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#include "twimaster.h"
66
#include "twimaster.h"
67
#include "mm3.h"
67
#include "mm3.h"
Line 68... Line 68...
68
 
68
 
69
unsigned char h,m,s;
69
unsigned char h,m,s;
70
volatile unsigned int I2CTimeout = 100;
70
volatile unsigned int I2CTimeout = 100;
71
volatile int MesswertNick,MesswertRoll,MesswertGier;
71
volatile int ReadingPitch, ReadingRoll, ReadingYaw;
72
volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
72
volatile int AdNeutralPitch = 0,AdNeutralRoll = 0,AdNeutralYaw = 0, StartNeutralRoll = 0, StartNeutralPitch = 0;
73
volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
73
volatile int Mean_AccPitch, Mean_AccRoll, Mean_AccTop, NeutralAccX=0, NeutralAccY=0;
74
volatile float NeutralAccZ = 0;
74
volatile float NeutralAccZ = 0;
75
volatile long IntegralNick = 0,IntegralNick2 = 0;
75
volatile long IntegralPitch = 0,IntegralPitch2 = 0;
76
volatile long IntegralRoll = 0,IntegralRoll2 = 0;
76
volatile long IntegralRoll = 0,IntegralRoll2 = 0;
77
volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
77
volatile long IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
78
volatile long Integral_Gier = 0;
78
volatile long Integral_Yaw = 0;
79
volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
79
volatile long Reading_IntegralPitch = 0,Reading_IntegralPitch2 = 0;
80
volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
80
volatile long Reading_IntegralRoll = 0,Reading_IntegralRoll2 = 0;
81
volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
81
volatile long Reading_Integral_Yaw = 0,Reading_Integral_Yaw2 = 0;
82
volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
82
volatile long MeanIntegralPitch, MeanIntegralRoll, MeanIntegralPitch2, MeanIntegralRoll2;
83
volatile long Mess_Integral_Hoch = 0;
83
volatile long Reading_Integral_Top = 0;
84
volatile int  KompassValue = 0;
84
volatile int  CompassHeading = 0;
85
volatile int  KompassStartwert = 0;
85
volatile int  CompassCourse = 0;
86
volatile int  KompassRichtung = 0;
86
volatile int  CompassOffCourse = 0;
87
unsigned char MAX_GAS,MIN_GAS;
87
unsigned char MAX_GAS,MIN_GAS;
88
unsigned char Notlandung = 0;
88
unsigned char EmergencyLanding = 0;
89
unsigned char HoehenReglerAktiv = 0;
89
unsigned char HightControlActive = 0;
90
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
90
long TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
91
 
91
 
92
float GyroFaktor;
92
float GyroFactor;
93
float IntegralFaktor;
93
float IntegralFactor;
94
volatile int  DiffNick,DiffRoll;
94
volatile int  DiffPitch,DiffRoll;
95
int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
95
int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
96
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
96
volatile unsigned char Motor_Front, Motor_Rear, Motor_Right, Motor_Left, Count;
97
unsigned char MotorWert[5];
97
unsigned char MotorValue[5];
98
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
98
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickGas = 0;
99
char MotorenEin = 0;
99
char MotorsOn = 0;
100
int HoehenWert = 0;
100
int ReadingHight = 0;
101
int SollHoehe = 0;
101
int SetPointHight = 0;
102
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
102
int AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
103
float Ki =  FAKTOR_I;
103
float Ki =  FAKTOR_I;
104
unsigned char Looping_Nick = 0,Looping_Roll = 0;
104
unsigned char Looping_Pitch = 0, Looping_Roll = 0;
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105
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
105
unsigned char Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
106
 
