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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + with our written permission |
39 | // + with our written permission |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "mymath.h" |
57 | #include "mymath.h" |
58 | #include "isqrt.h" |
58 | #include "isqrt.h" |
59 | 59 | ||
60 | unsigned char h,m,s; |
60 | unsigned char h,m,s; |
61 | unsigned int BaroExpandActive = 0; |
61 | unsigned int BaroExpandActive = 0; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
63 | int TrimNick, TrimRoll; |
63 | int TrimNick, TrimRoll; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
68 | int NeutralAccZ = 0; |
68 | int NeutralAccZ = 0; |
69 | unsigned char ControlHeading = 0;// in 2° |
69 | unsigned char ControlHeading = 0;// in 2° |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
70 | long IntegralNick = 0,IntegralNick2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
73 | long Integral_Gier = 0; |
73 | long Integral_Gier = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
78 | long SummeNick=0,SummeRoll=0; |
78 | long SummeNick=0,SummeRoll=0; |
79 | volatile long Mess_Integral_Hoch = 0; |
79 | volatile long Mess_Integral_Hoch = 0; |
80 | int KompassValue = -1; |
80 | int KompassValue = -1; |
81 | int KompassSollWert = 0; |
81 | int KompassSollWert = 0; |
82 | int KompassRichtung = 0; |
82 | int KompassRichtung = 0; |
83 | char CalculateCompassTimer = 100; |
83 | char CalculateCompassTimer = 100; |
84 | unsigned char KompassFusion = 32; |
84 | unsigned char KompassFusion = 32; |
85 | unsigned int KompassSignalSchlecht = 50; |
85 | unsigned int KompassSignalSchlecht = 50; |
86 | unsigned char MAX_GAS,MIN_GAS; |
86 | unsigned char MAX_GAS,MIN_GAS; |
87 | unsigned char HoehenReglerAktiv = 0; |
87 | unsigned char HoehenReglerAktiv = 0; |
88 | unsigned char TrichterFlug = 0; |
88 | unsigned char TrichterFlug = 0; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
90 | long ErsatzKompass; |
90 | long ErsatzKompass; |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
92 | int GierGyroFehler = 0; |
92 | int GierGyroFehler = 0; |
93 | char GyroFaktor,GyroFaktorGier; |
93 | char GyroFaktor,GyroFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
94 | char IntegralFaktor,IntegralFaktorGier; |
95 | int DiffNick,DiffRoll; |
95 | int DiffNick,DiffRoll; |
96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
96 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
97 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
98 | volatile unsigned char SenderOkay = 0; |
98 | volatile unsigned char SenderOkay = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
100 | char MotorenEin = 0,StartTrigger = 0; |
100 | char MotorenEin = 0,StartTrigger = 0; |
101 | long HoehenWert = 0; |
101 | long HoehenWert = 0; |
102 | long SollHoehe = 0; |
102 | long SollHoehe = 0; |
103 | long FromNC_AltitudeSetpoint = 0; |
103 | long FromNC_AltitudeSetpoint = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
104 | unsigned char FromNC_AltitudeSpeed = 0; |
105 | unsigned char carefree_old = 50; // to make the Beep when switching |
105 | unsigned char carefree_old = 50; // to make the Beep when switching |
106 | 106 | ||
107 | int CompassGierSetpoint = 0; |
107 | int CompassGierSetpoint = 0; |
108 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
108 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
109 | //float Ki = FAKTOR_I; |
109 | //float Ki = FAKTOR_I; |
110 | int Ki = 10300 / 33; |
110 | int Ki = 10300 / 33; |
111 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
111 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
112 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
112 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
113 | 113 | ||
114 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
114 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
115 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
115 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
116 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
116 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
117 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
117 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
118 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
118 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
119 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
119 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
120 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
120 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
121 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
121 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
122 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
122 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
123 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
123 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
124 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
125 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
125 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
126 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
126 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
127 | unsigned char Parameter_UserParam1 = 0; |
127 | unsigned char Parameter_UserParam1 = 0; |
128 | unsigned char Parameter_UserParam2 = 0; |
128 | unsigned char Parameter_UserParam2 = 0; |
129 | unsigned char Parameter_UserParam3 = 0; |
129 | unsigned char Parameter_UserParam3 = 0; |
130 | unsigned char Parameter_UserParam4 = 0; |
130 | unsigned char Parameter_UserParam4 = 0; |
131 | unsigned char Parameter_UserParam5 = 0; |
131 | unsigned char Parameter_UserParam5 = 0; |
132 | unsigned char Parameter_UserParam6 = 0; |
132 | unsigned char Parameter_UserParam6 = 0; |
133 | unsigned char Parameter_UserParam7 = 0; |
133 | unsigned char Parameter_UserParam7 = 0; |
134 | unsigned char Parameter_UserParam8 = 0; |
134 | unsigned char Parameter_UserParam8 = 0; |
135 | unsigned char Parameter_ServoNickControl = 100; |
135 | unsigned char Parameter_ServoNickControl = 100; |
136 | unsigned char Parameter_ServoRollControl = 100; |
136 | unsigned char Parameter_ServoRollControl = 100; |
137 | unsigned char Parameter_LoopGasLimit = 70; |
137 | unsigned char Parameter_LoopGasLimit = 70; |
138 | unsigned char Parameter_AchsKopplung1 = 90; |
138 | unsigned char Parameter_AchsKopplung1 = 90; |
139 | unsigned char Parameter_AchsKopplung2 = 65; |
139 | unsigned char Parameter_AchsKopplung2 = 65; |
140 | unsigned char Parameter_CouplingYawCorrection = 64; |
140 | unsigned char Parameter_CouplingYawCorrection = 64; |
141 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
141 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
142 | unsigned char Parameter_DynamicStability = 100; |
142 | unsigned char Parameter_DynamicStability = 100; |
143 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
143 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
144 | unsigned char Parameter_J16Timing; // for the J16 Output |
144 | unsigned char Parameter_J16Timing; // for the J16 Output |
145 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
145 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
146 | unsigned char Parameter_J17Timing; // for the J17 Output |
146 | unsigned char Parameter_J17Timing; // for the J17 Output |
147 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
147 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
148 | unsigned char Parameter_NaviGpsGain; |
148 | unsigned char Parameter_NaviGpsGain; |
149 | unsigned char Parameter_NaviGpsP; |
149 | unsigned char Parameter_NaviGpsP; |
150 | unsigned char Parameter_NaviGpsI; |
150 | unsigned char Parameter_NaviGpsI; |
151 | unsigned char Parameter_NaviGpsD; |
151 | unsigned char Parameter_NaviGpsD; |
152 | unsigned char Parameter_NaviGpsACC; |
152 | unsigned char Parameter_NaviGpsACC; |
153 | unsigned char Parameter_NaviOperatingRadius; |
153 | unsigned char Parameter_NaviOperatingRadius; |
154 | unsigned char Parameter_NaviWindCorrection; |
154 | unsigned char Parameter_NaviWindCorrection; |
155 | unsigned char Parameter_NaviSpeedCompensation; |
155 | unsigned char Parameter_NaviSpeedCompensation; |
156 | unsigned char Parameter_ExternalControl; |
156 | unsigned char Parameter_ExternalControl; |
157 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
157 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
158 | unsigned char CareFree = 0; |
158 | unsigned char CareFree = 0; |
159 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
159 | 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}; |
160 | 160 | ||
161 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
161 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
162 | int MaxStickNick = 0,MaxStickRoll = 0; |
162 | int MaxStickNick = 0,MaxStickRoll = 0; |
163 | unsigned int modell_fliegt = 0; |
163 | unsigned int modell_fliegt = 0; |
164 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
164 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
165 | long GIER_GRAD_FAKTOR = 1291; |
165 | long GIER_GRAD_FAKTOR = 1291; |
166 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
166 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
167 | signed int tmp_motorwert[MAX_MOTORS]; |
167 | signed int tmp_motorwert[MAX_MOTORS]; |
168 | char VarioCharacter = ' '; |
168 | char VarioCharacter = ' '; |
169 | 169 | ||
170 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
170 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
171 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
171 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
172 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
172 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
173 | 173 | ||
174 | 174 | ||
175 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
175 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
176 | // Debugwerte zuordnen |
176 | // Debugwerte zuordnen |
177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
177 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
178 | void CopyDebugValues(void) |
178 | void CopyDebugValues(void) |
179 | { |
179 | { |
180 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
180 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
181 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
181 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
182 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
182 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
183 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
183 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
184 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
184 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
185 | DebugOut.Analog[5] = HoehenWert/5; |
185 | DebugOut.Analog[5] = HoehenWert/5; |
186 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
186 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
187 | DebugOut.Analog[8] = KompassValue; |
187 | DebugOut.Analog[8] = KompassValue; |
188 | DebugOut.Analog[9] = UBat; |
188 | DebugOut.Analog[9] = UBat; |
189 | DebugOut.Analog[10] = SenderOkay; |
189 | DebugOut.Analog[10] = SenderOkay; |
190 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
190 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
191 | DebugOut.Analog[12] = Motor[0].SetPoint; |
191 | DebugOut.Analog[12] = Motor[0].SetPoint; |
192 | DebugOut.Analog[13] = Motor[1].SetPoint; |
192 | DebugOut.Analog[13] = Motor[1].SetPoint; |
193 | DebugOut.Analog[14] = Motor[2].SetPoint; |
193 | DebugOut.Analog[14] = Motor[2].SetPoint; |
194 | DebugOut.Analog[15] = Motor[3].SetPoint; |
194 | DebugOut.Analog[15] = Motor[3].SetPoint; |
195 | DebugOut.Analog[20] = ServoNickValue; |
195 | DebugOut.Analog[20] = ServoNickValue; |
196 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
196 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
197 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
197 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
- | 198 | DebugOut.Analog[24] = SollHoehe/5; |
|
198 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
199 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
199 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
200 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
200 | DebugOut.Analog[27] = KompassSollWert; |
201 | DebugOut.Analog[27] = KompassSollWert; |
201 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
202 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
202 | DebugOut.Analog[30] = GPS_Nick; |
203 | DebugOut.Analog[30] = GPS_Nick; |
203 | DebugOut.Analog[31] = GPS_Roll; |
204 | DebugOut.Analog[31] = GPS_Roll; |
204 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
205 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
205 | 206 | ||
206 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
207 | //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
207 | } |
208 | } |
208 | 209 | ||
209 | 210 | ||
210 | 211 | ||
211 | void Piep(unsigned char Anzahl, unsigned int dauer) |
212 | void Piep(unsigned char Anzahl, unsigned int dauer) |
212 | { |
213 | { |
213 | if(MotorenEin) return; //auf keinen Fall im Flug! |
214 | if(MotorenEin) return; //auf keinen Fall im Flug! |
214 | while(Anzahl--) |
215 | while(Anzahl--) |
215 | { |
216 | { |
216 | beeptime = dauer; |
217 | beeptime = dauer; |
217 | while(beeptime); |
218 | while(beeptime); |
218 | Delay_ms(dauer * 2); |
219 | Delay_ms(dauer * 2); |
219 | } |
220 | } |
220 | } |
221 | } |
221 | 222 | ||
222 | //############################################################################ |
223 | //############################################################################ |
223 | // Messwerte beim Ermitteln der Nullage |
224 | // Messwerte beim Ermitteln der Nullage |
224 | void CalibrierMittelwert(void) |
225 | void CalibrierMittelwert(void) |
225 | //############################################################################ |
226 | //############################################################################ |
226 | { |
227 | { |
227 | unsigned char i; |
228 | unsigned char i; |
228 | if(PlatinenVersion == 13) SucheGyroOffset(); |
229 | if(PlatinenVersion == 13) SucheGyroOffset(); |
229 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
230 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
230 | ANALOG_OFF; |
231 | ANALOG_OFF; |
231 | MesswertNick = AdWertNick; |
232 | MesswertNick = AdWertNick; |
232 | MesswertRoll = AdWertRoll; |
233 | MesswertRoll = AdWertRoll; |
233 | MesswertGier = AdWertGier; |
234 | MesswertGier = AdWertGier; |
234 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
235 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
235 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
236 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
236 | // ADC einschalten |
237 | // ADC einschalten |
237 | ANALOG_ON; |
238 | ANALOG_ON; |
238 | for(i=0;i<8;i++) |
239 | for(i=0;i<8;i++) |
239 | { |
240 | { |
240 | int tmp; |
241 | int tmp; |
241 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
242 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
242 | LIMIT_MIN_MAX(tmp, 0, 255); |
243 | LIMIT_MIN_MAX(tmp, 0, 255); |
243 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
244 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
244 | } |
245 | } |
245 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
246 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
246 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
247 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
247 | } |
248 | } |
248 | 249 | ||
249 | //############################################################################ |
250 | //############################################################################ |
250 | // Nullwerte ermitteln |
251 | // Nullwerte ermitteln |
251 | void SetNeutral(unsigned char AccAdjustment) |
252 | void SetNeutral(unsigned char AccAdjustment) |
252 | //############################################################################ |
253 | //############################################################################ |
253 | { |
254 | { |
254 | unsigned char i; |
255 | unsigned char i; |
255 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
