }; |
|
893 | } |
902 | } |
894 | #endif |
903 | #endif |
895 | } |
904 | } |
896 | } // end of: modell_fliegt > 256 |
905 | } // end of: modell_fliegt > 256 |
897 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
898 | { |
907 | { |
899 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
908 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
900 | // auf Nullwerte kalibrieren |
909 | // auf Nullwerte kalibrieren |
901 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
910 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
902 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
911 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
903 | { |
912 | { |
904 | if(++delay_neutral > 200) // nicht sofort |
913 | if(++delay_neutral > 200) // nicht sofort |
905 | { |
914 | { |
906 | delay_neutral = 0; |
915 | delay_neutral = 0; |
907 | modell_fliegt = 0; |
916 | modell_fliegt = 0; |
908 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
917 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
909 | { |
918 | { |
910 | unsigned char setting=1; |
919 | unsigned char setting=1; |
911 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
920 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
912 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
921 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
913 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
922 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
914 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
923 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
915 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
924 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
916 | SetActiveParamSet(setting); // aktiven Datensatz merken |
925 | SetActiveParamSet(setting); // aktiven Datensatz merken |
917 | } |
926 | } |
918 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
927 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
919 | { |
928 | { |
920 | WinkelOut.CalcState = 1; |
929 | WinkelOut.CalcState = 1; |
921 | CalibrationDone = 0; |
930 | CalibrationDone = 0; |
922 | beeptime = 1000; |
931 | beeptime = 1000; |
923 | } |
932 | } |
924 | else |
933 | else |
925 | { |
934 | { |
926 | ParamSet_ReadFromEEProm(ActiveParamSet); |
935 | ParamSet_ReadFromEEProm(ActiveParamSet); |
927 | LipoDetection(0); |
936 | LipoDetection(0); |
928 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
937 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
929 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
938 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
930 | { |
939 | { |
931 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
940 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
932 | } |
941 | } |
933 | // ServoActive = 0; |
942 | // ServoActive = 0; |
934 | CalibrationDone = SetNeutral(1); |
943 | CalibrationDone = SetNeutral(1); |
935 | ServoActive = 1; |
944 | ServoActive = 1; |
936 | DDRD |=0x80; // enable J7 -> Servo signal |
945 | DDRD |=0x80; // enable J7 -> Servo signal |
937 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
946 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
938 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
947 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
939 | else |
948 | else |
940 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
949 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
941 | else SpeakHoTT = SPEAK_CALIBRATE; |
950 | else SpeakHoTT = SPEAK_CALIBRATE; |
942 | ShowSettingName = 20; // for HoTT & Jeti (muss eine gerade Zahl sein) |
951 | ShowSettingNameTime = 5; // for HoTT & Jeti |
943 | #endif |
952 | #endif |
944 | Piep(ActiveParamSet,120); |
953 | Piep(ActiveParamSet,120); |
945 | } |
954 | } |
946 | } |
955 | } |
947 | } |
956 | } |
948 | else |
957 | else |
949 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
958 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
950 | { |
959 | { |
951 | if(++delay_neutral > 200) // nicht sofort |
960 | if(++delay_neutral > 200) // nicht sofort |
952 | { |
961 | { |
953 | MotorenEin = 0; |
962 | MotorenEin = 0; |
954 | delay_neutral = 0; |
963 | delay_neutral = 0; |
955 | modell_fliegt = 0; |
964 | modell_fliegt = 0; |
956 | CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
965 | CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
957 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
966 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
958 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
967 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
959 | else |
968 | else |
960 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
969 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
961 | else SpeakHoTT = SPEAK_CALIBRATE; |
970 | else SpeakHoTT = SPEAK_CALIBRATE; |
962 | #endif |
971 | #endif |
963 | Piep(ActiveParamSet,120); |
972 | Piep(ActiveParamSet,120); |
964 | } |
973 | } |
965 | } |
974 | } |
966 | else delay_neutral = 0; |
975 | else delay_neutral = 0; |
967 | } |
976 | } |
968 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
977 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
969 | // Gas ist unten |
978 | // Gas ist unten |
970 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
971 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < -100) |
980 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < -100) |
972 | { |
981 | { |
973 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
982 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
974 | else |
983 | else |
975 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
984 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
976 | // Motoren Starten |
985 | // Motoren Starten |
977 | if(!MotorenEin) |
986 | if(!MotorenEin) |
978 | { |
987 | { |
979 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
988 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
980 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
989 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
981 | { |
990 | { |
982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
991 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
983 | // Einschalten |
992 | // Einschalten |
984 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
985 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
994 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
986 | StartLuftdruck = Luftdruck; |
995 | StartLuftdruck = Luftdruck; |
987 | HoehenWertF = 0; |
996 | HoehenWertF = 0; |
988 | HoehenWert = 0; |
997 | HoehenWert = 0; |
989 | SummenHoehe = 0; |
998 | SummenHoehe = 0; |
990 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
999 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
991 | if(++delay_einschalten > 253) |
1000 | if(++delay_einschalten > 253) |
992 | { |
1001 | { |
993 | delay_einschalten = 0; |
1002 | delay_einschalten = 0; |
994 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1003 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
995 | { |
1004 | { |
996 | modell_fliegt = 1; |
1005 | modell_fliegt = 1; |
997 | MotorenEin = 1; |
1006 | MotorenEin = 1; |
998 | sollGier = 0; |
1007 | sollGier = 0; |
999 | Mess_Integral_Gier = 0; |
1008 | Mess_Integral_Gier = 0; |
1000 | Mess_Integral_Gier2 = 0; |
1009 | Mess_Integral_Gier2 = 0; |
1001 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
1010 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
1002 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
1011 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
1003 | Mess_IntegralNick2 = IntegralNick; |
1012 | Mess_IntegralNick2 = IntegralNick; |
1004 | Mess_IntegralRoll2 = IntegralRoll; |
1013 | Mess_IntegralRoll2 = IntegralRoll; |
1005 | SummeNick = 0; |
1014 | SummeNick = 0; |
1006 | SummeRoll = 0; |
1015 | SummeRoll = 0; |
1007 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1016 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1008 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1017 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1009 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1018 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1010 | SpeakHoTT = SPEAK_STARTING; |
1019 | SpeakHoTT = SPEAK_STARTING; |
1011 | #endif |
1020 | #endif |
1012 | } |
1021 | } |
1013 | else |
1022 | else |
1014 | { |
1023 | { |
1015 | beeptime = 1500; // indicate missing calibration |
1024 | beeptime = 1500; // indicate missing calibration |
1016 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1025 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1017 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
1026 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
1018 | #endif |
1027 | #endif |
1019 | } |
1028 | } |
1020 | } |
1029 | } |
1021 | } |
1030 | } |
1022 | else delay_einschalten = 0; |
1031 | else delay_einschalten = 0; |
1023 | } |
1032 | } |
1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1033 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1025 | // Auschalten |
1034 | // Auschalten |
1026 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1035 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1027 | else // only if motors are running |
1036 | else // only if motors are running |
1028 | { |
1037 | { |
1029 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1038 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
1030 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
1039 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
1031 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
1040 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
1032 | { |
1041 | { |
1033 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
1042 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
1034 | { |
1043 | { |
1035 | delay_ausschalten = 0; |
1044 | delay_ausschalten = 0; |
1036 | } |
1045 | } |
1037 | else |
1046 | else |
1038 | { |
1047 | { |
1039 | SummeNick = 0; |
1048 | SummeNick = 0; |
1040 | SummeRoll = 0; |
1049 | SummeRoll = 0; |
1041 | StickNick = 0; |
1050 | StickNick = 0; |
1042 | StickRoll = 0; |
1051 | StickRoll = 0; |
1043 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1052 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1044 | SpeakHoTT = SPEAK_MK_OFF; |
1053 | SpeakHoTT = SPEAK_MK_OFF; |
1045 | #endif |
1054 | #endif |
1046 | } |
1055 | } |
1047 | if(++delay_ausschalten > 250) // nicht sofort |
1056 | if(++delay_ausschalten > 250) // nicht sofort |
1048 | { |
1057 | { |
1049 | MotorenEin = 0; |
1058 | MotorenEin = 0; |
1050 | delay_ausschalten = 0; |
1059 | delay_ausschalten = 0; |
1051 | modell_fliegt = 0; |
1060 | modell_fliegt = 0; |
1052 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
1061 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
1053 | } |
1062 | } |
1054 | } |
1063 | } |
1055 | else delay_ausschalten = 0; |
1064 | else delay_ausschalten = 0; |
1056 | } |
1065 | } |
1057 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
1066 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
1058 | } |
1067 | } |
1059 | else // gas not at minimum |
1068 | else // gas not at minimum |
1060 | { |
1069 | { |
1061 | move_safety_switch = 0; |
1070 | move_safety_switch = 0; |
1062 | GasIsZeroCnt = 0; |
1071 | GasIsZeroCnt = 0; |
1063 | } |
1072 | } |
1064 | } |
1073 | } |
1065 | else // Empfang zwischen 100 und 140 -> schlecht |
1074 | else // Empfang zwischen 100 und 140 -> schlecht |
1066 | { |
1075 | { |
1067 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
1076 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
1068 | { |
1077 | { |
1069 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