106
 
107
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
107
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
108
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
108
unsigned char Parameter_MaxHoehe     = 251;     // Wert : 0-250
109
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
109
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
110
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
110
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
111
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
111
unsigned char Parameter_CompassYawEffect = 64;  // Wert : 0-250
112
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
112
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
113
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
113
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
114
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
114
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
Line 119... Line 119...
119
unsigned char Parameter_UserParam4 = 0;
119
unsigned char Parameter_UserParam4 = 0;
120
unsigned char Parameter_UserParam5 = 0;
120
unsigned char Parameter_UserParam5 = 0;
121
unsigned char Parameter_UserParam6 = 0;
121
unsigned char Parameter_UserParam6 = 0;
122
unsigned char Parameter_UserParam7 = 0;
122
unsigned char Parameter_UserParam7 = 0;
123
unsigned char Parameter_UserParam8 = 0;
123
unsigned char Parameter_UserParam8 = 0;
124
unsigned char Parameter_ServoNickControl = 100;
124
unsigned char Parameter_ServoPitchControl = 100;
125
unsigned char Parameter_LoopGasLimit = 70;
125
unsigned char Parameter_LoopGasLimit = 70;
126
unsigned char Parameter_AchsKopplung1 = 0;
126
unsigned char Parameter_AchsKopplung1 = 0;
127
unsigned char Parameter_AchsGegenKopplung1 = 0;
127
unsigned char Parameter_AchsGegenKopplung1 = 0;
128
unsigned char Parameter_DynamicStability = 100;
128
unsigned char Parameter_DynamicStability = 100;
Line 129... Line 129...
129
 
129
 
130
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
130
signed int ExternStickPitch = 0, ExternStickRoll = 0,ExternStickYaw = 0, ExternHightValue = -20;
Line 131... Line 131...
131
int MaxStickNick = 0,MaxStickRoll = 0;
131
int MaxStickPitch = 0, MaxStickRoll = 0;
132
 
132
 
133
void Piep(unsigned char Anzahl)
133
void Piep(unsigned char Anzahl)
134
{
134
{
135
 while(Anzahl--)
135
 while(Anzahl--)
136
 {
136
 {
137
  if(MotorenEin) return; //auf keinen Fall im Flug!
137
  if(MotorsOn) return; //auf keinen Fall im Flug!
138
  BeepTime = 100;
138
  BeepTime = 100;
139
  Delay_ms(250);
139
  Delay_ms(250);
Line 146... Line 146...
146
//############################################################################
146
//############################################################################
147
{
147
{
148
        NeutralAccX = 0;
148
        NeutralAccX = 0;
149
        NeutralAccY = 0;
149
        NeutralAccY = 0;
150
        NeutralAccZ = 0;
150
        NeutralAccZ = 0;
151
    AdNeutralNick = 0;
151
    AdNeutralPitch = 0;
152
        AdNeutralRoll = 0;
152
        AdNeutralRoll = 0;
153
        AdNeutralGier = 0;
153
        AdNeutralYaw = 0;
154
    Parameter_AchsKopplung1 = 0;
154
    Parameter_AchsKopplung1 = 0;
155
    Parameter_AchsGegenKopplung1 = 0;
155
    Parameter_AchsGegenKopplung1 = 0;
156
    CalibrierMittelwert();
156
    CalibMean();
157
    Delay_ms_Mess(100);
157
    Delay_ms_Mess(100);
158
        CalibrierMittelwert();
158
        CalibMean();
159
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?
159
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?
160
     {
160
     {
161
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
161
      if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
162
     }
162
     }
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163
 