256 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
256 | VersionInfo.HardwareError[0] = 0; |
257 | VersionInfo.HardwareError[0] = 0; |
257 | HEF4017R_ON; |
258 | HEF4017R_ON; |
258 | NeutralAccX = 0; |
259 | NeutralAccX = 0; |
259 | NeutralAccY = 0; |
260 | NeutralAccY = 0; |
260 | NeutralAccZ = 0; |
261 | NeutralAccZ = 0; |
261 | 262 | ||
262 | AdNeutralNick = 0; |
263 | AdNeutralNick = 0; |
263 | AdNeutralRoll = 0; |
264 | AdNeutralRoll = 0; |
264 | AdNeutralGier = 0; |
265 | AdNeutralGier = 0; |
265 | 266 | ||
266 | Parameter_AchsKopplung1 = 0; |
267 | Parameter_AchsKopplung1 = 0; |
267 | Parameter_AchsKopplung2 = 0; |
268 | Parameter_AchsKopplung2 = 0; |
268 | 269 | ||
269 | ExpandBaro = 0; |
270 | ExpandBaro = 0; |
270 | 271 | ||
271 | CalibrierMittelwert(); |
272 | CalibrierMittelwert(); |
272 | Delay_ms_Mess(100); |
273 | Delay_ms_Mess(100); |
273 | 274 | ||
274 | CalibrierMittelwert(); |
275 | CalibrierMittelwert(); |
275 | 276 | ||
276 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
277 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
277 | { |
278 | { |
278 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
279 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
279 | } |
280 | } |
280 | #define NEUTRAL_FILTER 32 |
281 | #define NEUTRAL_FILTER 32 |
281 | for(i=0; i<NEUTRAL_FILTER; i++) |
282 | for(i=0; i<NEUTRAL_FILTER; i++) |
282 | { |
283 | { |
283 | Delay_ms_Mess(10); |
284 | Delay_ms_Mess(10); |
284 | gier_neutral += AdWertGier; |
285 | gier_neutral += AdWertGier; |
285 | nick_neutral += AdWertNick; |
286 | nick_neutral += AdWertNick; |
286 | roll_neutral += AdWertRoll; |
287 | roll_neutral += AdWertRoll; |
287 | } |
288 | } |
288 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
289 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
289 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
290 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
290 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
291 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
291 | 292 | ||
292 | StartNeutralRoll = AdNeutralRoll; |
293 | StartNeutralRoll = AdNeutralRoll; |
293 | StartNeutralNick = AdNeutralNick; |
294 | StartNeutralNick = AdNeutralNick; |
294 | 295 | ||
295 | if(AccAdjustment) |
296 | if(AccAdjustment) |
296 | { |
297 | { |
297 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
298 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
298 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
299 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
299 | NeutralAccZ = Aktuell_az; |
300 | NeutralAccZ = Aktuell_az; |
300 | 301 | ||
301 | // Save ACC neutral settings to eeprom |
302 | // Save ACC neutral settings to eeprom |
302 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
303 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
303 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
304 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
304 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
305 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
305 | } |
306 | } |
306 | else |
307 | else |
307 | { |
308 | { |
308 | // restore from eeprom |
309 | // restore from eeprom |
309 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
310 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
310 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
311 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
311 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
312 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
312 | // strange settings? |
313 | // strange settings? |
313 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
314 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
314 | { |
315 | { |
315 | printf("\n\rACC not calibrated!\r\n"); |
316 | printf("\n\rACC not calibrated!\r\n"); |
316 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
317 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
317 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
318 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
318 | NeutralAccZ = Aktuell_az; |
319 | NeutralAccZ = Aktuell_az; |
319 | } |
320 | } |
320 | } |
321 | } |
321 | 322 | ||
322 | MesswertNick = 0; |
323 | MesswertNick = 0; |
323 | MesswertRoll = 0; |
324 | MesswertRoll = 0; |
324 | MesswertGier = 0; |
325 | MesswertGier = 0; |
325 | Delay_ms_Mess(100); |
326 | Delay_ms_Mess(100); |
326 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
327 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
327 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
328 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
328 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
329 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
329 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
330 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
330 | Mess_IntegralNick2 = IntegralNick; |
331 | Mess_IntegralNick2 = IntegralNick; |
331 | Mess_IntegralRoll2 = IntegralRoll; |
332 | Mess_IntegralRoll2 = IntegralRoll; |
332 | Mess_Integral_Gier = 0; |
333 | Mess_Integral_Gier = 0; |
333 | StartLuftdruck = Luftdruck; |
334 | StartLuftdruck = Luftdruck; |
334 | VarioMeter = 0; |
335 | VarioMeter = 0; |
335 | Mess_Integral_Hoch = 0; |
336 | Mess_Integral_Hoch = 0; |
336 | KompassSollWert = KompassValue; |
337 | KompassSollWert = KompassValue; |
337 | KompassSignalSchlecht = 100; |
338 | KompassSignalSchlecht = 100; |
338 | GPS_Neutral(); |
339 | GPS_Neutral(); |
339 | beeptime = 50; |
340 | beeptime = 50; |
340 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
341 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
341 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
342 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
342 | ExternHoehenValue = 0; |
343 | ExternHoehenValue = 0; |
343 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
344 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
344 | GierGyroFehler = 0; |
345 | GierGyroFehler = 0; |
345 | SendVersionToNavi = 1; |
346 | SendVersionToNavi = 1; |
346 | LED_Init(); |
347 | LED_Init(); |
347 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
348 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
348 | FromNaviCtrl_Value.Kalman_K = -1; |
349 | FromNaviCtrl_Value.Kalman_K = -1; |
349 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
350 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
350 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
351 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
351 | for(i=0;i<8;i++) |
352 | for(i=0;i<8;i++) |
352 | { |
353 | { |
353 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
354 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
354 | } |
355 | } |
355 | SenderOkay = 100; |
356 | SenderOkay = 100; |
356 | if(ServoActive) |
357 | if(ServoActive) |
357 | { |
358 | { |
358 | HEF4017R_ON; |
359 | HEF4017R_ON; |
359 | DDRD |=0x80; // enable J7 -> Servo signal |
360 | DDRD |=0x80; // enable J7 -> Servo signal |
360 | } |
361 | } |
361 | 362 | ||
362 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
363 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
363 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
364 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
364 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
365 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
365 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
366 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
366 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
367 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
367 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
368 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
368 | carefree_old = 70; |
369 | carefree_old = 70; |
369 | } |
370 | } |
370 | 371 | ||
371 | 372 | ||
372 | //############################################################################ |
373 | //############################################################################ |
373 | // Bearbeitet die Messwerte |
374 | // Bearbeitet die Messwerte |
374 | void Mittelwert(void) |
375 | void Mittelwert(void) |
375 | //############################################################################ |
376 | //############################################################################ |
376 | { |
377 | { |
377 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
378 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
378 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
379 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
379 | signed long winkel_nick, winkel_roll; |
380 | signed long winkel_nick, winkel_roll; |
380 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
381 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
381 | MesswertNick = (signed int) AdWertNickFilter / 8; |
382 | MesswertNick = (signed int) AdWertNickFilter / 8; |
382 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
383 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
383 | RohMesswertNick = MesswertNick; |
384 | RohMesswertNick = MesswertNick; |
384 | RohMesswertRoll = MesswertRoll; |
385 | RohMesswertRoll = MesswertRoll; |
385 | 386 | ||
386 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
387 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
387 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
388 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
388 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
389 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
389 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
390 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
390 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
391 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
391 | NaviAccNick += AdWertAccNick; |
392 | NaviAccNick += AdWertAccNick; |
392 | NaviAccRoll += AdWertAccRoll; |
393 | NaviAccRoll += AdWertAccRoll; |
393 | NaviCntAcc++; |
394 | NaviCntAcc++; |
394 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
395 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
395 | 396 | ||
396 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | // ADC einschalten |
398 | // ADC einschalten |
398 | ANALOG_ON; |
399 | ANALOG_ON; |
399 | AdReady = 0; |
400 | AdReady = 0; |
400 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
401 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
401 | 402 | ||
402 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
403 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
403 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
404 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
404 | else winkel_roll = Mess_IntegralRoll; |
405 | else winkel_roll = Mess_IntegralRoll; |
405 | 406 | ||
406 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
407 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
407 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
408 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
408 | else winkel_nick = Mess_IntegralNick; |
409 | else winkel_nick = Mess_IntegralNick; |
409 | 410 | ||
410 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
411 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
411 | Mess_Integral_Gier += MesswertGier; |
412 | Mess_Integral_Gier += MesswertGier; |
412 | ErsatzKompass += MesswertGier; |
413 | ErsatzKompass += MesswertGier; |
413 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
414 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
414 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
415 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
415 | { |
416 | { |
416 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
417 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
417 | tmpl3 *= Parameter_AchsKopplung2; //65 |
418 | tmpl3 *= Parameter_AchsKopplung2; //65 |
418 | tmpl3 /= 4096L; |
419 | tmpl3 /= 4096L; |
419 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
420 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
420 | tmpl4 *= Parameter_AchsKopplung2; //65 |
421 | tmpl4 *= Parameter_AchsKopplung2; //65 |
421 | tmpl4 /= 4096L; |
422 | tmpl4 /= 4096L; |
422 | KopplungsteilNickRoll = tmpl3; |
423 | KopplungsteilNickRoll = tmpl3; |
423 | KopplungsteilRollNick = tmpl4; |
424 | KopplungsteilRollNick = tmpl4; |
424 | tmpl4 -= tmpl3; |
425 | tmpl4 -= tmpl3; |
425 | ErsatzKompass += tmpl4; |
426 | ErsatzKompass += tmpl4; |
426 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
427 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
427 | 428 | ||
428 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
429 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
429 | tmpl *= Parameter_AchsKopplung1; // 90 |
430 | tmpl *= Parameter_AchsKopplung1; // 90 |
430 | tmpl /= 4096L; |
431 | tmpl /= 4096L; |
431 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
432 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
432 | tmpl2 *= Parameter_AchsKopplung1; |
433 | tmpl2 *= Parameter_AchsKopplung1; |
433 | tmpl2 /= 4096L; |
434 | tmpl2 /= 4096L; |
434 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
435 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
435 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
436 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
436 | } |
437 | } |
437 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
438 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
438 | TrimRoll = tmpl - tmpl2 / 100L; |
439 | TrimRoll = tmpl - tmpl2 / 100L; |
439 | TrimNick = -tmpl2 + tmpl / 100L; |
440 | TrimNick = -tmpl2 + tmpl / 100L; |
440 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
441 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
441 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
442 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
442 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
443 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
443 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
444 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
444 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
445 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
445 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
446 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
446 | if(Mess_IntegralRoll > Umschlag180Roll) |
447 | if(Mess_IntegralRoll > Umschlag180Roll) |
447 | { |
448 | { |
448 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
449 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
449 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
450 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
450 | } |
451 | } |
451 | if(Mess_IntegralRoll <-Umschlag180Roll) |
452 | if(Mess_IntegralRoll <-Umschlag180Roll) |
452 | { |
453 | { |
453 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
454 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
454 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
455 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
455 | } |
456 | } |
456 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
457 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
457 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
458 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
458 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
459 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
459 | if(Mess_IntegralNick > Umschlag180Nick) |
460 | if(Mess_IntegralNick > Umschlag180Nick) |
460 | { |
461 | { |
461 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
462 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
462 | Mess_IntegralNick2 = Mess_IntegralNick; |
463 | Mess_IntegralNick2 = Mess_IntegralNick; |
463 | } |
464 | } |
464 | if(Mess_IntegralNick <-Umschlag180Nick) |
465 | if(Mess_IntegralNick <-Umschlag180Nick) |
465 | { |
466 | { |
466 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
467 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
467 | Mess_IntegralNick2 = Mess_IntegralNick; |
468 | Mess_IntegralNick2 = Mess_IntegralNick; |
468 | } |
469 | } |
469 | 470 | ||
470 | Integral_Gier = Mess_Integral_Gier; |
471 | Integral_Gier = Mess_Integral_Gier; |
471 | IntegralNick = Mess_IntegralNick; |
472 | IntegralNick = Mess_IntegralNick; |