1078 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
1070 | { |
1079 | { |
1071 | GasIsZeroCnt = 30000; |
1080 | GasIsZeroCnt = 30000; |
1072 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
1081 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
1073 | } |
1082 | } |
1074 | } |
1083 | } |
1075 | } |
1084 | } |
1076 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1085 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1077 | // neue Werte von der Funke |
1086 | // neue Werte von der Funke |
1078 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1079 | 1088 | ||
1080 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1089 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1081 | { |
1090 | { |
1082 | static int stick_nick,stick_roll; |
1091 | static int stick_nick,stick_roll; |
1083 | unsigned char stick_p; |
1092 | unsigned char stick_p; |
1084 | ParameterZuordnung(); |
1093 | ParameterZuordnung(); |
1085 | stick_p = EE_Parameter.Stick_P; |
1094 | stick_p = EE_Parameter.Stick_P; |
1086 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
1095 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
1087 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1096 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
1088 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
1097 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
1089 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
1098 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
1090 | 1099 | ||
1091 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1092 | // CareFree und freie Wahl der vorderen Richtung |
1101 | // CareFree und freie Wahl der vorderen Richtung |
1093 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1102 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1094 | if(CareFree) |
1103 | if(CareFree) |
1095 | { |
1104 | { |
1096 | signed int nick, roll; |
1105 | signed int nick, roll; |
1097 | nick = stick_nick / 4; |
1106 | nick = stick_nick / 4; |
1098 | roll = stick_roll / 4; |
1107 | roll = stick_roll / 4; |
1099 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
1108 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
1100 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
1109 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
1101 | } |
1110 | } |
1102 | else |
1111 | else |
1103 | { |
1112 | { |
1104 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
1113 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
1105 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
1114 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
1106 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
1115 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
1107 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
1116 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
1108 | } |
1117 | } |
1109 | 1118 | ||
1110 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1119 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
1111 | if(StickGier > 4) StickGier -= 4; else |
1120 | if(StickGier > 4) StickGier -= 4; else |
1112 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
1121 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
1113 | 1122 | ||
1114 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1123 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
1115 | { |
1124 | { |
1116 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
1125 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
1117 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
1126 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
1118 | } |
1127 | } |
1119 | 1128 | ||
1120 | StickNick -= GPS_Nick; |
1129 | StickNick -= GPS_Nick; |
1121 | StickRoll -= GPS_Roll; |
1130 | StickRoll -= GPS_Roll; |
1122 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1131 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
1123 | 1132 | ||
1124 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1133 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
1125 | IntegralFaktor = Parameter_Gyro_I; |
1134 | IntegralFaktor = Parameter_Gyro_I; |
1126 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1135 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
1127 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
1136 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
1128 | 1137 | ||
1129 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1138 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1130 | //+ Analoge Steuerung per Seriell |
1139 | //+ Analoge Steuerung per Seriell |
1131 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1132 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
1141 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
1133 | { |
1142 | { |
1134 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
1143 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
1135 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
1144 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
1136 | StickGier += ExternControl.Gier; |
1145 | StickGier += ExternControl.Gier; |
1137 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
1146 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
1138 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
1147 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
1139 | } |
1148 | } |
1140 | if(StickGas < 0) StickGas = 0; |
1149 | if(StickGas < 0) StickGas = 0; |
1141 | 1150 | ||
1142 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1151 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
1143 | 1152 | ||
1144 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
1153 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
1145 | { |
1154 | { |
1146 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
1155 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
1147 | if(MaxStickNick > 100) MaxStickNick = 100; |
1156 | if(MaxStickNick > 100) MaxStickNick = 100; |
1148 | } |
1157 | } |
1149 | else MaxStickNick--; |
1158 | else MaxStickNick--; |
1150 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
1159 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
1151 | { |
1160 | { |
1152 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
1161 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
1153 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1162 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
1154 | } |
1163 | } |
1155 | else MaxStickRoll--; |
1164 | else MaxStickRoll--; |
1156 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
1165 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
1157 | 1166 | ||
1158 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1159 | // Looping? |
1168 | // Looping? |
1160 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1161 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1170 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
1162 | else |
1171 | else |
1163 | { |
1172 | { |
1164 | { |
1173 | { |
1165 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1174 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
1166 | } |
1175 | } |
1167 | } |
1176 | } |
1168 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1177 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
1169 | else |
1178 | else |
1170 | { |
1179 | { |
1171 | if(Looping_Rechts) // Hysterese |
1180 | if(Looping_Rechts) // Hysterese |
1172 | { |
1181 | { |
1173 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
1182 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
1174 | } |
1183 | } |
1175 | } |
1184 | } |
1176 | 1185 | ||
1177 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1186 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
1178 | else |
1187 | else |
1179 | { |
1188 | { |
1180 | if(Looping_Oben) // Hysterese |
1189 | if(Looping_Oben) // Hysterese |
1181 | { |
1190 | { |
1182 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1191 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
1183 | } |
1192 | } |
1184 | } |
1193 | } |
1185 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1194 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
1186 | else |
1195 | else |
1187 | { |
1196 | { |
1188 | if(Looping_Unten) // Hysterese |
1197 | if(Looping_Unten) // Hysterese |
1189 | { |
1198 | { |
1190 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
1199 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
1191 | } |
1200 | } |
1192 | } |
1201 | } |
1193 | 1202 | ||
1194 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
1203 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
1195 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
1204 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
1196 | } // Ende neue Funken-Werte |
1205 | } // Ende neue Funken-Werte |
1197 | 1206 | ||
1198 | if(Looping_Roll || Looping_Nick) |
1207 | if(Looping_Roll || Looping_Nick) |
1199 | { |
1208 | { |
1200 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1209 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
1201 | TrichterFlug = 1; |
1210 | TrichterFlug = 1; |
1202 | } |
1211 | } |
1203 | 1212 | ||
1204 | 1213 | ||
1205 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1214 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1206 | // Bei Empfangsausfall im Flug |
1215 | // Bei Empfangsausfall im Flug |
1207 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1216 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1208 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1217 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1209 | { |
1218 | { |
1210 | StickNick = -GPS_Nick; |
1219 | StickNick = -GPS_Nick; |
1211 | StickRoll = -GPS_Roll; |
1220 | StickRoll = -GPS_Roll; |
1212 | StickGas = StickGasHover; |
1221 | StickGas = StickGasHover; |
1213 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1222 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1214 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1223 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1215 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1224 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1216 | Parameter_HoehenSchalter = 200; // switch on |
1225 | Parameter_HoehenSchalter = 200; // switch on |
1217 | } |
1226 | } |
1218 | else |
1227 | else |
1219 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1228 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
1220 | { |
1229 | { |
1221 | StickGier = 0; |
1230 | StickGier = 0; |
1222 | StickNick = 0; |
1231 | StickNick = 0; |
1223 | StickRoll = 0; |
1232 | StickRoll = 0; |
1224 | GyroFaktor = 90; |
1233 | GyroFaktor = 90; |
1225 | IntegralFaktor = 120; |
1234 | IntegralFaktor = 120; |
1226 | GyroFaktorGier = 90; |
1235 | GyroFaktorGier = 90; |
1227 | IntegralFaktorGier = 120; |
1236 | IntegralFaktorGier = 120; |
1228 | Looping_Roll = 0; |
1237 | Looping_Roll = 0; |
1229 | Looping_Nick = 0; |
1238 | Looping_Nick = 0; |
1230 | } |
1239 | } |
1231 | 1240 | ||
1232 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1241 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1233 | // Integrale auf ACC-Signal abgleichen |
1242 | // Integrale auf ACC-Signal abgleichen |
1234 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1243 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1235 | #define ABGLEICH_ANZAHL 256L |
1244 | #define ABGLEICH_ANZAHL 256L |
1236 | 1245 | ||
1237 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1246 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
1238 | MittelIntegralRoll += IntegralRoll; |
1247 | MittelIntegralRoll += IntegralRoll; |
1239 | MittelIntegralNick2 += IntegralNick2; |
1248 | MittelIntegralNick2 += IntegralNick2; |
