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| - | 1 | /****************************************************************************************************************** |
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| - | 2 | V0.82b-Arthur-P 2010-12-18 |
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| - | 3 | ------------------------------------------------------------------------------------------------------------------ |
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| - | 4 | Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs. |
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| - | 5 | ||
| - | 6 | 2010-12-18 Transferred changes to v.0.82b-Arthur-P. Remarked out variable i in Mittelwert() as this |
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| - | 7 | variable is not used. |
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| - | 8 | 20100917: Transferred changes to v0.80g-Arthur-Px. |
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| - | 9 | 20100804: Arthur P.: Modified to use user parameter 7 to determine downstep for motorsmoothing |
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| - | 10 | with 0 or 1 defaulting to the default -150% first step followed by upsmoothing and |
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| - | 11 | values beyond that resulting in 50% (2), 75% (4), 90% (10), 95% (20), 97.5% (40), 99% (100) |
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| - | 12 | downsteps. |
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| - | 13 | Within timer0.c user paramater 8 is used to activate an external HEF4017 on FC 1.x hardware, |
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| - | 14 | and/or to set the shutter interval timer in steps of 0.1sec (minimum = 1 sec), by using |
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| - | 15 | bit 8 (128) as on/off switch, and bits 7 (0..127) for the timer counter. |
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| - | 16 | ||
| - | 17 | ******************************************************************************************************************/ |
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| 1 | /*####################################################################################### |
18 | /*####################################################################################### |
| 2 | Flight Control |
19 | Flight Control |
| 3 | #######################################################################################*/ |
20 | #######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) Holger Buss, Ingo Busker |
22 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 366 | //############################################################################ |
383 | //############################################################################ |
| 367 | { |
384 | { |
| 368 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
385 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 369 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
386 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| 370 | signed long winkel_nick, winkel_roll; |
387 | signed long winkel_nick, winkel_roll; |
| - | 388 | /*********************************************************************************************************** |
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| - | 389 | Arthur P: Disabbled unsinged char i as this variable is not used. |
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| - | 390 | ***********************************************************************************************************/ |
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| 371 | unsigned char i; |
391 | // unsigned char i; |
| - | 392 | /*********************************************************************************************************** |
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| - | 393 | Arthur P: End of change. |
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| - | 394 | ***********************************************************************************************************/ |
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| 372 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
395 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 373 | MesswertNick = (signed int) AdWertNickFilter / 8; |
396 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 374 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
397 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
| 375 | RohMesswertNick = MesswertNick; |
398 | RohMesswertNick = MesswertNick; |
| 376 | RohMesswertRoll = MesswertRoll; |
399 | RohMesswertRoll = MesswertRoll; |
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| 1713 | // Gier |
1736 | // Gier |
| 1714 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
1737 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| 1715 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
1738 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| 1716 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1739 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
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| - | 1740 | ||
| - | 1741 | /****************************************************************************************************************** |
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| - | 1742 | Arthur P: the original code allowed the motor value to drop to 0 or negative values |
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| - | 1743 | straight off, i.e. could amplify an intended decrease excessively while upregulation |
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| - | 1744 | is dampened. The modification would still allow immediate drop below intended value |
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| - | 1745 | but would dampen this. This would still allow for airbraking of the prop to have effect |
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| - | 1746 | but it might lead to less sudden excessive drops in rpm with only gradual recovery. |
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| - | 1747 | 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and |
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| - | 1748 | possible timing issues with the shutter interval load, removed the shutter interval functions |
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| - | 1749 | and switched to use of userparam6 for the motor smoothing. |
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| - | 1750 | 091114 Inserted modification into 0.76g source code. |
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| - | 1751 | 20100804 Modified v.0.80d code where motorsmoothing is no longer a separate function. |
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| - | 1752 | Downsmoothing either uses default v.0.7x+ 150% downstep (user para 7 == 0), |
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| - | 1753 | 50% downstep (user para 7 == 1 or 2), or downsteps of x% (userpara7 ==): |
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| - | 1754 | 66.6% (3), 75% (4), 80% (5), 90% (10), 95% (20), 97.5% (40), 98% (50), 99% (100). |
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| - | 1755 | ******************************************************************************************************************/ |
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| 1717 | 1756 | ||
| - | 1757 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
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| - | 1758 | /****************************************************************************************************************** |
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| - | 1759 | Arthur P: Start of changes in fc.c. Next line is disabled and replaced by modified routine. |
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| 1718 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
1760 | ******************************************************************************************************************/ |
| - | 1761 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
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| - | 1762 | else |
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| - | 1763 | { |
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| - | 1764 | if(Parameter_UserParam7 < 2) |
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| - | 1765 | { // Original function |
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| - | 1766 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; |
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| - | 1767 | } |
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| - | 1768 | else |
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| - | 1769 | { |
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| - | 1770 | // If userpara7 >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
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| - | 1771 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/Parameter_UserParam7); |
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| - | 1772 | } |
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| - | 1773 | } |
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| - | 1774 | /****************************************************************************************************************** |
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| - | 1775 | Arthur P: End of changes in fc.c. |
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| 1719 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
1776 | ******************************************************************************************************************/ |
| 1720 | 1777 | ||
| 1721 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
1778 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| 1722 | Motor[i].SetPoint = tmp_int / 4; |
1779 | Motor[i].SetPoint = tmp_int / 4; |