472 | IntegralRoll = Mess_IntegralRoll; |
473 | IntegralRoll = Mess_IntegralRoll; |
473 | IntegralNick2 = Mess_IntegralNick2; |
474 | IntegralNick2 = Mess_IntegralNick2; |
474 | IntegralRoll2 = Mess_IntegralRoll2; |
475 | IntegralRoll2 = Mess_IntegralRoll2; |
475 | 476 | ||
476 | #define D_LIMIT 128 |
477 | #define D_LIMIT 128 |
477 | 478 | ||
478 | MesswertNick = HiResNick / 8; |
479 | MesswertNick = HiResNick / 8; |
479 | MesswertRoll = HiResRoll / 8; |
480 | MesswertRoll = HiResRoll / 8; |
480 | 481 | ||
481 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
482 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
482 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
483 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
483 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
484 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
484 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
485 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
485 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
486 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
486 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
487 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
487 | 488 | ||
488 | if(Parameter_Gyro_D) |
489 | if(Parameter_Gyro_D) |
489 | { |
490 | { |
490 | d2Nick = HiResNick - oldNick; |
491 | d2Nick = HiResNick - oldNick; |
491 | oldNick = (oldNick + HiResNick)/2; |
492 | oldNick = (oldNick + HiResNick)/2; |
492 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
493 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
493 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
494 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
494 | 495 | ||
495 | d2Roll = HiResRoll - oldRoll; |
496 | d2Roll = HiResRoll - oldRoll; |
496 | oldRoll = (oldRoll + HiResRoll)/2; |
497 | oldRoll = (oldRoll + HiResRoll)/2; |
497 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
498 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
498 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
499 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
499 | 500 | ||
500 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
501 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
501 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
502 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
502 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
503 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
503 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
504 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
504 | } |
505 | } |
505 | 506 | ||
506 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
507 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
507 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
508 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
508 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
509 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
509 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
510 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
510 | 511 | ||
511 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
512 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
512 | { |
513 | { |
513 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
514 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
514 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
515 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
515 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
516 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
516 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
517 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
517 | } |
518 | } |
518 | } |
519 | } |
519 | 520 | ||
520 | //############################################################################ |
521 | //############################################################################ |
521 | // Senden der Motorwerte per I2C-Bus |
522 | // Senden der Motorwerte per I2C-Bus |
522 | void SendMotorData(void) |
523 | void SendMotorData(void) |
523 | //############################################################################ |
524 | //############################################################################ |
524 | { |
525 | { |
525 | unsigned char i; |
526 | unsigned char i; |
526 | if(!MotorenEin) |
527 | if(!MotorenEin) |
527 | { |
528 | { |
528 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
529 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
529 | for(i=0;i<MAX_MOTORS;i++) |
530 | for(i=0;i<MAX_MOTORS;i++) |
530 | { |
531 | { |
531 | if(!PC_MotortestActive) MotorTest[i] = 0; |
532 | if(!PC_MotortestActive) MotorTest[i] = 0; |
532 | Motor[i].SetPoint = MotorTest[i]; |
533 | Motor[i].SetPoint = MotorTest[i]; |
533 | Motor[i].SetPointLowerBits = 0; |
534 | Motor[i].SetPointLowerBits = 0; |
534 | /* |
535 | /* |
535 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
536 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
536 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
537 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
537 | */ |
538 | */ |
538 | } |
539 | } |
539 | if(PC_MotortestActive) PC_MotortestActive--; |
540 | if(PC_MotortestActive) PC_MotortestActive--; |
540 | } |
541 | } |
541 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
542 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
542 | 543 | ||
543 | if(I2C_TransferActive) |
544 | if(I2C_TransferActive) |
544 | { |
545 | { |
545 | I2C_TransferActive = 0; // enable for the next time |
546 | I2C_TransferActive = 0; // enable for the next time |
546 | } |
547 | } |
547 | else |
548 | else |
548 | { |
549 | { |
549 | motor_write = 0; |
550 | motor_write = 0; |
550 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
551 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
551 | } |
552 | } |
552 | } |
553 | } |
553 | 554 | ||
554 | 555 | ||
555 | 556 | ||
556 | //############################################################################ |
557 | //############################################################################ |
557 | // Trägt ggf. das Poti als Parameter ein |
558 | // Trägt ggf. das Poti als Parameter ein |
558 | void ParameterZuordnung(void) |
559 | void ParameterZuordnung(void) |
559 | //############################################################################ |
560 | //############################################################################ |
560 | { |
561 | { |
561 | unsigned char tmp,i; |
562 | unsigned char tmp,i; |
562 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
563 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
563 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
564 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
564 | for(i=0;i<8;i++) |
565 | for(i=0;i<8;i++) |
565 | { |
566 | { |
566 | int tmp2; |
567 | int tmp2; |
567 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
568 | tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
568 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
569 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
569 | if(tmp2 != Poti[i]) |
570 | if(tmp2 != Poti[i]) |
570 | { |
571 | { |
571 | Poti[i] += (tmp2 - Poti[i]) / 4; |
572 | Poti[i] += (tmp2 - Poti[i]) / 4; |
572 | if(Poti[i] > tmp2) Poti[i]--; |
573 | if(Poti[i] > tmp2) Poti[i]--; |
573 | else Poti[i]++; |
574 | else Poti[i]++; |
574 | } |
575 | } |
575 | } |
576 | } |
576 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
577 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
577 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
578 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
578 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
579 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
579 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
580 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
580 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
581 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
581 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
582 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
582 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
583 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
583 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
584 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
584 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
585 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
586 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
586 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
587 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
587 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
588 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
588 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
589 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
589 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
590 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
590 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
591 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
591 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
592 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
592 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
593 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
593 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
594 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
594 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
595 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
595 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
596 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
596 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
597 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
597 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
598 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
598 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
599 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
599 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
600 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
600 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
601 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
601 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
602 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
602 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
603 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
603 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
604 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
604 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
605 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
605 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
606 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
606 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
607 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
607 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
608 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
608 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
609 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
609 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
610 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
610 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
611 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
611 | Ki = 10300 / (Parameter_I_Faktor + 1); |
612 | Ki = 10300 / (Parameter_I_Faktor + 1); |
612 | MAX_GAS = EE_Parameter.Gas_Max; |
613 | MAX_GAS = EE_Parameter.Gas_Max; |
613 | MIN_GAS = EE_Parameter.Gas_Min; |
614 | MIN_GAS = EE_Parameter.Gas_Min; |
614 | 615 | ||
615 | tmp = EE_Parameter.OrientationModeControl; |
616 | tmp = EE_Parameter.OrientationModeControl; |
616 | if(tmp > 50) |
617 | if(tmp > 50) |
617 | { |
618 | { |
618 | #ifdef SWITCH_LEARNS_CAREFREE |
619 | #ifdef SWITCH_LEARNS_CAREFREE |
619 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
620 | if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
620 | #endif |
621 | #endif |
621 | CareFree = 1; |
622 | CareFree = 1; |
622 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
623 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
623 | if(carefree_old != CareFree) |
624 | if(carefree_old != CareFree) |
624 | { |
625 | { |
625 | if(carefree_old < 3) |
626 | if(carefree_old < 3) |
626 | { |
627 | { |
627 | if(CareFree) beeptime = 1500; |
628 | if(CareFree) beeptime = 1500; |
628 | else beeptime = 200; |
629 | else beeptime = 200; |
629 | carefree_old = CareFree; |
630 | carefree_old = CareFree; |
630 | } else carefree_old--; |
631 | } else carefree_old--; |
631 | } |
632 | } |
632 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
633 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
633 | } |
634 | } |
634 | else |
635 | else |
635 | { |
636 | { |
636 | CareFree = 0; |
637 | CareFree = 0; |
637 | carefree_old = 10; |
638 | carefree_old = 10; |
638 | } |
639 | } |
639 | 640 | ||
640 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
641 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
641 | { |
642 | { |
642 | beeptime = 15000; |
643 | beeptime = 15000; |
643 | BeepMuster = 0xA400; |
644 | BeepMuster = 0xA400; |
644 | CareFree = 0; |
645 | CareFree = 0; |
645 | } |
646 | } |
646 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
647 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
647 | } |
648 | } |
648 | 649 | ||
649 | //############################################################################ |
650 | //############################################################################ |
650 | // |
651 | // |
651 | void MotorRegler(void) |
652 | void MotorRegler(void) |
652 | //############################################################################ |
653 | //############################################################################ |
653 | { |
654 | { |
654 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
655 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
655 | int GierMischanteil,GasMischanteil; |
656 | int GierMischanteil,GasMischanteil; |
656 | static long sollGier = 0,tmp_long,tmp_long2; |
657 | static long sollGier = 0,tmp_long,tmp_long2; |
657 | static long IntegralFehlerNick = 0; |
658 | static long IntegralFehlerNick = 0; |
658 | static long IntegralFehlerRoll = 0; |
659 | static long IntegralFehlerRoll = 0; |
659 | static unsigned int RcLostTimer; |
660 | static unsigned int RcLostTimer; |
660 | static unsigned char delay_neutral = 0; |
661 | static unsigned char delay_neutral = 0; |
661 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
662 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
662 | static unsigned char calibration_done = 0; |
663 | static unsigned char calibration_done = 0; |
663 | static char NeueKompassRichtungMerken = 0; |
664 | static char NeueKompassRichtungMerken = 0; |
664 | static long ausgleichNick, ausgleichRoll; |
665 | static long ausgleichNick, ausgleichRoll; |
665 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
666 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
666 | unsigned char i; |
667 | unsigned char i; |
667 | Mittelwert(); |
668 | Mittelwert(); |
668 | GRN_ON; |
669 | GRN_ON; |
669 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
670 | // Gaswert ermitteln |
671 | // Gaswert ermitteln |
671 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
672 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
672 | GasMischanteil = StickGas; |
673 | GasMischanteil = StickGas; |
673 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
674 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
674 | 675 | ||
675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
676 | // Empfang schlecht |
677 | // Empfang schlecht |
677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
678 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
678 | if(SenderOkay < 100) |
679 | if(SenderOkay < 100) |
679 | { |
680 | { |
680 | if(RcLostTimer) RcLostTimer--; |
681 | if(RcLostTimer) RcLostTimer--; |
681 | else |
682 | else |
682 | { |
683 | { |
683 | MotorenEin = 0; |
684 | MotorenEin = 0; |
684 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
685 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