1240 | MittelIntegralRoll2 += IntegralRoll2; |
1249 | MittelIntegralRoll2 += IntegralRoll2; |
1241 | 1250 | ||
1242 | if(Looping_Nick || Looping_Roll) |
1251 | if(Looping_Nick || Looping_Roll) |
1243 | { |
1252 | { |
1244 | IntegralAccNick = 0; |
1253 | IntegralAccNick = 0; |
1245 | IntegralAccRoll = 0; |
1254 | IntegralAccRoll = 0; |
1246 | MittelIntegralNick = 0; |
1255 | MittelIntegralNick = 0; |
1247 | MittelIntegralRoll = 0; |
1256 | MittelIntegralRoll = 0; |
1248 | MittelIntegralNick2 = 0; |
1257 | MittelIntegralNick2 = 0; |
1249 | MittelIntegralRoll2 = 0; |
1258 | MittelIntegralRoll2 = 0; |
1250 | Mess_IntegralNick2 = Mess_IntegralNick; |
1259 | Mess_IntegralNick2 = Mess_IntegralNick; |
1251 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1260 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
1252 | ZaehlMessungen = 0; |
1261 | ZaehlMessungen = 0; |
1253 | LageKorrekturNick = 0; |
1262 | LageKorrekturNick = 0; |
1254 | LageKorrekturRoll = 0; |
1263 | LageKorrekturRoll = 0; |
1255 | } |
1264 | } |
1256 | 1265 | ||
1257 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1266 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1258 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1267 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1259 | { |
1268 | { |
1260 | long tmp_long, tmp_long2; |
1269 | long tmp_long, tmp_long2; |
1261 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1270 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1262 | { |
1271 | { |
1263 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1272 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1264 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1273 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1265 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1274 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1266 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1275 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1267 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1276 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1268 | { |
1277 | { |
1269 | tmp_long /= 2; |
1278 | tmp_long /= 2; |
1270 | tmp_long2 /= 2; |
1279 | tmp_long2 /= 2; |
1271 | } |
1280 | } |
1272 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1281 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1273 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1282 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1274 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1283 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1275 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1284 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1276 | } |
1285 | } |
1277 | else |
1286 | else |
1278 | { |
1287 | { |
1279 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1288 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1280 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1289 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1281 | tmp_long /= 16; |
1290 | tmp_long /= 16; |
1282 | tmp_long2 /= 16; |
1291 | tmp_long2 /= 16; |
1283 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1292 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1284 | { |
1293 | { |
1285 | tmp_long /= 3; |
1294 | tmp_long /= 3; |
1286 | tmp_long2 /= 3; |
1295 | tmp_long2 /= 3; |
1287 | } |
1296 | } |
1288 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1297 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1289 | { |
1298 | { |
1290 | tmp_long /= 3; |
1299 | tmp_long /= 3; |
1291 | tmp_long2 /= 3; |
1300 | tmp_long2 /= 3; |
1292 | } |
1301 | } |
1293 | KompassFusion = 25; |
1302 | KompassFusion = 25; |
1294 | #define AUSGLEICH 32 |
1303 | #define AUSGLEICH 32 |
1295 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1304 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1296 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1305 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1297 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1306 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1298 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1307 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1299 | } |
1308 | } |
1300 | 1309 | ||
1301 | Mess_IntegralNick -= tmp_long; |
1310 | Mess_IntegralNick -= tmp_long; |
1302 | Mess_IntegralRoll -= tmp_long2; |
1311 | Mess_IntegralRoll -= tmp_long2; |
1303 | } |
1312 | } |
1304 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1313 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1305 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1314 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1306 | { |
1315 | { |
1307 | static int cnt = 0; |
1316 | static int cnt = 0; |
1308 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1317 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1309 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1318 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1310 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1319 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1311 | { |
1320 | { |
1312 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1321 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1313 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1322 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1314 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1323 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1315 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1324 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1316 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1325 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1317 | #define MAX_I 0 |
1326 | #define MAX_I 0 |
1318 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1327 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1319 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1328 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1320 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1329 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1321 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1330 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1322 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1331 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1323 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1332 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1324 | 1333 | ||
1325 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1334 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1326 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1335 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1327 | 1336 | ||
1328 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1337 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1329 | { |
1338 | { |
1330 | LageKorrekturNick /= 2; |
1339 | LageKorrekturNick /= 2; |
1331 | LageKorrekturRoll /= 2; |
1340 | LageKorrekturRoll /= 2; |
1332 | } |
1341 | } |
1333 | 1342 | ||
1334 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1343 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1335 | // Gyro-Drift ermitteln |
1344 | // Gyro-Drift ermitteln |
1336 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1345 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1337 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1346 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1338 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1347 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1339 | tmp_long = IntegralNick2 - IntegralNick; |
1348 | tmp_long = IntegralNick2 - IntegralNick; |
1340 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1349 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1341 | 1350 | ||
1342 | IntegralFehlerNick = tmp_long; |
1351 | IntegralFehlerNick = tmp_long; |
1343 | IntegralFehlerRoll = tmp_long2; |
1352 | IntegralFehlerRoll = tmp_long2; |
1344 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1353 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1345 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1354 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1346 | 1355 | ||
1347 | if(EE_Parameter.Driftkomp) |
1356 | if(EE_Parameter.Driftkomp) |
1348 | { |
1357 | { |
1349 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1358 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1350 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1359 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1351 | } |
1360 | } |
1352 | GierGyroFehler = 0; |
1361 | GierGyroFehler = 0; |
1353 | 1362 | ||
1354 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1363 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1355 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1364 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1356 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1365 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1357 | #define BEWEGUNGS_LIMIT 20000 |
1366 | #define BEWEGUNGS_LIMIT 20000 |
1358 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1367 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1359 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1368 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1360 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1369 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1361 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1370 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1362 | { |
1371 | { |
1363 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1372 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1364 | { |
1373 | { |
1365 | if(last_n_p) |
1374 | if(last_n_p) |
1366 | { |
1375 | { |
1367 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1376 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1368 | ausgleichNick = IntegralFehlerNick / 8; |
1377 | ausgleichNick = IntegralFehlerNick / 8; |
1369 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1378 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1370 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1379 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1371 | } |
1380 | } |
1372 | else last_n_p = 1; |
1381 | else last_n_p = 1; |
1373 | } else last_n_p = 0; |
1382 | } else last_n_p = 0; |
1374 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1383 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1375 | { |
1384 | { |
1376 | if(last_n_n) |
1385 | if(last_n_n) |
1377 | { |
1386 | { |
1378 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1387 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1379 | ausgleichNick = IntegralFehlerNick / 8; |
1388 | ausgleichNick = IntegralFehlerNick / 8; |
1380 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1389 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1381 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1390 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1382 | } |
1391 | } |
1383 | else last_n_n = 1; |
1392 | else last_n_n = 1; |
1384 | } else last_n_n = 0; |
1393 | } else last_n_n = 0; |
1385 | } |
1394 | } |
1386 | else |
1395 | else |
1387 | { |
1396 | { |
1388 | cnt = 0; |
1397 | cnt = 0; |
1389 | KompassSignalSchlecht = 100; |
1398 | KompassSignalSchlecht = 100; |
1390 | } |
1399 | } |
1391 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1400 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1392 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1401 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1393 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1402 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1394 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1403 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1395 | 1404 | ||
1396 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1405 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1397 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1406 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1398 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1407 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1399 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1408 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1400 | { |
1409 | { |
1401 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1410 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1402 | { |
1411 | { |
1403 | if(last_r_p) |
1412 | if(last_r_p) |
1404 | { |
1413 | { |
1405 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1414 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1406 | ausgleichRoll = IntegralFehlerRoll / 8; |
1415 | ausgleichRoll = IntegralFehlerRoll / 8; |
1407 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1416 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1408 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1417 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1409 | } |
1418 | } |
1410 | else last_r_p = 1; |
1419 | else last_r_p = 1; |
1411 | } else last_r_p = 0; |
1420 | } else last_r_p = 0; |
1412 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1421 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1413 | { |
1422 | { |
1414 | if(last_r_n) |
1423 | if(last_r_n) |
1415 | { |
1424 | { |
1416 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1425 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1417 | ausgleichRoll = IntegralFehlerRoll / 8; |
1426 | ausgleichRoll = IntegralFehlerRoll / 8; |
1418 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1427 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1419 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1428 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1420 | } |
1429 | } |
1421 | else last_r_n = 1; |
1430 | else last_r_n = 1; |
1422 | } else last_r_n = 0; |
1431 | } else last_r_n = 0; |
1423 | } else |
1432 | } else |
1424 | { |
1433 | { |
1425 | cnt = 0; |
1434 | cnt = 0; |
1426 | KompassSignalSchlecht = 100; |
1435 | KompassSignalSchlecht = 100; |
1427 | } |
1436 | } |
1428 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1437 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1429 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1438 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1430 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1439 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1431 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1440 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1432 | } |
1441 | } |
1433 | else |
1442 | else |
1434 | { |
1443 | { |
1435 | LageKorrekturRoll = 0; |
1444 | LageKorrekturRoll = 0; |
1436 | LageKorrekturNick = 0; |
1445 | LageKorrekturNick = 0; |
1437 | TrichterFlug = 0; |
1446 | TrichterFlug = 0; |
1438 | } |
1447 | } |
1439 | 1448 | ||
1440 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1449 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1450 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1442 | MittelIntegralNick_Alt = MittelIntegralNick; |
1451 | MittelIntegralNick_Alt = MittelIntegralNick; |
1443 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1452 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1444 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1453 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1445 | IntegralAccNick = 0; |
1454 | IntegralAccNick = 0; |
1446 | IntegralAccRoll = 0; |
1455 | IntegralAccRoll = 0; |
1447 | IntegralAccZ = 0; |
1456 | IntegralAccZ = 0; |
1448 | MittelIntegralNick = 0; |
1457 | MittelIntegralNick = 0; |
1449 | MittelIntegralRoll = 0; |
1458 | MittelIntegralRoll = 0; |
1450 | MittelIntegralNick2 = 0; |
1459 | MittelIntegralNick2 = 0; |
1451 | MittelIntegralRoll2 = 0; |
1460 | MittelIntegralRoll2 = 0; |
1452 | ZaehlMessungen = 0; |
1461 | ZaehlMessungen = 0; |
1453 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1462 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1454 | 1463 | ||
1455 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1464 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1456 | // Gieren |
1465 | // Gieren |
1457 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1466 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1458 | if(abs(StickGier) > 3) // war 15 |
1467 | if(abs(StickGier) > 3) // war 15 |
1459 | { |
1468 | { |
1460 | // KompassSignalSchlecht = 1000; |
1469 | // KompassSignalSchlecht = 1000; |
1461 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1470 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
1462 | { |
1471 | { |
1463 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1472 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1464 | }; |
1473 | }; |
1465 | } |
1474 | } |
1466 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1475 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1467 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1476 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
1468 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
1477 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
1469 | tmp_int += CompassGierSetpoint; |
1478 | tmp_int += CompassGierSetpoint; |
1470 | sollGier = tmp_int; |
1479 | sollGier = tmp_int; |
1471 | Mess_Integral_Gier -= tmp_int; |
1480 | Mess_Integral_Gier -= tmp_int; |
1472 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1481 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1473 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1482 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1474 | 1483 | ||
1475 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1484 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1476 | // Kompass |
1485 | // Kompass |
1477 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1486 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1478 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1487 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
1479 | { |
1488 | { |
1480 | if(CalculateCompassTimer-- == 1) |
1489 | if(CalculateCompassTimer-- == 1) |
1481 | { |
1490 | { |
1482 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1491 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1483 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1492 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1484 | // max. Korrekturwert schätzen |
1493 | // max. Korrekturwert schätzen |
1485 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1494 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1486 | v = abs(IntegralRoll /512); |
1495 | v = abs(IntegralRoll /512); |
1487 | if(v > w) w = v; // grösste Neigung ermitteln |
1496 | if(v > w) w = v; // grösste Neigung ermitteln |
1488 | // korrektur = w / 4 + 1; |
1497 | // korrektur = w / 4 + 1; |
1489 | korrektur = w / 8 + 2; |
1498 | korrektur = w / 8 + 2; |
1490 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1499 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
1491 | // Kompassfehlerwert bestimmen |
1500 | // Kompassfehlerwert bestimmen |
1492 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1501 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
1493 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1502 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1494 | // Kompasswert einloggen |
1503 | // Kompasswert einloggen |
1495 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1504 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1496 | else |
1505 | else |
1497 | if(w < 25) |
1506 | if(w < 25) |
1498 | { |
1507 | { |
1499 | GierGyroFehler += fehler; |
1508 | GierGyroFehler += fehler; |
1500 | if(NeueKompassRichtungMerken) |
1509 | if(NeueKompassRichtungMerken) |
1501 | { |
1510 | { |
1502 | if(--NeueKompassRichtungMerken == 0) |
1511 | if(--NeueKompassRichtungMerken == 0) |
1503 | { |
1512 | { |
1504 | KompassSollWert = ErsatzKompassInGrad; |
1513 | KompassSollWert = ErsatzKompassInGrad; |
1505 | } |
1514 | } |
1506 | } |
1515 | } |
1507 | } |
1516 | } |
1508 | // Kompass fusionieren |
1517 | // Kompass fusionieren |
1509 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1518 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1510 | // MK Gieren |
1519 | // MK Gieren |
1511 | if(!NeueKompassRichtungMerken) |
1520 | if(!NeueKompassRichtungMerken) |
1512 | { |
1521 | { |
1513 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1522 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
1514 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1523 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1515 | CompassGierSetpoint = v / 16; |
1524 | CompassGierSetpoint = v / 16; |
1516 | } |
1525 | } |
1517 | else CompassGierSetpoint = 0; |
1526 | else CompassGierSetpoint = 0; |
1518 | } // CalculateCompassTimer |
1527 | } // CalculateCompassTimer |
1519 | } |
1528 | } |
1520 | else CompassGierSetpoint = 0; |
1529 | else CompassGierSetpoint = 0; |
1521 | 1530 | ||
1522 | //DebugOut.Analog[16] = KompassFusion; |
1531 | //DebugOut.Analog[16] = KompassFusion; |
1523 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1532 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1524 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1533 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1525 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1534 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1526 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1535 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1527 | 1536 | ||
1528 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1537 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1529 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1538 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1530 | 1539 | ||
1531 | #define TRIM_MAX 200 |
1540 | #define TRIM_MAX 200 |
1532 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1541 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1533 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1542 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1534 | 1543 | ||
1535 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1544 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1536 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1545 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1537 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1546 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1538 | 1547 | ||
1539 | // Maximalwerte abfangen |
1548 | // Maximalwerte abfangen |
1540 | #define MAX_SENSOR (4096) |
1549 | #define MAX_SENSOR (4096) |
1541 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1550 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1542 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1551 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1543 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1552 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1544 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1553 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1545 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1554 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1546 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1555 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1547 | 1556 | ||
1548 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1557 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1549 | // Höhenregelung |