685 | } |
686 | } |
686 | ROT_ON; |
687 | ROT_ON; |
687 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
688 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
688 | { |
689 | { |
689 | GasMischanteil = EE_Parameter.NotGas; |
690 | GasMischanteil = EE_Parameter.NotGas; |
690 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
691 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
691 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
692 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
692 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
693 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
693 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
694 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
694 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
695 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
695 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
696 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
696 | } |
697 | } |
697 | else MotorenEin = 0; |
698 | else MotorenEin = 0; |
698 | } |
699 | } |
699 | else |
700 | else |
700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
701 | // Emfang gut |
702 | // Emfang gut |
702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
703 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
703 | if(SenderOkay > 140) |
704 | if(SenderOkay > 140) |
704 | { |
705 | { |
705 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
706 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
706 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
707 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
707 | if(GasMischanteil > 40 && MotorenEin) |
708 | if(GasMischanteil > 40 && MotorenEin) |
708 | { |
709 | { |
709 | if(modell_fliegt < 0xffff) modell_fliegt++; |
710 | if(modell_fliegt < 0xffff) modell_fliegt++; |
710 | } |
711 | } |
711 | if((modell_fliegt < 256)) |
712 | if((modell_fliegt < 256)) |
712 | { |
713 | { |
713 | SummeNick = 0; |
714 | SummeNick = 0; |
714 | SummeRoll = 0; |
715 | SummeRoll = 0; |
715 | sollGier = 0; |
716 | sollGier = 0; |
716 | Mess_Integral_Gier = 0; |
717 | Mess_Integral_Gier = 0; |
717 | } else FC_StatusFlags |= FC_STATUS_FLY; |
718 | } else FC_StatusFlags |= FC_STATUS_FLY; |
718 | 719 | ||
719 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
720 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
720 | { |
721 | { |
721 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
722 | // auf Nullwerte kalibrieren |
723 | // auf Nullwerte kalibrieren |
723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
724 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
725 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
725 | { |
726 | { |
726 | if(++delay_neutral > 200) // nicht sofort |
727 | if(++delay_neutral > 200) // nicht sofort |
727 | { |
728 | { |
728 | GRN_OFF; |
729 | GRN_OFF; |
729 | MotorenEin = 0; |
730 | MotorenEin = 0; |
730 | delay_neutral = 0; |
731 | delay_neutral = 0; |
731 | modell_fliegt = 0; |
732 | modell_fliegt = 0; |
732 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
733 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
733 | { |
734 | { |
734 | unsigned char setting=1; |
735 | unsigned char setting=1; |
735 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
736 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
737 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
738 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
739 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
740 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
740 | SetActiveParamSet(setting); // aktiven Datensatz merken |
741 | SetActiveParamSet(setting); // aktiven Datensatz merken |
741 | } |
742 | } |
742 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
743 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
743 | { |
744 | { |
744 | WinkelOut.CalcState = 1; |
745 | WinkelOut.CalcState = 1; |
745 | beeptime = 1000; |
746 | beeptime = 1000; |
746 | } |
747 | } |
747 | else |
748 | else |
748 | { |
749 | { |
749 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
750 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
750 | LipoDetection(0); |
751 | LipoDetection(0); |
751 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
752 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
752 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
753 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
753 | { |
754 | { |
754 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
755 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
755 | } |
756 | } |
756 | ServoActive = 0; |
757 | ServoActive = 0; |
757 | SetNeutral(0); |
758 | SetNeutral(0); |
758 | calibration_done = 1; |
759 | calibration_done = 1; |
759 | ServoActive = 1; |
760 | ServoActive = 1; |
760 | DDRD |=0x80; // enable J7 -> Servo signal |
761 | DDRD |=0x80; // enable J7 -> Servo signal |
761 | Piep(GetActiveParamSet(),120); |
762 | Piep(GetActiveParamSet(),120); |
762 | } |
763 | } |
763 | } |
764 | } |
764 | } |
765 | } |
765 | else |
766 | else |
766 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
767 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
767 | { |
768 | { |
768 | if(++delay_neutral > 200) // nicht sofort |
769 | if(++delay_neutral > 200) // nicht sofort |
769 | { |
770 | { |
770 | GRN_OFF; |
771 | GRN_OFF; |
771 | MotorenEin = 0; |
772 | MotorenEin = 0; |
772 | delay_neutral = 0; |
773 | delay_neutral = 0; |
773 | modell_fliegt = 0; |
774 | modell_fliegt = 0; |
774 | SetNeutral(1); |
775 | SetNeutral(1); |
775 | calibration_done = 1; |
776 | calibration_done = 1; |
776 | Piep(GetActiveParamSet(),120); |
777 | Piep(GetActiveParamSet(),120); |
777 | } |
778 | } |
778 | } |
779 | } |
779 | else delay_neutral = 0; |
780 | else delay_neutral = 0; |
780 | } |
781 | } |
781 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
782 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
782 | // Gas ist unten |
783 | // Gas ist unten |
783 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
784 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
784 | 785 | ||
785 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
786 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
786 | { |
787 | { |
787 | // Motoren Starten |
788 | // Motoren Starten |
788 | if(!MotorenEin) |
789 | if(!MotorenEin) |
789 | { |
790 | { |
790 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
791 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
791 | { |
792 | { |
792 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
793 | // Einschalten |
794 | // Einschalten |
794 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
795 | if(++delay_einschalten > 200) |
796 | if(++delay_einschalten > 200) |
796 | { |
797 | { |
797 | delay_einschalten = 0; |
798 | delay_einschalten = 0; |
798 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
799 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
799 | { |
800 | { |
800 | modell_fliegt = 1; |
801 | modell_fliegt = 1; |
801 | MotorenEin = 1; |
802 | MotorenEin = 1; |
802 | sollGier = 0; |
803 | sollGier = 0; |
803 | Mess_Integral_Gier = 0; |
804 | Mess_Integral_Gier = 0; |
804 | Mess_Integral_Gier2 = 0; |
805 | Mess_Integral_Gier2 = 0; |
805 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
806 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
806 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
807 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
807 | Mess_IntegralNick2 = IntegralNick; |
808 | Mess_IntegralNick2 = IntegralNick; |
808 | Mess_IntegralRoll2 = IntegralRoll; |
809 | Mess_IntegralRoll2 = IntegralRoll; |
809 | SummeNick = 0; |
810 | SummeNick = 0; |
810 | SummeRoll = 0; |
811 | SummeRoll = 0; |
811 | FC_StatusFlags |= FC_STATUS_START; |
812 | FC_StatusFlags |= FC_STATUS_START; |
812 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
813 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
813 | NeueKompassRichtungMerken = 100; // 2 sekunden |
814 | NeueKompassRichtungMerken = 100; // 2 sekunden |
814 | } |
815 | } |
815 | else |
816 | else |
816 | { |
817 | { |
817 | beeptime = 1500; // indicate missing calibration |
818 | beeptime = 1500; // indicate missing calibration |
818 | } |
819 | } |
819 | } |
820 | } |
820 | } |
821 | } |
821 | else delay_einschalten = 0; |
822 | else delay_einschalten = 0; |
822 | } |
823 | } |
823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
824 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
824 | // Auschalten |
825 | // Auschalten |
825 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
826 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
826 | else // only if motors are running |
827 | else // only if motors are running |
827 | { |
828 | { |
828 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
829 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
829 | { |
830 | { |
830 | if(++delay_ausschalten > 200) // nicht sofort |
831 | if(++delay_ausschalten > 200) // nicht sofort |
831 | { |
832 | { |
832 | MotorenEin = 0; |
833 | MotorenEin = 0; |
833 | delay_ausschalten = 0; |
834 | delay_ausschalten = 0; |
834 | modell_fliegt = 0; |
835 | modell_fliegt = 0; |
835 | } |
836 | } |
836 | } |
837 | } |
837 | else delay_ausschalten = 0; |
838 | else delay_ausschalten = 0; |
838 | } |
839 | } |
839 | } |
840 | } |
840 | } |
841 | } |
841 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
842 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
842 | // neue Werte von der Funke |
843 | // neue Werte von der Funke |
843 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
844 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
844 | 845 | ||
845 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
846 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
846 | { |
847 | { |
847 | static int stick_nick,stick_roll; |
848 | static int stick_nick,stick_roll; |
848 | ParameterZuordnung(); |
849 | ParameterZuordnung(); |
849 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
850 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
850 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
851 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
851 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
852 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
852 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
853 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
853 | 854 | ||
854 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
855 | // CareFree und freie Wahl der vorderen Richtung |
856 | // CareFree und freie Wahl der vorderen Richtung |
856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
857 | if(CareFree) |
858 | if(CareFree) |
858 | { |
859 | { |
859 | signed int nick, roll; |
860 | signed int nick, roll; |
860 | nick = stick_nick / 4; |
861 | nick = stick_nick / 4; |
861 | roll = stick_roll / 4; |
862 | roll = stick_roll / 4; |
862 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
863 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
863 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
864 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
864 | } |
865 | } |
865 | else |
866 | else |
866 | { |
867 | { |
867 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
868 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
868 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
869 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
869 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
870 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
870 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
871 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
871 | } |
872 | } |
872 | 873 | ||
873 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
874 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
874 | if(StickGier > 4) StickGier -= 4; else |
875 | if(StickGier > 4) StickGier -= 4; else |
875 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
876 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
876 | 877 | ||
877 | StickNick -= (GPS_Nick + GPS_Nick2); |
878 | StickNick -= (GPS_Nick + GPS_Nick2); |
878 | StickRoll -= (GPS_Roll + GPS_Roll2); |
879 | StickRoll -= (GPS_Roll + GPS_Roll2); |
879 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
880 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
880 | 881 | ||
881 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
882 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
882 | IntegralFaktor = Parameter_Gyro_I; |
883 | IntegralFaktor = Parameter_Gyro_I; |
883 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
884 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
884 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
885 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
885 | 886 | ||
886 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
887 | //+ Analoge Steuerung per Seriell |
888 | //+ Analoge Steuerung per Seriell |
888 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
889 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
889 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
890 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
890 | { |
891 | { |
891 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
892 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
892 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
893 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
893 | StickGier += ExternControl.Gier; |
894 | StickGier += ExternControl.Gier; |
894 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
895 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
895 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
896 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
896 | } |
897 | } |
897 | if(StickGas < 0) StickGas = 0; |
898 | if(StickGas < 0) StickGas = 0; |
898 | 899 | ||
899 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
900 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
900 | 901 | ||
901 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
902 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
902 | { |
903 | { |
903 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
904 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
904 | if(MaxStickNick > 100) MaxStickNick = 100; |
905 | if(MaxStickNick > 100) MaxStickNick = 100; |
905 | } |
906 | } |
906 | else MaxStickNick--; |
907 | else MaxStickNick--; |
907 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
908 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
908 | { |
909 | { |
909 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
910 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
910 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
911 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
911 | } |
912 | } |
912 | else MaxStickRoll--; |
913 | else MaxStickRoll--; |
913 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
914 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
914 | 915 | ||
915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
916 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
916 | // Looping? |
917 | // Looping? |
917 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
918 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
918 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
919 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
919 | else |
920 | else |
920 | { |
921 | { |
921 | { |
922 | { |
922 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
923 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
923 | } |
924 | } |
924 | } |
925 | } |
925 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
926 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
926 | else |
927 | else |
927 | { |
928 | { |
928 | if(Looping_Rechts) // Hysterese |
929 | if(Looping_Rechts) // Hysterese |
929 | { |
930 | { |
930 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
931 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
931 | } |
932 | } |
932 | } |
933 | } |
933 | 934 | ||
934 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
935 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
935 | else |
936 | else |
936 | { |
937 | { |
937 | if(Looping_Oben) // Hysterese |
938 | if(Looping_Oben) // Hysterese |
938 | { |
939 | { |
939 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
940 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
940 | } |
941 | } |
941 | } |
942 | } |
942 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
943 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
943 | else |
944 | else |
944 | { |
945 | { |
945 | if(Looping_Unten) // Hysterese |
946 | if(Looping_Unten) // Hysterese |
946 | { |
947 | { |
947 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
948 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
948 | } |
949 | } |
949 | } |
950 | } |
950 | 951 | ||
951 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
952 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
952 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
953 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
953 | } // Ende neue Funken-Werte |
954 | } // Ende neue Funken-Werte |
954 | 955 | ||
955 | if(Looping_Roll || Looping_Nick) |
956 | if(Looping_Roll || Looping_Nick) |
956 | { |
957 | { |
957 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
958 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
958 | TrichterFlug = 1; |
959 | TrichterFlug = 1; |
959 | } |
960 | } |
960 | 961 | ||
961 | 962 | ||
962 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
963 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
963 | // Bei Empfangsausfall im Flug |
964 | // Bei Empfangsausfall im Flug |
964 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
965 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
965 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
966 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
966 | { |
967 | { |
967 | StickGier = 0; |
968 | StickGier = 0; |
968 | StickNick = 0; |
969 | StickNick = 0; |
969 | StickRoll = 0; |
970 | StickRoll = 0; |
970 | GyroFaktor = 90; |
971 | GyroFaktor = 90; |
971 | IntegralFaktor = 120; |
972 | IntegralFaktor = 120; |
972 | GyroFaktorGier = 90; |
973 | GyroFaktorGier = 90; |
973 | IntegralFaktorGier = 120; |
974 | IntegralFaktorGier = 120; |
974 | Looping_Roll = 0; |
975 | Looping_Roll = 0; |
975 | Looping_Nick = 0; |
976 | Looping_Nick = 0; |
976 | } |
977 | } |
977 | 978 | ||
978 | 979 | ||
979 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
980 | // Integrale auf ACC-Signal abgleichen |
981 | // Integrale auf ACC-Signal abgleichen |
981 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
982 | #define ABGLEICH_ANZAHL 256L |
983 | #define ABGLEICH_ANZAHL 256L |
983 | 984 | ||
984 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
985 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
985 | MittelIntegralRoll += IntegralRoll; |
986 | MittelIntegralRoll += IntegralRoll; |
986 | MittelIntegralNick2 += IntegralNick2; |
987 | MittelIntegralNick2 += IntegralNick2; |
987 | MittelIntegralRoll2 += IntegralRoll2; |
988 | MittelIntegralRoll2 += IntegralRoll2; |
988 | 989 | ||
989 | if(Looping_Nick || Looping_Roll) |
990 | if(Looping_Nick || Looping_Roll) |
990 | { |
991 | { |
991 | IntegralAccNick = 0; |
992 | IntegralAccNick = 0; |
992 | IntegralAccRoll = 0; |
993 | IntegralAccRoll = 0; |
993 | MittelIntegralNick = 0; |
994 | MittelIntegralNick = 0; |
994 | MittelIntegralRoll = 0; |
995 | MittelIntegralRoll = 0; |
995 | MittelIntegralNick2 = 0; |
996 | MittelIntegralNick2 = 0; |
996 | MittelIntegralRoll2 = 0; |
997 | MittelIntegralRoll2 = 0; |
997 | Mess_IntegralNick2 = Mess_IntegralNick; |
998 | Mess_IntegralNick2 = Mess_IntegralNick; |
998 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
999 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
999 | ZaehlMessungen = 0; |
1000 | ZaehlMessungen = 0; |
1000 | LageKorrekturNick = 0; |
1001 | LageKorrekturNick = 0; |
1001 | LageKorrekturRoll = 0; |
1002 | LageKorrekturRoll = 0; |
1002 | } |
1003 | } |
1003 | 1004 | ||
1004 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1005 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1005 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1006 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1006 | { |
1007 | { |
1007 | long tmp_long, tmp_long2; |
1008 | long tmp_long, tmp_long2; |
1008 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1009 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1009 | { |
1010 | { |
1010 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1011 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1011 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1012 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1012 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1013 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1013 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1014 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
1014 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1015 | KompassFusion = FromNaviCtrl_Value.Kalman_K; |
1015 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1016 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1016 | { |
1017 | { |
1017 | tmp_long /= 2; |
1018 | tmp_long /= 2; |
1018 | tmp_long2 /= 2; |
1019 | tmp_long2 /= 2; |
1019 | } |
1020 | } |
1020 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1021 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1021 | { |
1022 | { |
1022 | tmp_long /= 3; |
1023 | tmp_long /= 3; |
1023 | tmp_long2 /= 3; |
1024 | tmp_long2 /= 3; |
1024 | } |
1025 | } |
1025 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1026 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1026 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1027 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1027 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1028 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1028 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1029 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1029 | } |
1030 | } |
1030 | else |
1031 | else |
1031 | { |
1032 | { |
1032 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1033 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
1033 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1034 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
1034 | tmp_long /= 16; |
1035 | tmp_long /= 16; |
1035 | tmp_long2 /= 16; |
1036 | tmp_long2 /= 16; |
1036 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1037 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1037 | { |
1038 | { |
1038 | tmp_long /= 3; |
1039 | tmp_long /= 3; |
1039 | tmp_long2 /= 3; |
1040 | tmp_long2 /= 3; |
1040 | } |
1041 | } |
1041 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1042 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1042 | { |
1043 | { |
1043 | tmp_long /= 3; |
1044 | tmp_long /= 3; |
1044 | tmp_long2 /= 3; |
1045 | tmp_long2 /= 3; |
1045 | } |
1046 | } |
1046 | KompassFusion = 25; |
1047 | KompassFusion = 25; |
1047 | #define AUSGLEICH 32 |
1048 | #define AUSGLEICH 32 |
1048 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1049 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
1049 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1050 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
1050 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1051 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
1051 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1052 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
1052 | } |
1053 | } |
1053 | 1054 | ||
1054 | Mess_IntegralNick -= tmp_long; |
1055 | Mess_IntegralNick -= tmp_long; |
1055 | Mess_IntegralRoll -= tmp_long2; |
1056 | Mess_IntegralRoll -= tmp_long2; |
1056 | } |
1057 | } |
1057 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1058 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1058 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1059 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
1059 | { |
1060 | { |
1060 | static int cnt = 0; |
1061 | static int cnt = 0; |
1061 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1062 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
1062 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1063 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
1063 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1064 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
1064 | { |
1065 | { |
1065 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1066 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
1066 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1067 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
1067 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1068 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
1068 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1069 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
1069 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1070 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
1070 | #define MAX_I 0 |
1071 | #define MAX_I 0 |
1071 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1073 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
1073 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1074 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
1074 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1075 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
1075 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1076 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
1076 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1077 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
1077 | 1078 | ||
1078 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1079 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
1079 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1080 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
1080 | 1081 | ||
1081 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1082 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
1082 | { |
1083 | { |
1083 | LageKorrekturNick /= 2; |
1084 | LageKorrekturNick /= 2; |
1084 | LageKorrekturRoll /= 2; |
1085 | LageKorrekturRoll /= 2; |
1085 | } |
1086 | } |
1086 | 1087 | ||
1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1088 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1088 | // Gyro-Drift ermitteln |
1089 | // Gyro-Drift ermitteln |
1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1090 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1090 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1091 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
1091 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1092 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
1092 | tmp_long = IntegralNick2 - IntegralNick; |
1093 | tmp_long = IntegralNick2 - IntegralNick; |
1093 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1094 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
1094 | 1095 | ||
1095 | IntegralFehlerNick = tmp_long; |
1096 | IntegralFehlerNick = tmp_long; |
1096 | IntegralFehlerRoll = tmp_long2; |
1097 | IntegralFehlerRoll = tmp_long2; |
1097 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1098 | Mess_IntegralNick2 -= IntegralFehlerNick; |
1098 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1099 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
1099 | 1100 | ||
1100 | if(EE_Parameter.Driftkomp) |
1101 | if(EE_Parameter.Driftkomp) |
1101 | { |
1102 | { |
1102 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1103 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
1103 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1104 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
1104 | } |
1105 | } |
1105 | GierGyroFehler = 0; |
1106 | GierGyroFehler = 0; |
1106 | 1107 | ||
1107 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1108 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
1108 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1109 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
1109 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1110 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
1110 | #define BEWEGUNGS_LIMIT 20000 |
1111 | #define BEWEGUNGS_LIMIT 20000 |
1111 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1112 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
1112 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1113 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1113 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1114 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
1114 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1115 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1115 | { |
1116 | { |
1116 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1117 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1117 | { |
1118 | { |
1118 | if(last_n_p) |
1119 | if(last_n_p) |
1119 | { |
1120 | { |
1120 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1121 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1121 | ausgleichNick = IntegralFehlerNick / 8; |
1122 | ausgleichNick = IntegralFehlerNick / 8; |
1122 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1123 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1123 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1124 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1124 | } |
1125 | } |
1125 | else last_n_p = 1; |
1126 | else last_n_p = 1; |
1126 | } else last_n_p = 0; |
1127 | } else last_n_p = 0; |
1127 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1128 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
1128 | { |
1129 | { |
1129 | if(last_n_n) |
1130 | if(last_n_n) |
1130 | { |
1131 | { |
1131 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1132 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
1132 | ausgleichNick = IntegralFehlerNick / 8; |
1133 | ausgleichNick = IntegralFehlerNick / 8; |
1133 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1134 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1134 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1135 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1135 | } |
1136 | } |
1136 | else last_n_n = 1; |
1137 | else last_n_n = 1; |
1137 | } else last_n_n = 0; |
1138 | } else last_n_n = 0; |
1138 | } |
1139 | } |
1139 | else |
1140 | else |
1140 | { |
1141 | { |
1141 | cnt = 0; |
1142 | cnt = 0; |
1142 | KompassSignalSchlecht = 100; |
1143 | KompassSignalSchlecht = 100; |
1143 | } |
1144 | } |
1144 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1145 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1145 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1146 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1146 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1147 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1147 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1148 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1148 | 1149 | ||
1149 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1150 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1150 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1151 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
1151 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1152 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
1152 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1153 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
1153 | { |
1154 | { |
1154 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1155 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1155 | { |
1156 | { |
1156 | if(last_r_p) |
1157 | if(last_r_p) |
1157 | { |
1158 | { |
1158 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1159 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1159 | ausgleichRoll = IntegralFehlerRoll / 8; |
1160 | ausgleichRoll = IntegralFehlerRoll / 8; |
1160 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1161 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1161 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1162 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1162 | } |
1163 | } |
1163 | else last_r_p = 1; |
1164 | else last_r_p = 1; |
1164 | } else last_r_p = 0; |
1165 | } else last_r_p = 0; |
1165 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1166 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1166 | { |