1558 | // Höhenregelung |
1550 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1559 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1551 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1560 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1552 | GasMischanteil *= STICK_GAIN; |
1561 | GasMischanteil *= STICK_GAIN; |
1553 | // if height control is activated |
1562 | // if height control is activated |
1554 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
1563 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
1555 | { |
1564 | { |
1556 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1565 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1557 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1566 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1558 | 1567 | ||
1559 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1568 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1560 | #define OPA_OFFSET_STEP 15 |
1569 | #define OPA_OFFSET_STEP 15 |
1561 | #else |
1570 | #else |
1562 | #define OPA_OFFSET_STEP 10 |
1571 | #define OPA_OFFSET_STEP 10 |
1563 | #endif |
1572 | #endif |
1564 | int HCGas, GasReduction = 0; |
1573 | int HCGas, GasReduction = 0; |
1565 | static int HeightTrimming = 0; // rate for change of height setpoint |
1574 | static int HeightTrimming = 0; // rate for change of height setpoint |
1566 | static int HeightDeviation = 0, FilterHCGas = 0; |
1575 | static int HeightDeviation = 0, FilterHCGas = 0; |
1567 | static unsigned long HoverGasFilter = 0; |
1576 | static unsigned long HoverGasFilter = 0; |
1568 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1577 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1569 | 1578 | ||
1570 | 1579 | ||
1571 | // Expand the measurement |
1580 | // Expand the measurement |
1572 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1581 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1573 | if(!BaroExpandActive) |
1582 | if(!BaroExpandActive) |
1574 | { |
1583 | { |
1575 | if(MessLuftdruck > 920) |
1584 | if(MessLuftdruck > 920) |
1576 | { // increase offset |
1585 | { // increase offset |
1577 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1586 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1578 | { |
1587 | { |
1579 | ExpandBaro -= 1; |
1588 | ExpandBaro -= 1; |
1580 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1589 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1581 | beeptime = 300; |
1590 | beeptime = 300; |
1582 | BaroExpandActive = 350; |
1591 | BaroExpandActive = 350; |
1583 | } |
1592 | } |
1584 | else |
1593 | else |
1585 | { |
1594 | { |
1586 | BaroAtLowerLimit = 1; |
1595 | BaroAtLowerLimit = 1; |
1587 | } |
1596 | } |
1588 | } |
1597 | } |
1589 | // measurement of air pressure close to lower limit and |
1598 | // measurement of air pressure close to lower limit and |
1590 | else |
1599 | else |
1591 | if(MessLuftdruck < 100) |
1600 | if(MessLuftdruck < 100) |
1592 | { // decrease offset |
1601 | { // decrease offset |
1593 | if(OCR0A > OPA_OFFSET_STEP) |
1602 | if(OCR0A > OPA_OFFSET_STEP) |
1594 | { |
1603 | { |
1595 | ExpandBaro += 1; |
1604 | ExpandBaro += 1; |
1596 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1605 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1597 | beeptime = 300; |
1606 | beeptime = 300; |
1598 | BaroExpandActive = 350; |
1607 | BaroExpandActive = 350; |
1599 | } |
1608 | } |
1600 | else |
1609 | else |
1601 | { |
1610 | { |
1602 | BaroAtUpperLimit = 1; |
1611 | BaroAtUpperLimit = 1; |
1603 | } |
1612 | } |
1604 | } |
1613 | } |
1605 | else |
1614 | else |
1606 | { |
1615 | { |
1607 | BaroAtUpperLimit = 0; |
1616 | BaroAtUpperLimit = 0; |
1608 | BaroAtLowerLimit = 0; |
1617 | BaroAtLowerLimit = 0; |
1609 | } |
1618 | } |
1610 | } |
1619 | } |
1611 | else // delay, because of expanding the Baro-Range |
1620 | else // delay, because of expanding the Baro-Range |
1612 | { |
1621 | { |
1613 | // now clear the D-values |
1622 | // now clear the D-values |
1614 | VarioMeter = 0; |
1623 | VarioMeter = 0; |
1615 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1624 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1616 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
1625 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
1617 | else SummenHoehe = HoehenWert * SM_FILTER; |
1626 | else SummenHoehe = HoehenWert * SM_FILTER; |
1618 | #else |
1627 | #else |
1619 | SummenHoehe = HoehenWert * SM_FILTER; |
1628 | SummenHoehe = HoehenWert * SM_FILTER; |
1620 | #endif |
1629 | #endif |
1621 | BaroExpandActive--; |
1630 | BaroExpandActive--; |
1622 | } |
1631 | } |
1623 | // if height control is activated by an rc channel |
1632 | // if height control is activated by an rc channel |
1624 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1633 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1625 | { // check if parameter is less than activation threshold |
1634 | { // check if parameter is less than activation threshold |
1626 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1635 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1627 | { //height control not active |
1636 | { //height control not active |
1628 | if(!delay--) |
1637 | if(!delay--) |
1629 | { |
1638 | { |
1630 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1639 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1631 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
1640 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
1632 | #endif |
1641 | #endif |
1633 | HoehenReglerAktiv = 0; // disable height control |
1642 | HoehenReglerAktiv = 0; // disable height control |
1634 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1643 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1635 | delay = 1; |
1644 | delay = 1; |
1636 | } |
1645 | } |
1637 | } |
1646 | } |
1638 | else |
1647 | else |
1639 | if(Parameter_HoehenSchalter > 70) |
1648 | if(Parameter_HoehenSchalter > 70) |
1640 | { //height control is activated |
1649 | { //height control is activated |
1641 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1650 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1642 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
1651 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
1643 | #endif |
1652 | #endif |
1644 | delay = 200; |
1653 | delay = 200; |
1645 | HoehenReglerAktiv = 1; // enable height control |
1654 | HoehenReglerAktiv = 1; // enable height control |
1646 | } |
1655 | } |
1647 | } |
1656 | } |
1648 | else // no switchable height control |
1657 | else // no switchable height control |
1649 | { |
1658 | { |
1650 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1659 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1651 | HoehenReglerAktiv = 1; |
1660 | HoehenReglerAktiv = 1; |
1652 | } |
1661 | } |
1653 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1662 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1654 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1663 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1655 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1664 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1656 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1665 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1657 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1666 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1658 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1667 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1659 | VarioCharacter = ' '; |
1668 | VarioCharacter = ' '; |
1660 | AltitudeSetpointTrimming = 0; |
1669 | AltitudeSetpointTrimming = 0; |
1661 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1670 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1662 | { |
1671 | { |
1663 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1672 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1664 | // Holger original version |
1673 | // Holger original version |
1665 | // start of height control algorithm |
1674 | // start of height control algorithm |
1666 | // the height control is only an attenuation of the actual gas stick. |
1675 | // the height control is only an attenuation of the actual gas stick. |
1667 | // I.e. it will work only if the gas stick is higher than the hover gas |
1676 | // I.e. it will work only if the gas stick is higher than the hover gas |
1668 | // and the hover height will be allways larger than height setpoint. |
1677 | // and the hover height will be allways larger than height setpoint. |
1669 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1678 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1670 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1679 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1671 | { // old version |
1680 | { // old version |
1672 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1681 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1673 | HeightTrimming = 0; |
1682 | HeightTrimming = 0; |
1674 | AltitudeSetpointTrimming = 0; |
1683 | AltitudeSetpointTrimming = 0; |
1675 | // set both flags to indicate no vario mode |
1684 | // set both flags to indicate no vario mode |
1676 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1685 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1677 | } |
1686 | } |
1678 | else |
1687 | else |
1679 | { |
1688 | { |
1680 | // alternative height control |
1689 | // alternative height control |
1681 | // PD-Control with respect to hoover point |
1690 | // PD-Control with respect to hoover point |
1682 | // the thrust loss out of horizontal attitude is compensated |
1691 | // the thrust loss out of horizontal attitude is compensated |
1683 | // the setpoint will be fine adjusted with the gas stick position |
1692 | // the setpoint will be fine adjusted with the gas stick position |
1684 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1693 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1685 | { // gas stick is above hoover point |
1694 | { // gas stick is above hoover point |
1686 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1695 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1687 | { |
1696 | { |
1688 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
1697 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
1689 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1698 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1690 | { |
1699 | { |
1691 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1700 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1692 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1701 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1693 | } |
1702 | } |
1694 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1703 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1695 | // Limit the maximum Altitude |
1704 | // Limit the maximum Altitude |
1696 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1705 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
1697 | else |
1706 | else |
1698 | { |
1707 | { |
1699 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1708 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
1700 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1709 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1701 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1710 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1702 | VarioCharacter = '+'; |
1711 | VarioCharacter = '+'; |
1703 | } |
1712 | } |
1704 | WaypointTrimming = 0; |
1713 | WaypointTrimming = 0; |