1167 | { |
1167 | if(last_r_n) |
1168 | if(last_r_n) |
1168 | { |
1169 | { |
1169 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1170 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
1170 | ausgleichRoll = IntegralFehlerRoll / 8; |
1171 | ausgleichRoll = IntegralFehlerRoll / 8; |
1171 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1172 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
1172 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1173 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1173 | } |
1174 | } |
1174 | else last_r_n = 1; |
1175 | else last_r_n = 1; |
1175 | } else last_r_n = 0; |
1176 | } else last_r_n = 0; |
1176 | } else |
1177 | } else |
1177 | { |
1178 | { |
1178 | cnt = 0; |
1179 | cnt = 0; |
1179 | KompassSignalSchlecht = 100; |
1180 | KompassSignalSchlecht = 100; |
1180 | } |
1181 | } |
1181 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1182 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1182 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1183 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
1183 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1184 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
1184 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1185 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
1185 | } |
1186 | } |
1186 | else |
1187 | else |
1187 | { |
1188 | { |
1188 | LageKorrekturRoll = 0; |
1189 | LageKorrekturRoll = 0; |
1189 | LageKorrekturNick = 0; |
1190 | LageKorrekturNick = 0; |
1190 | TrichterFlug = 0; |
1191 | TrichterFlug = 0; |
1191 | } |
1192 | } |
1192 | 1193 | ||
1193 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1194 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
1194 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1195 | MittelIntegralNick_Alt = MittelIntegralNick; |
1196 | MittelIntegralNick_Alt = MittelIntegralNick; |
1196 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1197 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1198 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1198 | IntegralAccNick = 0; |
1199 | IntegralAccNick = 0; |
1199 | IntegralAccRoll = 0; |
1200 | IntegralAccRoll = 0; |
1200 | IntegralAccZ = 0; |
1201 | IntegralAccZ = 0; |
1201 | MittelIntegralNick = 0; |
1202 | MittelIntegralNick = 0; |
1202 | MittelIntegralRoll = 0; |
1203 | MittelIntegralRoll = 0; |
1203 | MittelIntegralNick2 = 0; |
1204 | MittelIntegralNick2 = 0; |
1204 | MittelIntegralRoll2 = 0; |
1205 | MittelIntegralRoll2 = 0; |
1205 | ZaehlMessungen = 0; |
1206 | ZaehlMessungen = 0; |
1206 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1207 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
1207 | 1208 | ||
1208 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1209 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1209 | // Gieren |
1210 | // Gieren |
1210 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1211 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1211 | if(abs(StickGier) > 3) // war 15 |
1212 | if(abs(StickGier) > 3) // war 15 |
1212 | { |
1213 | { |
1213 | // KompassSignalSchlecht = 1000; |
1214 | // KompassSignalSchlecht = 1000; |
1214 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1215 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
1215 | { |
1216 | { |
1216 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1217 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
1217 | }; |
1218 | }; |
1218 | } |
1219 | } |
1219 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1220 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
1220 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1221 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
1221 | tmp_int += CompassGierSetpoint; |
1222 | tmp_int += CompassGierSetpoint; |
1222 | sollGier = tmp_int; |
1223 | sollGier = tmp_int; |
1223 | Mess_Integral_Gier -= tmp_int; |
1224 | Mess_Integral_Gier -= tmp_int; |
1224 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1225 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
1225 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1226 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
1226 | 1227 | ||
1227 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1228 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1228 | // Kompass |
1229 | // Kompass |
1229 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1230 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1230 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1231 | if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
1231 | { |
1232 | { |
1232 | if(CalculateCompassTimer-- == 1) |
1233 | if(CalculateCompassTimer-- == 1) |
1233 | { |
1234 | { |
1234 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1235 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
1235 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1236 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
1236 | // max. Korrekturwert schätzen |
1237 | // max. Korrekturwert schätzen |
1237 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1238 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
1238 | v = abs(IntegralRoll /512); |
1239 | v = abs(IntegralRoll /512); |
1239 | if(v > w) w = v; // grösste Neigung ermitteln |
1240 | if(v > w) w = v; // grösste Neigung ermitteln |
1240 | korrektur = w / 4 + 1; |
1241 | korrektur = w / 4 + 1; |
1241 | // Kompassfehlerwert bestimmen |
1242 | // Kompassfehlerwert bestimmen |
1242 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1243 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1243 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1244 | // GIER_GRAD_FAKTOR ist ca. 1200 |
1244 | 1245 | ||
1245 | // Kompasswert einloggen |
1246 | // Kompasswert einloggen |
1246 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1247 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
1247 | else |
1248 | else |
1248 | if(w < 25) |
1249 | if(w < 25) |
1249 | { |
1250 | { |
1250 | GierGyroFehler += fehler; |
1251 | GierGyroFehler += fehler; |
1251 | if(NeueKompassRichtungMerken) |
1252 | if(NeueKompassRichtungMerken) |
1252 | { |
1253 | { |
1253 | if(--NeueKompassRichtungMerken == 0) |
1254 | if(--NeueKompassRichtungMerken == 0) |
1254 | { |
1255 | { |
1255 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1256 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
1256 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1257 | KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
1257 | } |
1258 | } |
1258 | } |
1259 | } |
1259 | } |
1260 | } |
1260 | // Kompass fusionieren |
1261 | // Kompass fusionieren |
1261 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1262 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
1262 | 1263 | ||
1263 | // MK Gieren |
1264 | // MK Gieren |
1264 | if(!NeueKompassRichtungMerken) |
1265 | if(!NeueKompassRichtungMerken) |
1265 | { |
1266 | { |
1266 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1267 | r = ((540 + (KompassSollWert - ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
1267 | DebugOut.Analog[19] = r; |
- | |
1268 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1268 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
1269 | // if(abs(r) > 20) v *= 2; // über 20° -> doppelt so schnell |
- | |
1270 | CompassGierSetpoint = v / 16; |
1269 | CompassGierSetpoint = v / 16; |
1271 | } |
1270 | } |
1272 | else CompassGierSetpoint = 0; |
1271 | else CompassGierSetpoint = 0; |
1273 | - | ||
1274 | /* |
- | |
1275 | DebugOut.Analog[16] = fehler; |
- | |
1276 | DebugOut.Analog[17] = korrektur; |
- | |
1277 | */ |
- | |
1278 | DebugOut.Analog[25] = CompassGierSetpoint; |
- | |
1279 | DebugOut.Analog[18] = KompassFusion; |
- | |
1280 | - | ||
1281 | /* |
- | |
1282 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
- | |
1283 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
- | |
1284 | if(w >= 0) |
- | |
1285 | { |
- | |
1286 | if(!KompassSignalSchlecht) |
- | |
1287 | { |
- | |
1288 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
- | |
1289 | DebugOut.Analog[16] = korrektur; |
- | |
1290 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassSollWert) % 360) - 180; |
- | |
1291 | v = (r * w) / v; // nach Kompass ausrichten |
- | |
1292 | w = 3 * Parameter_KompassWirkung; |
- | |
1293 | if(v > w) v = w; // Begrenzen |
- | |
1294 | else |
- | |
1295 | if(v < -w) v = -w; |
- | |
1296 | // Mess_Integral_Gier += v; |
- | |
1297 | } |
- | |
1298 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
- | |
1299 | } |
- | |
1300 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
- | |
1301 | */ |
- | |
1302 | } // CalculateCompassTimer |
1272 | } // CalculateCompassTimer |
1303 | } |
1273 | } |
1304 | else CompassGierSetpoint = 0; |
1274 | else CompassGierSetpoint = 0; |
1305 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1275 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1306 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1276 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
1307 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1277 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1308 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1278 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
1309 | 1279 | ||
1310 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1280 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
1311 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1281 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
1312 | 1282 | ||
1313 | #define TRIM_MAX 200 |
1283 | #define TRIM_MAX 200 |
1314 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1284 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
1315 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1285 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
1316 | 1286 | ||
1317 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1287 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
1318 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1288 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
1319 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1289 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
1320 | 1290 | ||
1321 | // Maximalwerte abfangen |
1291 | // Maximalwerte abfangen |
1322 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1292 | // #define MAX_SENSOR (4096*STICK_GAIN) |
1323 | #define MAX_SENSOR (4096) |
1293 | #define MAX_SENSOR (4096) |
1324 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1294 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
1325 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1295 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
1326 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1296 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
1327 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1297 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
1328 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1298 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
1329 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1299 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
1330 | 1300 | ||
1331 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1301 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1332 | // Höhenregelung |
1302 | // Höhenregelung |
1333 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1303 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
1334 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1304 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1335 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1305 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1336 | GasMischanteil *= STICK_GAIN; |
1306 | GasMischanteil *= STICK_GAIN; |
1337 | // if height control is activated |
1307 | // if height control is activated |
1338 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1308 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1339 | { |
1309 | { |
1340 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1310 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1341 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1311 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1342 | 1312 | ||
1343 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1313 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1344 | #define OPA_OFFSET_STEP 15 |
1314 | #define OPA_OFFSET_STEP 15 |
1345 | #else |
1315 | #else |
1346 | #define OPA_OFFSET_STEP 10 |
1316 | #define OPA_OFFSET_STEP 10 |
1347 | #endif |
1317 | #endif |
1348 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1318 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
1349 | static int HeightTrimming = 0; // rate for change of height setpoint |
1319 | static int HeightTrimming = 0; // rate for change of height setpoint |
1350 | static int FilterHCGas = 0; |
1320 | static int FilterHCGas = 0; |
1351 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1321 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1352 | static unsigned long HoverGasFilter = 0; |
1322 | static unsigned long HoverGasFilter = 0; |
1353 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1323 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1354 | static signed char WaypointTrimming = 0; |
1324 | static signed char WaypointTrimming = 0; |
1355 | int CosAttitude; // for projection of hoover gas |
1325 | int CosAttitude; // for projection of hoover gas |
1356 | 1326 | ||
1357 | // get the current hooverpoint |
1327 | // get the current hooverpoint |
1358 | DebugOut.Analog[21] = HoverGas; |
1328 | DebugOut.Analog[21] = HoverGas; |
1359 | 1329 | ||
1360 | // Expand the measurement |
1330 | // Expand the measurement |
1361 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1331 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1362 | if(!BaroExpandActive) |
1332 | if(!BaroExpandActive) |
1363 | { |
1333 | { |
1364 | if(MessLuftdruck > 920) |
1334 | if(MessLuftdruck > 920) |
1365 | { // increase offset |
1335 | { // increase offset |
1366 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1336 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
1367 | { |
1337 | { |
1368 | ExpandBaro -= 1; |
1338 | ExpandBaro -= 1; |
1369 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1339 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
1370 | beeptime = 300; |
1340 | beeptime = 300; |
1371 | BaroExpandActive = 350; |
1341 | BaroExpandActive = 350; |
1372 | } |
1342 | } |
1373 | else |
1343 | else |
1374 | { |
1344 | { |
1375 | BaroAtLowerLimit = 1; |
1345 | BaroAtLowerLimit = 1; |
1376 | } |
1346 | } |
1377 | } |
1347 | } |
1378 | // measurement of air pressure close to lower limit and |
1348 | // measurement of air pressure close to lower limit and |
1379 | else |
1349 | else |
1380 | if(MessLuftdruck < 100) |
1350 | if(MessLuftdruck < 100) |
1381 | { // decrease offset |
1351 | { // decrease offset |
1382 | if(OCR0A > OPA_OFFSET_STEP) |
1352 | if(OCR0A > OPA_OFFSET_STEP) |
1383 | { |
1353 | { |
1384 | ExpandBaro += 1; |
1354 | ExpandBaro += 1; |
1385 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1355 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
1386 | beeptime = 300; |
1356 | beeptime = 300; |
1387 | BaroExpandActive = 350; |
1357 | BaroExpandActive = 350; |
1388 | } |
1358 | } |
1389 | else |
1359 | else |
1390 | { |
1360 | { |
1391 | BaroAtUpperLimit = 1; |
1361 | BaroAtUpperLimit = 1; |
1392 | } |
1362 | } |
1393 | } |
1363 | } |
1394 | else |
1364 | else |
1395 | { |
1365 | { |
1396 | BaroAtUpperLimit = 0; |
1366 | BaroAtUpperLimit = 0; |
1397 | BaroAtLowerLimit = 0; |
1367 | BaroAtLowerLimit = 0; |
1398 | } |
1368 | } |
1399 | } |
1369 | } |
1400 | else // delay, because of expanding the Baro-Range |
1370 | else // delay, because of expanding the Baro-Range |
1401 | { |
1371 | { |
1402 | // now clear the D-values |
1372 | // now clear the D-values |
1403 | SummenHoehe = HoehenWert * SM_FILTER; |
1373 | SummenHoehe = HoehenWert * SM_FILTER; |
1404 | VarioMeter = 0; |
1374 | VarioMeter = 0; |
1405 | BaroExpandActive--; |
1375 | BaroExpandActive--; |
1406 | } |
1376 | } |
1407 | 1377 | ||
1408 | // if height control is activated by an rc channel |