1705 | } // gas stick is below hoover point |
1714 | } // gas stick is below hoover point |
1706 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1715 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1707 | { |
1716 | { |
1708 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1717 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1709 | { |
1718 | { |
1710 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1719 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1711 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1720 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1712 | } |
1721 | } |
1713 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1722 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1714 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1723 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1715 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1724 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1716 | VarioCharacter = '-'; |
1725 | VarioCharacter = '-'; |
1717 | WaypointTrimming = 0; |
1726 | WaypointTrimming = 0; |
1718 | } |
1727 | } |
1719 | else // Gas Stick in Hover Range |
1728 | else // Gas Stick in Hover Range |
1720 | { |
1729 | { |
1721 | VarioCharacter = '='; |
1730 | VarioCharacter = '='; |
1722 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1731 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1723 | { |
1732 | { |
1724 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1733 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1725 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1734 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
1726 | //HeightTrimming += FromNC_AltitudeSpeed; |
1735 | //HeightTrimming += FromNC_AltitudeSpeed; |
1727 | WaypointTrimming = 10; |
1736 | WaypointTrimming = 10; |
1728 | VarioCharacter = '^'; |
1737 | VarioCharacter = '^'; |
1729 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1738 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
1730 | { |
1739 | { |
1731 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1740 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1732 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1741 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1733 | } |
1742 | } |
1734 | } |
1743 | } |
1735 | else |
1744 | else |
1736 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1745 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1737 | { |
1746 | { |
1738 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1747 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1739 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1748 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
1740 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1749 | //HeightTrimming -= FromNC_AltitudeSpeed; |
1741 | WaypointTrimming = -10; |
1750 | WaypointTrimming = -10; |
1742 | VarioCharacter = 'v'; |
1751 | VarioCharacter = 'v'; |
1743 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1752 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
1744 | { |
1753 | { |
1745 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1754 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1746 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1755 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
1747 | } |
1756 | } |
1748 | } |
1757 | } |
1749 | else |
1758 | else |
1750 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1759 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1751 | { |
1760 | { |
1752 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1761 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
1753 | else WaypointTrimming = 0; |
1762 | else WaypointTrimming = 0; |
1754 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1763 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1755 | HeightTrimming = 0; |
1764 | HeightTrimming = 0; |
1756 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1765 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1757 | if(!StartTrigger && HoehenWert > 50) |
1766 | if(!StartTrigger && HoehenWert > 50) |
1758 | { |
1767 | { |
1759 | StartTrigger = 1; |
1768 | StartTrigger = 1; |
1760 | } |
1769 | } |
1761 | } |
1770 | } |
1762 | } |
1771 | } |
1763 | // Trim height set point |
1772 | // Trim height set point |
1764 | HeightTrimming += AltitudeSetpointTrimming; |
1773 | HeightTrimming += AltitudeSetpointTrimming; |
1765 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1774 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
1766 | { |
1775 | { |
1767 | if(WaypointTrimming) |
1776 | if(WaypointTrimming) |
1768 | { |
1777 | { |
1769 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1778 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1770 | else SollHoehe += WaypointTrimming; |
1779 | else SollHoehe += WaypointTrimming; |
1771 | } |
1780 | } |
1772 | else |
1781 | else |
1773 | { |
1782 | { |
1774 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1783 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1775 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1784 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1776 | } |
1785 | } |
1777 | HeightTrimming = 0; |
1786 | HeightTrimming = 0; |
1778 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1787 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1779 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1788 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1780 | //update hoover gas stick value when setpoint is shifted |
1789 | //update hoover gas stick value when setpoint is shifted |
1781 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1790 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1782 | { |
1791 | { |
1783 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1792 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1784 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1793 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1785 | if(StickGasHover < 70) StickGasHover = 70; |
1794 | if(StickGasHover < 70) StickGasHover = 70; |
1786 | else if(StickGasHover > 150) StickGasHover = 150; |
1795 | else if(StickGasHover > 150) StickGasHover = 150; |
1787 | } |
1796 | } |
1788 | } |
1797 | } |
1789 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1798 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
1790 | } //if FCFlags & MKFCFLAG_FLY |
1799 | } //if FCFlags & MKFCFLAG_FLY |
1791 | else |
1800 | else |
1792 | { |
1801 | { |
1793 | SollHoehe = HoehenWert - 400; |
1802 | SollHoehe = HoehenWert - 400; |
1794 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1803 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1795 | else StickGasHover = 120; |
1804 | else StickGasHover = 120; |
1796 | HoverGas = GasMischanteil; |
1805 | HoverGas = GasMischanteil; |
1797 | VarioCharacter = '.'; |
1806 | VarioCharacter = '.'; |
1798 | } |
1807 | } |
1799 | HCGas = HoverGas; // take hover gas (neutral point) |
1808 | HCGas = HoverGas; // take hover gas (neutral point) |
1800 | } |
1809 | } |
1801 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1810 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1802 | { |
1811 | { |
1803 | if(!ACC_AltitudeControl) |
1812 | if(!ACC_AltitudeControl) |
1804 | { |
1813 | { |
1805 | // from this point the Heigth Control Algorithm is identical for both versions |
1814 | // from this point the Heigth Control Algorithm is identical for both versions |
1806 | if(BaroExpandActive) // baro range expanding active |
1815 | if(BaroExpandActive) // baro range expanding active |
1807 | { |
1816 | { |
1808 | HCGas = HoverGas; // hover while expanding baro adc range |
1817 | HCGas = HoverGas; // hover while expanding baro adc range |
1809 | HeightDeviation = 0; |
1818 | HeightDeviation = 0; |
1810 | } // EOF // baro range expanding active |
1819 | } // EOF // baro range expanding active |
1811 | else // valid data from air pressure sensor |
1820 | else // valid data from air pressure sensor |
1812 | { |
1821 | { |
1813 | // ------------------------- P-Part ---------------------------- |
1822 | // ------------------------- P-Part ---------------------------- |
1814 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1823 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1815 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1824 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1816 | HeightDeviation = (int)(tmp_long); // positive when too high |
1825 | HeightDeviation = (int)(tmp_long); // positive when too high |
1817 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1826 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1818 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1827 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1819 | GasReduction = tmp_long; |
1828 | GasReduction = tmp_long; |
1820 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1829 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1821 | tmp_int = VarioMeter / 8; |
1830 | tmp_int = VarioMeter / 8; |
1822 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1831 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1823 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1832 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1824 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1833 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1825 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1834 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1826 | else |
1835 | else |
1827 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1836 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1828 | GasReduction += tmp_int; |
1837 | GasReduction += tmp_int; |
1829 | } // EOF no baro range expanding |
1838 | } // EOF no baro range expanding |
1830 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1839 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1831 | if(Parameter_Hoehe_ACC_Wirkung) |
1840 | if(Parameter_Hoehe_ACC_Wirkung) |
1832 | { |
1841 | { |
1833 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1842 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1834 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1843 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1835 | GasReduction += tmp_long; |
1844 | GasReduction += tmp_long; |
1836 | } |
1845 | } |
1837 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1846 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1838 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1847 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1839 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1848 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1840 | GasReduction += tmp_int; |
1849 | GasReduction += tmp_int; |
1841 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1850 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1842 | 1851 | ||
1843 | // ------------------------ ---------------------------------- |
1852 | // ------------------------ ---------------------------------- |
1844 | HCGas -= GasReduction; |
1853 | HCGas -= GasReduction; |
1845 | // limit deviation from hoover point within the target region |
1854 | // limit deviation from hoover point within the target region |
1846 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1855 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1847 | { |
1856 | { |
1848 | unsigned int tmp; |
1857 | unsigned int tmp; |
1849 | tmp = abs(HeightDeviation); |
1858 | tmp = abs(HeightDeviation); |
1850 | if(tmp <= 60) |
1859 | if(tmp <= 60) |
1851 | { |
1860 | { |
1852 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1861 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1853 | } |
1862 | } |
1854 | else |
1863 | else |
1855 | { |
1864 | { |
1856 | tmp = (tmp - 60) / 32; |
1865 | tmp = (tmp - 60) / 32; |
1857 | if(tmp > 15) tmp = 15; |
1866 | if(tmp > 15) tmp = 15; |
1858 | if(HeightDeviation > 0) |
1867 | if(HeightDeviation > 0) |
1859 | { |
1868 | { |
1860 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1869 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1861 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1870 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1862 | } |
1871 | } |
1863 | else |
1872 | else |
1864 | { |
1873 | { |
1865 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1874 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1866 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1875 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1867 | } |
1876 | } |
1868 | } |
1877 | } |
1869 | } |
1878 | } |
1870 | // strech control output by inverse attitude projection 1/cos |
1879 | // strech control output by inverse attitude projection 1/cos |
1871 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1880 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1872 | tmp_long2 = (int32_t)HCGas; |
1881 | tmp_long2 = (int32_t)HCGas; |
1873 | tmp_long2 *= 8192L; |
1882 | tmp_long2 *= 8192L; |
1874 | tmp_long2 /= CosAttitude; |
1883 | tmp_long2 /= CosAttitude; |
1875 | HCGas = (int16_t)tmp_long2; |
1884 | HCGas = (int16_t)tmp_long2; |
1876 | // update height control gas averaging |
1885 | // update height control gas averaging |
1877 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1886 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1878 | // limit height control gas pd-control output |
1887 | // limit height control gas pd-control output |
1879 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1888 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1880 | // set GasMischanteil to HeightControlGasFilter |
1889 | // set GasMischanteil to HeightControlGasFilter |
1881 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1890 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1882 | { // old version |
1891 | { // old version |
1883 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1892 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1884 | GasMischanteil = FilterHCGas; |
1893 | GasMischanteil = FilterHCGas; |
1885 | } |
1894 | } |
1886 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1895 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1887 | } |
1896 | } |
1888 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1897 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1889 | else // ACC-Altitude control |
1898 | else // ACC-Altitude control |
1890 | { |
1899 | { |
1891 | // from this point the Heigth Control Algorithm is identical for both versions |
1900 | // from this point the Heigth Control Algorithm is identical for both versions |
1892 | if(BaroExpandActive) // baro range expanding active |
1901 | if(BaroExpandActive) // baro range expanding active |
1893 | { |
1902 | { |
1894 | HCGas = HoverGas; // hover while expanding baro adc range |
1903 | HCGas = HoverGas; // hover while expanding baro adc range |
1895 | HeightDeviation = 0; |
1904 | HeightDeviation = 0; |
1896 | } // EOF // baro range expanding active |
1905 | } // EOF // baro range expanding active |
1897 | else // valid data from air pressure sensor |
1906 | else // valid data from air pressure sensor |
1898 | { |
1907 | { |
1899 | // ------------------------- P-Part ---------------------------- |
1908 | // ------------------------- P-Part ---------------------------- |
1900 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1909 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
1901 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1910 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1902 | HeightDeviation = (int)(tmp_long); // positive when too high |
1911 | HeightDeviation = (int)(tmp_long); // positive when too high |
1903 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1912 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1904 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
1913 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
1905 | GasReduction = tmp_long; |
1914 | GasReduction = tmp_long; |
1906 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
1915 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
1907 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
1916 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
1908 | // ------------------------- D-Part: Vario Meter ---------------------------- |
1917 | // ------------------------- D-Part: Vario Meter ---------------------------- |
1909 | if(WaypointTrimming) { |
1918 | if(WaypointTrimming) { |
1910 | Variance = AltitudeSetpointTrimming * 8; |
1919 | Variance = AltitudeSetpointTrimming * 8; |
1911 | } else { |
1920 | } else { |
1912 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
1921 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
1913 | } |
1922 | } |
1914 | tmp_long -= (long)Variance; |
1923 | tmp_long -= (long)Variance; |
1915 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
1924 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
1916 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
1925 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
1917 | GasReduction += tmp_long; |
1926 | GasReduction += tmp_long; |
1918 | } // EOF no baro range expanding |
1927 | } // EOF no baro range expanding |
1919 | HCGas -= GasReduction; |
1928 | HCGas -= GasReduction; |
1920 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
1929 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
1921 | // strech control output by inverse attitude projection 1/cos |
1930 | // strech control output by inverse attitude projection 1/cos |
1922 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1931 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1923 | tmp_long2 = (int32_t)HCGas; |
1932 | tmp_long2 = (int32_t)HCGas; |
1924 | tmp_long2 *= 8192L; |
1933 | tmp_long2 *= 8192L; |
1925 | tmp_long2 /= CosAttitude; |
1934 | tmp_long2 /= CosAttitude; |
1926 | HCGas = (int16_t)tmp_long2; |
1935 | HCGas = (int16_t)tmp_long2; |
1927 | // update height control gas averaging |
1936 | // update height control gas averaging |
1928 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1937 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1929 | // limit height control gas pd-control output |
1938 | // limit height control gas pd-control output |
1930 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1939 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1931 | // set GasMischanteil to HeightControlGasFilter |
1940 | // set GasMischanteil to HeightControlGasFilter |
1932 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1941 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
1933 | { // old version |
1942 | { // old version |
1934 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1943 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1935 | GasMischanteil = FilterHCGas; |
1944 | GasMischanteil = FilterHCGas; |
1936 | } |
1945 | } |
1937 | else GasMischanteil = FilterHCGas; |
1946 | else GasMischanteil = FilterHCGas; |
1938 | } // end of ACC-Altitude control |
1947 | } // end of ACC-Altitude control |
1939 | #endif |
1948 | #endif |
1940 | } |
1949 | } |
1941 | }// EOF height control active |
1950 | }// EOF height control active |
1942 | else // HC not active |
1951 | else // HC not active |
1943 | { |
1952 | { |
1944 | //update hoover gas stick value when HC is not active |
1953 | //update hoover gas stick value when HC is not active |
1945 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1954 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1946 | { |
1955 | { |
1947 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1956 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1948 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1957 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1949 | } |
1958 | } |
1950 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1959 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1951 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1960 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1952 | FilterHCGas = GasMischanteil; |
1961 | FilterHCGas = GasMischanteil; |
1953 | // set both flags to indicate no vario mode |
1962 | // set both flags to indicate no vario mode |
1954 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1963 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1955 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1964 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1956 | } |
1965 | } |
1957 | // Hover gas estimation by averaging gas control output on small z-velocities |
1966 | // Hover gas estimation by averaging gas control output on small z-velocities |
1958 | // this is done only if height contol option is selected in global config and aircraft is flying |
1967 | // this is done only if height contol option is selected in global config and aircraft is flying |
1959 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1968 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1960 | { |
1969 | { |
1961 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1970 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1962 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
1971 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
1963 | if(StartTrigger == 1) StartTrigger = 2; |
1972 | if(StartTrigger == 1) StartTrigger = 2; |
1964 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1973 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1965 | tmp_long2 *= CosAttitude; // apply attitude projection |
1974 | tmp_long2 *= CosAttitude; // apply attitude projection |
1966 | tmp_long2 /= 8192; |
1975 | tmp_long2 /= 8192; |
1967 | // average vertical projected thrust |
1976 | // average vertical projected thrust |
1968 | if(modell_fliegt < 4000) // the first 8 seconds |
1977 | if(modell_fliegt < 4000) // the first 8 seconds |
1969 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1978 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1970 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1979 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1971 | HoverGasFilter += 16L * tmp_long2; |
1980 | HoverGasFilter += 16L * tmp_long2; |
1972 | } |
1981 | } |
1973 | if(modell_fliegt < 8000) // the first 16 seconds |
1982 | if(modell_fliegt < 8000) // the first 16 seconds |
1974 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1983 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1975 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1984 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1976 | HoverGasFilter += 4L * tmp_long2; |
1985 | HoverGasFilter += 4L * tmp_long2; |
1977 | } |
1986 | } |
1978 | else //later |
1987 | else //later |
1979 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1988 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1980 | { |
1989 | { |
1981 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1990 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1982 | HoverGasFilter += tmp_long2; |
1991 | HoverGasFilter += tmp_long2; |
1983 | } |
1992 | } |
1984 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1993 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1985 | if(EE_Parameter.Hoehe_HoverBand) |
1994 | if(EE_Parameter.Hoehe_HoverBand) |
1986 | { |
1995 | { |
1987 | int16_t band; |
1996 | int16_t band; |
1988 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1997 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1989 | HoverGasMin = HoverGas - band; |