1378 | // if height control is activated by an rc channel |
1409 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1379 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
1410 | { // check if parameter is less than activation threshold |
1380 | { // check if parameter is less than activation threshold |
1411 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1381 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1412 | { //height control not active |
1382 | { //height control not active |
1413 | if(!delay--) |
1383 | if(!delay--) |
1414 | { |
1384 | { |
1415 | HoehenReglerAktiv = 0; // disable height control |
1385 | HoehenReglerAktiv = 0; // disable height control |
1416 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1386 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1417 | delay = 1; |
1387 | delay = 1; |
1418 | } |
1388 | } |
1419 | } |
1389 | } |
1420 | else |
1390 | else |
1421 | { //height control is activated |
1391 | { //height control is activated |
1422 | HoehenReglerAktiv = 1; // enable height control |
1392 | HoehenReglerAktiv = 1; // enable height control |
1423 | delay = 200; |
1393 | delay = 200; |
1424 | } |
1394 | } |
1425 | } |
1395 | } |
1426 | else // no switchable height control |
1396 | else // no switchable height control |
1427 | { |
1397 | { |
1428 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1398 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
1429 | HoehenReglerAktiv = 1; |
1399 | HoehenReglerAktiv = 1; |
1430 | } |
1400 | } |
1431 | 1401 | ||
1432 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1402 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
1433 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1403 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
1434 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1404 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
1435 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1405 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
1436 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1406 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
1437 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1407 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
1438 | VarioCharacter = ' '; |
1408 | VarioCharacter = ' '; |
1439 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1409 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1440 | { |
1410 | { |
1441 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1411 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
1442 | // Holger original version |
1412 | // Holger original version |
1443 | // start of height control algorithm |
1413 | // start of height control algorithm |
1444 | // the height control is only an attenuation of the actual gas stick. |
1414 | // the height control is only an attenuation of the actual gas stick. |
1445 | // I.e. it will work only if the gas stick is higher than the hover gas |
1415 | // I.e. it will work only if the gas stick is higher than the hover gas |
1446 | // and the hover height will be allways larger than height setpoint. |
1416 | // and the hover height will be allways larger than height setpoint. |
1447 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1417 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
1448 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1418 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
1449 | { // old version |
1419 | { // old version |
1450 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1420 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
1451 | HeightTrimming = 0; |
1421 | HeightTrimming = 0; |
1452 | // set both flags to indicate no vario mode |
1422 | // set both flags to indicate no vario mode |
1453 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1423 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1454 | } |
1424 | } |
1455 | else |
1425 | else |
1456 | { |
1426 | { |
1457 | // alternative height control |
1427 | // alternative height control |
1458 | // PD-Control with respect to hoover point |
1428 | // PD-Control with respect to hoover point |
1459 | // the thrust loss out of horizontal attitude is compensated |
1429 | // the thrust loss out of horizontal attitude is compensated |
1460 | // the setpoint will be fine adjusted with the gas stick position |
1430 | // the setpoint will be fine adjusted with the gas stick position |
1461 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1431 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
1462 | { // gas stick is above hoover point |
1432 | { // gas stick is above hoover point |
1463 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1433 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1464 | { |
1434 | { |
1465 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1435 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
1466 | { |
1436 | { |
1467 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1437 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
1468 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1438 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1469 | } |
1439 | } |
1470 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1440 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1471 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1441 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1472 | VarioCharacter = '+'; |
1442 | VarioCharacter = '+'; |
- | 1443 | WaypointTrimming = 0; |
|
1473 | } // gas stick is below hoover point |
1444 | } // gas stick is below hoover point |
1474 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1445 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1475 | { |
1446 | { |
1476 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1447 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
1477 | { |
1448 | { |
1478 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1449 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
1479 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1450 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1480 | } |
1451 | } |
1481 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1452 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1482 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1453 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1483 | VarioCharacter = '-'; |
1454 | VarioCharacter = '-'; |
- | 1455 | WaypointTrimming = 0; |
|
1484 | } |
1456 | } |
1485 | else // Gas Stick in Hover Range |
1457 | else // Gas Stick in Hover Range |
1486 | { |
1458 | { |
1487 | VarioCharacter = '='; |
1459 | VarioCharacter = '='; |
1488 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1460 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
1489 | { |
1461 | { |
1490 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1462 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
1491 | HeightTrimming += FromNC_AltitudeSpeed; |
1463 | HeightTrimming += FromNC_AltitudeSpeed; |
1492 | WaypointTrimming = 10; |
1464 | WaypointTrimming = 10; |
1493 | VarioCharacter = '^'; |
1465 | VarioCharacter = '^'; |
- | 1466 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
|
- | 1467 | { |
|
- | 1468 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
|
- | 1469 | SollHoehe = HoehenWert; // update setpoint to current heigth |
|
- | 1470 | } |
|
1494 | } |
1471 | } |
1495 | else |
1472 | else |
1496 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1473 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
1497 | { |
1474 | { |
1498 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1475 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
1499 | HeightTrimming -= FromNC_AltitudeSpeed; |
1476 | HeightTrimming -= FromNC_AltitudeSpeed; |
1500 | WaypointTrimming = -10; |
1477 | WaypointTrimming = -10; |
1501 | VarioCharacter = 'v'; |
1478 | VarioCharacter = 'v'; |
- | 1479 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
|
- | 1480 | { |
|
- | 1481 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
|
- | 1482 | SollHoehe = HoehenWert; // update setpoint to current heigth |
|
- | 1483 | } |
|
1502 | } |
1484 | } |
1503 | else |
1485 | else |
1504 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1486 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
1505 | { |
1487 | { |
1506 | if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
1488 | if(!WaypointTrimming) SollHoehe = HoehenWert; // update setpoint to current height |
1507 | else WaypointTrimming = 0; |
1489 | else WaypointTrimming = 0; |
1508 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1490 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1509 | HeightTrimming = 0; |
1491 | HeightTrimming = 0; |
1510 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1492 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
1511 | if(!StartTrigger && HoehenWert > 50) |
1493 | if(!StartTrigger && HoehenWert > 50) |
1512 | { |
1494 | { |
1513 | StartTrigger = 1; |
1495 | StartTrigger = 1; |
1514 | } |
1496 | } |
1515 | } |
1497 | } |
1516 | } |
1498 | } |
1517 | // Trim height set point |
1499 | // Trim height set point |
1518 | if(abs(HeightTrimming) > 512) |
1500 | if(abs(HeightTrimming) > 512) |
1519 | { |
1501 | { |
1520 | if(WaypointTrimming) |
1502 | if(WaypointTrimming) |
1521 | { |
1503 | { |
1522 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1504 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
1523 | else SollHoehe += WaypointTrimming; |
1505 | else SollHoehe += WaypointTrimming; |
1524 | } |
1506 | } |
1525 | else |
1507 | else |
1526 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1508 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1527 | HeightTrimming = 0; |
1509 | HeightTrimming = 0; |
1528 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1510 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1529 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1511 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1530 | //update hoover gas stick value when setpoint is shifted |
1512 | //update hoover gas stick value when setpoint is shifted |
1531 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1513 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1532 | { |
1514 | { |
1533 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1515 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
1534 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1516 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1535 | if(StickGasHover < 70) StickGasHover = 70; |
1517 | if(StickGasHover < 70) StickGasHover = 70; |
1536 | else if(StickGasHover > 150) StickGasHover = 150; |
1518 | else if(StickGasHover > 150) StickGasHover = 150; |
1537 | } |
1519 | } |
1538 | } |
1520 | } |
1539 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1521 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1540 | } //if FCFlags & MKFCFLAG_FLY |
1522 | } //if FCFlags & MKFCFLAG_FLY |
1541 | else |
1523 | else |
1542 | { |
1524 | { |
1543 | SollHoehe = HoehenWert - 400; |
1525 | SollHoehe = HoehenWert - 400; |
1544 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1526 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1545 | else StickGasHover = 120; |
1527 | else StickGasHover = 120; |
1546 | HoverGas = GasMischanteil; |
1528 | HoverGas = GasMischanteil; |
1547 | } |
1529 | } |
1548 | HCGas = HoverGas; // take hover gas (neutral point) |
1530 | HCGas = HoverGas; // take hover gas (neutral point) |
1549 | } |
1531 | } |
1550 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1532 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1551 | { |
1533 | { |
1552 | // from this point the Heigth Control Algorithm is identical for both versions |
1534 | // from this point the Heigth Control Algorithm is identical for both versions |
1553 | if(BaroExpandActive) // baro range expanding active |
1535 | if(BaroExpandActive) // baro range expanding active |
1554 | { |
1536 | { |
1555 | HCGas = HoverGas; // hover while expanding baro adc range |
1537 | HCGas = HoverGas; // hover while expanding baro adc range |
1556 | HeightDeviation = 0; |
1538 | HeightDeviation = 0; |
1557 | } // EOF // baro range expanding active |
1539 | } // EOF // baro range expanding active |
1558 | else // valid data from air pressure sensor |
1540 | else // valid data from air pressure sensor |
1559 | { |
1541 | { |
1560 | // ------------------------- P-Part ---------------------------- |
1542 | // ------------------------- P-Part ---------------------------- |
1561 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1543 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1562 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1544 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
1563 | HeightDeviation = (int)(tmp_long); // positive when too high |
1545 | HeightDeviation = (int)(tmp_long); // positive when too high |
1564 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1546 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
1565 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1547 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
1566 | GasReduction = tmp_long; |
1548 | GasReduction = tmp_long; |
1567 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1549 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1568 | tmp_int = VarioMeter / 8; |
1550 | tmp_int = VarioMeter / 8; |
1569 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1551 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
1570 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1552 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
1571 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1553 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1572 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1554 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
1573 | else |
1555 | else |
1574 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1556 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
1575 | GasReduction += tmp_int; |
1557 | GasReduction += tmp_int; |
1576 | } // EOF no baro range expanding |
1558 | } // EOF no baro range expanding |
1577 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1559 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1578 | if(Parameter_Hoehe_ACC_Wirkung) |
1560 | if(Parameter_Hoehe_ACC_Wirkung) |
1579 | { |
1561 | { |
1580 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1562 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
1581 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1563 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1582 | GasReduction += tmp_long; |
1564 | GasReduction += tmp_long; |
1583 | } |
1565 | } |
1584 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1566 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
1585 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1567 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
1586 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1568 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
1587 | GasReduction += tmp_int; |
1569 | GasReduction += tmp_int; |
1588 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1570 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
1589 | // ------------------------ ---------------------------------- |
1571 | // ------------------------ ---------------------------------- |
1590 | HCGas -= GasReduction; |
1572 | HCGas -= GasReduction; |
1591 | // limit deviation from hoover point within the target region |
1573 | // limit deviation from hoover point within the target region |
1592 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1574 | if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
1593 | { |
1575 | { |
1594 | unsigned int tmp; |
1576 | unsigned int tmp; |
1595 | tmp = abs(HeightDeviation); |
1577 | tmp = abs(HeightDeviation); |
1596 | if(tmp <= 60) |
1578 | if(tmp <= 60) |
1597 | { |
1579 | { |
1598 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1580 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
1599 | } |
1581 | } |
1600 | else |
1582 | else |
1601 | { |
1583 | { |
1602 | tmp = (tmp - 60) / 32; |
1584 | tmp = (tmp - 60) / 32; |
1603 | if(tmp > 15) tmp = 15; |
1585 | if(tmp > 15) tmp = 15; |