1998 | HoverGasMin = HoverGas - band; |
1990 | HoverGasMax = HoverGas + band; |
1999 | HoverGasMax = HoverGas + band; |
1991 | } |
2000 | } |
1992 | else |
2001 | else |
1993 | { // no limit |
2002 | { // no limit |
1994 | HoverGasMin = 0; |
2003 | HoverGasMin = 0; |
1995 | HoverGasMax = 1023; |
2004 | HoverGasMax = 1023; |
1996 | } |
2005 | } |
1997 | } |
2006 | } |
1998 | else |
2007 | else |
1999 | { |
2008 | { |
2000 | StartTrigger = 0; |
2009 | StartTrigger = 0; |
2001 | HoverGasFilter = 0; |
2010 | HoverGasFilter = 0; |
2002 | HoverGas = 0; |
2011 | HoverGas = 0; |
2003 | } |
2012 | } |
2004 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
2013 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
2005 | else |
2014 | else |
2006 | { |
2015 | { |
2007 | // set undefined state to indicate vario off |
2016 | // set undefined state to indicate vario off |
2008 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
2017 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
2009 | } // EOF no height control |
2018 | } // EOF no height control |
2010 | 2019 | ||
2011 | // Limits the maximum gas in case of "Out of Range emergency landing" |
2020 | // Limits the maximum gas in case of "Out of Range emergency landing" |
2012 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
2021 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
2013 | { |
2022 | { |
2014 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2023 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
2015 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2024 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2016 | beeptime = 15000; |
2025 | beeptime = 15000; |
2017 | BeepMuster = 0x0E00; |
2026 | BeepMuster = 0x0E00; |
2018 | } |
2027 | } |
2019 | // limit gas to parameter setting |
2028 | // limit gas to parameter setting |
2020 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
2029 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
2021 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
2030 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
2022 | 2031 | ||
2023 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2032 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2024 | // all BL-Ctrl connected? |
2033 | // all BL-Ctrl connected? |
2025 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2034 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2026 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
2035 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
2027 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
2036 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
2028 | { |
2037 | { |
2029 | modell_fliegt = 1; |
2038 | modell_fliegt = 1; |
2030 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
2039 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
2031 | } |
2040 | } |
2032 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2041 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2033 | // + Mischer und PI-Regler |
2042 | // + Mischer und PI-Regler |
2034 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2043 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2035 | DebugOut.Analog[7] = GasMischanteil; |
2044 | DebugOut.Analog[7] = GasMischanteil; |
2036 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2045 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2037 | // Gier-Anteil |
2046 | // Gier-Anteil |
2038 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2047 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2039 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
2048 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
2040 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
2049 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
2041 | if(GasMischanteil > MIN_GIERGAS) |
2050 | if(GasMischanteil > MIN_GIERGAS) |
2042 | { |
2051 | { |
2043 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
2052 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
2044 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
2053 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
2045 | } |
2054 | } |
2046 | else |
2055 | else |
2047 | { |
2056 | { |
2048 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
2057 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
2049 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
2058 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
2050 | } |
2059 | } |
2051 | tmp_int = MAX_GAS*STICK_GAIN; |
2060 | tmp_int = MAX_GAS*STICK_GAIN; |
2052 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
2061 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
2053 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
2062 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
2054 | 2063 | ||
2055 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2064 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2056 | // Nick-Achse |
2065 | // Nick-Achse |
2057 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2066 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2058 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
2067 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
2059 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
2068 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
2060 | else SummeNick += DiffNick; // I-Anteil bei HH |
2069 | else SummeNick += DiffNick; // I-Anteil bei HH |
2061 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
2070 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
2062 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
2071 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
2063 | 2072 | ||
2064 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
2073 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
2065 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
2074 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
2066 | pd_ergebnis_nick += SummeNick / Ki; |
2075 | pd_ergebnis_nick += SummeNick / Ki; |
2067 | 2076 | ||
2068 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
2077 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
2069 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
2078 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
2070 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
2079 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
2071 | 2080 | ||
2072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2081 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2073 | // Roll-Achse |
2082 | // Roll-Achse |
2074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2083 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2075 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
2084 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
2076 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
2085 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
2077 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
2086 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
2078 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
2087 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
2079 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
2088 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
2080 | 2089 | ||
2081 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
2090 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
2082 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
2091 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
2083 | pd_ergebnis_roll += SummeRoll / Ki; |
2092 | pd_ergebnis_roll += SummeRoll / Ki; |
2084 | 2093 | ||
2085 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
2094 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
2086 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2095 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2087 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
2096 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
2088 | 2097 | ||
2089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2098 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2090 | // Universal Mixer |
2099 | // Universal Mixer |
2091 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2100 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2092 | for(i=0; i<MAX_MOTORS; i++) |
2101 | for(i=0; i<MAX_MOTORS; i++) |
2093 | { |
2102 | { |
2094 | signed int tmp_int; |
2103 | signed int tmp_int; |
2095 | if(Mixer.Motor[i][0] > 0) |
2104 | if(Mixer.Motor[i][0] > 0) |
2096 | { |
2105 | { |
2097 | // Gas |
2106 | // Gas |
2098 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
2107 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
2099 | // Nick |
2108 | // Nick |
2100 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
2109 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
2101 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
2110 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
2102 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
2111 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
2103 | // Roll |
2112 | // Roll |
2104 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
2113 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
2105 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
2114 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
2106 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
2115 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
2107 | // Gier |
2116 | // Gier |
2108 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2117 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
2109 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
2118 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
2110 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
2119 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
2111 | 2120 | ||
2112 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
2121 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
2113 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
2122 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
2114 | else |
2123 | else |
2115 | { |
2124 | { |
2116 | if(EE_Parameter.MotorSmooth == 0) |
2125 | if(EE_Parameter.MotorSmooth == 0) |
2117 | { |
2126 | { |
2118 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
2127 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
2119 | } |
2128 | } |
2120 | else // 1 means tmp_int = tmp_int; |
2129 | else // 1 means tmp_int = tmp_int; |
2121 | if(EE_Parameter.MotorSmooth > 1) |
2130 | if(EE_Parameter.MotorSmooth > 1) |
2122 | { |
2131 | { |
2123 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
2132 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
2124 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
2133 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
2125 | } |
2134 | } |
2126 | } |
2135 | } |
2127 | 2136 | ||
2128 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
2137 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
2129 | Motor[i].SetPoint = tmp_int / 4; |
2138 | Motor[i].SetPoint = tmp_int / 4; |
2130 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
2139 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
2131 | tmp_motorwert[i] = tmp_int; |
2140 | tmp_motorwert[i] = tmp_int; |
2132 | } |
2141 | } |
2133 | else |
2142 | else |
2134 | { |
2143 | { |
2135 | Motor[i].SetPoint = 0; |
2144 | Motor[i].SetPoint = 0; |
2136 | Motor[i].SetPointLowerBits = 0; |
2145 | Motor[i].SetPointLowerBits = 0; |
2137 | } |
2146 | } |
2138 | } |
2147 | } |
2139 | } |
2148 | } |
2140 | //DebugOut.Analog[16] |
2149 | //DebugOut.Analog[16] |
2141 | 2150 |