1604 | if(HeightDeviation > 0) |
1586 | if(HeightDeviation > 0) |
1605 | { |
1587 | { |
1606 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1588 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
1607 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1589 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
1608 | } |
1590 | } |
1609 | else |
1591 | else |
1610 | { |
1592 | { |
1611 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1593 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
1612 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1594 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
1613 | } |
1595 | } |
1614 | } |
1596 | } |
1615 | } |
1597 | } |
1616 | // strech control output by inverse attitude projection 1/cos |
1598 | // strech control output by inverse attitude projection 1/cos |
1617 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1599 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1618 | tmp_long2 = (int32_t)HCGas; |
1600 | tmp_long2 = (int32_t)HCGas; |
1619 | tmp_long2 *= 8192L; |
1601 | tmp_long2 *= 8192L; |
1620 | tmp_long2 /= CosAttitude; |
1602 | tmp_long2 /= CosAttitude; |
1621 | HCGas = (int16_t)tmp_long2; |
1603 | HCGas = (int16_t)tmp_long2; |
1622 | // update height control gas averaging |
1604 | // update height control gas averaging |
1623 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1605 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1624 | // limit height control gas pd-control output |
1606 | // limit height control gas pd-control output |
1625 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1607 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1626 | // set GasMischanteil to HeightControlGasFilter |
1608 | // set GasMischanteil to HeightControlGasFilter |
1627 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1609 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1628 | { // old version |
1610 | { // old version |
1629 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1611 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
1630 | GasMischanteil = FilterHCGas; |
1612 | GasMischanteil = FilterHCGas; |
1631 | } |
1613 | } |
1632 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1614 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
1633 | } |
1615 | } |
1634 | }// EOF height control active |
1616 | }// EOF height control active |
1635 | else // HC not active |
1617 | else // HC not active |
1636 | { |
1618 | { |
1637 | //update hoover gas stick value when HC is not active |
1619 | //update hoover gas stick value when HC is not active |
1638 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1620 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1639 | { |
1621 | { |
1640 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1622 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
1641 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1623 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
1642 | } |
1624 | } |
1643 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1625 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
1644 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1626 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
1645 | FilterHCGas = GasMischanteil; |
1627 | FilterHCGas = GasMischanteil; |
1646 | // set both flags to indicate no vario mode |
1628 | // set both flags to indicate no vario mode |
1647 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1629 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1648 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1630 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
1649 | } |
1631 | } |
1650 | // Hover gas estimation by averaging gas control output on small z-velocities |
1632 | // Hover gas estimation by averaging gas control output on small z-velocities |
1651 | // this is done only if height contol option is selected in global config and aircraft is flying |
1633 | // this is done only if height contol option is selected in global config and aircraft is flying |
1652 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1634 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
1653 | { |
1635 | { |
1654 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1636 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1655 | if(StartTrigger == 1) StartTrigger = 2; |
1637 | if(StartTrigger == 1) StartTrigger = 2; |
1656 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1638 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1657 | tmp_long2 *= CosAttitude; // apply attitude projection |
1639 | tmp_long2 *= CosAttitude; // apply attitude projection |
1658 | tmp_long2 /= 8192; |
1640 | tmp_long2 /= 8192; |
1659 | // average vertical projected thrust |
1641 | // average vertical projected thrust |
1660 | if(modell_fliegt < 4000) // the first 8 seconds |
1642 | if(modell_fliegt < 4000) // the first 8 seconds |
1661 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1643 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1662 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1644 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
1663 | HoverGasFilter += 16L * tmp_long2; |
1645 | HoverGasFilter += 16L * tmp_long2; |
1664 | } |
1646 | } |
1665 | if(modell_fliegt < 8000) // the first 16 seconds |
1647 | if(modell_fliegt < 8000) // the first 16 seconds |
1666 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1648 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1667 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1649 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
1668 | HoverGasFilter += 4L * tmp_long2; |
1650 | HoverGasFilter += 4L * tmp_long2; |
1669 | } |
1651 | } |
1670 | else //later |
1652 | else //later |
1671 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1653 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
1672 | { |
1654 | { |
1673 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1655 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
1674 | HoverGasFilter += tmp_long2; |
1656 | HoverGasFilter += tmp_long2; |
1675 | } |
1657 | } |
1676 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1658 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
1677 | if(EE_Parameter.Hoehe_HoverBand) |
1659 | if(EE_Parameter.Hoehe_HoverBand) |
1678 | { |
1660 | { |
1679 | int16_t band; |
1661 | int16_t band; |
1680 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1662 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1681 | HoverGasMin = HoverGas - band; |
1663 | HoverGasMin = HoverGas - band; |
1682 | HoverGasMax = HoverGas + band; |
1664 | HoverGasMax = HoverGas + band; |
1683 | } |
1665 | } |
1684 | else |
1666 | else |
1685 | { // no limit |
1667 | { // no limit |
1686 | HoverGasMin = 0; |
1668 | HoverGasMin = 0; |
1687 | HoverGasMax = 1023; |
1669 | HoverGasMax = 1023; |
1688 | } |
1670 | } |
1689 | } |
1671 | } |
1690 | else |
1672 | else |
1691 | { |
1673 | { |
1692 | StartTrigger = 0; |
1674 | StartTrigger = 0; |
1693 | HoverGasFilter = 0; |
1675 | HoverGasFilter = 0; |
1694 | HoverGas = 0; |
1676 | HoverGas = 0; |
1695 | } |
1677 | } |
1696 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1678 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
1697 | else |
1679 | else |
1698 | { |
1680 | { |
1699 | // set undefined state to indicate vario off |
1681 | // set undefined state to indicate vario off |
1700 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1682 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1701 | } // EOF no height control |
1683 | } // EOF no height control |
1702 | 1684 | ||
1703 | // limit gas to parameter setting |
1685 | // limit gas to parameter setting |
1704 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1686 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1705 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1687 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1706 | 1688 | ||
1707 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1689 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1708 | // all BL-Ctrl connected? |
1690 | // all BL-Ctrl connected? |
1709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1691 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1710 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1692 | if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
1711 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1693 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
1712 | { |
1694 | { |
1713 | modell_fliegt = 1; |
1695 | modell_fliegt = 1; |
1714 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1696 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
1715 | } |
1697 | } |
1716 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1698 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1717 | // + Mischer und PI-Regler |
1699 | // + Mischer und PI-Regler |
1718 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1700 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1719 | DebugOut.Analog[7] = GasMischanteil; |
1701 | DebugOut.Analog[7] = GasMischanteil; |
1720 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1721 | // Gier-Anteil |
1703 | // Gier-Anteil |
1722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1723 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1705 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
1724 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1706 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
1725 | if(GasMischanteil > MIN_GIERGAS) |
1707 | if(GasMischanteil > MIN_GIERGAS) |
1726 | { |
1708 | { |
1727 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1709 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
1728 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1710 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
1729 | } |
1711 | } |
1730 | else |
1712 | else |
1731 | { |
1713 | { |
1732 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1714 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
1733 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1715 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
1734 | } |
1716 | } |
1735 | tmp_int = MAX_GAS*STICK_GAIN; |
1717 | tmp_int = MAX_GAS*STICK_GAIN; |
1736 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1718 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
1737 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1719 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
1738 | 1720 | ||
1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1721 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1740 | // Nick-Achse |
1722 | // Nick-Achse |
1741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1723 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1742 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1724 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
1743 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1725 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
1744 | else SummeNick += DiffNick; // I-Anteil bei HH |
1726 | else SummeNick += DiffNick; // I-Anteil bei HH |
1745 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1727 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
1746 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1728 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
1747 | 1729 | ||
1748 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1730 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
1749 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1731 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
1750 | pd_ergebnis_nick += SummeNick / Ki; |
1732 | pd_ergebnis_nick += SummeNick / Ki; |
1751 | 1733 | ||
1752 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1734 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1753 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1735 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
1754 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1736 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
1755 | 1737 | ||
1756 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1738 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1757 | // Roll-Achse |
1739 | // Roll-Achse |
1758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1759 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1741 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1760 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1742 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
1761 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1743 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
1762 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1744 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
1763 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1745 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
1764 | 1746 | ||
1765 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1747 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
1766 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1748 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
1767 | pd_ergebnis_roll += SummeRoll / Ki; |
1749 | pd_ergebnis_roll += SummeRoll / Ki; |
1768 | 1750 | ||
1769 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1751 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
1770 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1752 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
1771 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1753 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1772 | 1754 | ||
1773 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1774 | // Universal Mixer |
1756 | // Universal Mixer |
1775 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1776 | for(i=0; i<MAX_MOTORS; i++) |
1758 | for(i=0; i<MAX_MOTORS; i++) |
1777 | { |
1759 | { |
1778 | signed int tmp_int; |
1760 | signed int tmp_int; |
1779 | if(Mixer.Motor[i][0] > 0) |
1761 | if(Mixer.Motor[i][0] > 0) |
1780 | { |
1762 | { |
1781 | // Gas |
1763 | // Gas |
1782 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1764 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1783 | // Nick |
1765 | // Nick |
1784 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1766 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1785 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1767 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1786 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1768 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1787 | // Roll |
1769 | // Roll |
1788 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1770 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
1789 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1771 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
1790 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1772 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1791 | // Gier |
1773 | // Gier |
1792 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1774 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1793 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1775 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1794 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1776 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1795 | 1777 | ||
1796 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1778 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1797 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1779 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1798 | 1780 | ||
1799 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1781 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1800 | Motor[i].SetPoint = tmp_int / 4; |
1782 | Motor[i].SetPoint = tmp_int / 4; |
1801 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1783 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
1802 | tmp_motorwert[i] = tmp_int; |
1784 | tmp_motorwert[i] = tmp_int; |
1803 | } |
1785 | } |
1804 | else |
1786 | else |
1805 | { |
1787 | { |
1806 | Motor[i].SetPoint = 0; |
1788 | Motor[i].SetPoint = 0; |
1807 | Motor[i].SetPointLowerBits = 0; |
1789 | Motor[i].SetPointLowerBits = 0; |
1808 | } |
1790 | } |
1809 | } |
1791 | } |
1810 | } |
1792 | } |
1811 | 1793 |