163
 
164
     AdNeutralNick= AdValueGyrNick;
164
     AdNeutralPitch= AdValueGyrPitch;
165
         AdNeutralRoll= AdValueGyrRoll;
165
         AdNeutralRoll= AdValueGyrRoll;
166
         AdNeutralGier= AdValueGyrGier;
166
         AdNeutralYaw= AdValueGyrYaw;
167
     StartNeutralRoll = AdNeutralRoll;
167
     StartNeutralRoll = AdNeutralRoll;
168
     StartNeutralNick = AdNeutralNick;
168
     StartNeutralPitch = AdNeutralPitch;
169
    if(GetParamByte(PID_ACC_NICK) > 4)
169
    if(GetParamByte(PID_ACC_PITCH) > 4)
170
    {
170
    {
171
      NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY;
171
      NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
172
          NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY;
172
          NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
173
          NeutralAccZ = Current_AccZ;
173
          NeutralAccZ = Current_AccZ;
174
    }
174
    }
175
    else
175
    else
176
    {
176
    { // why not GetParamWord()?
177
      NeutralAccX = (int)GetParamByte(PID_ACC_NICK) * 256 + (int)GetParamByte(PID_ACC_NICK+1);
177
      NeutralAccX = (int)GetParamByte(PID_ACC_PITCH) * 256 + (int)GetParamByte(PID_ACC_PITCH+1);
178
          NeutralAccY = (int)GetParamByte(PID_ACC_ROLL) * 256 + (int)GetParamByte(PID_ACC_ROLL+1);
178
          NeutralAccY = (int)GetParamByte(PID_ACC_ROLL) * 256 + (int)GetParamByte(PID_ACC_ROLL+1);
179
          NeutralAccZ = (int)GetParamByte(PID_ACC_Z) * 256 + (int)GetParamByte(PID_ACC_Z+1);
179
          NeutralAccZ = (int)GetParamByte(PID_ACC_Z) * 256 + (int)GetParamByte(PID_ACC_Z+1);
Line 180... Line 180...
180
    }
180
    }
181
 
181
 
182
        Mess_IntegralNick = 0;
182
        Reading_IntegralPitch = 0;
183
    Mess_IntegralNick2 = 0;
183
    Reading_IntegralPitch2 = 0;
184
    Mess_IntegralRoll = 0;
184
    Reading_IntegralRoll = 0;
185
    Mess_IntegralRoll2 = 0;
185
    Reading_IntegralRoll2 = 0;
186
    Mess_Integral_Gier = 0;
186
    Reading_Integral_Yaw = 0;
187
    MesswertNick = 0;
187
    ReadingPitch = 0;
188
    MesswertRoll = 0;
188
    ReadingRoll = 0;
189
    MesswertGier = 0;
189
    ReadingYaw = 0;
190
    StartLuftdruck = Luftdruck;
190
    StartAirPressure = AirPressure;
191
    HoeheD = 0;
191
    HoeheD = 0;
192
    Mess_Integral_Hoch = 0;
192
    Reading_Integral_Top = 0;
193
    KompassStartwert = KompassValue;
193
    CompassCourse = CompassHeading;
194
    GPS_Neutral();
194
    GPS_Neutral();
195
    BeepTime = 50;
195
    BeepTime = 50;
196
        Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L;
196
        TurnOver180Pitch = (long) ParamSet.AngleTurnOverPitch * 2500L;
197
        Umschlag180Roll = (long) ParamSet.WinkelUmschlagRoll * 2500L;
197
        TurnOver180Roll = (long) ParamSet.AngleTurnOverRoll * 2500L;
Line 198... Line 198...
198
    ExternHoehenValue = 0;
198
    ExternHightValue = 0;
199
}
199
}
200
 
200
 
201
//############################################################################
201
//############################################################################
202
// Bearbeitet die Messwerte
202
// Bearbeitet die Messwerte
203
void Mittelwert(void)
203
void Mean(void)
204
//############################################################################
204
//############################################################################
205
{
205
{
206
    static signed long tmpl,tmpl2;
206
    static int32_t tmpl,tmpl2;
Line 207... Line 207...
207
    MesswertGier = (signed int) AdNeutralGier - AdValueGyrGier;
207
    ReadingYaw = (int16_t) AdNeutralYaw - AdValueGyrYaw;
208
    MesswertRoll = (signed int) AdValueGyrRoll - AdNeutralRoll;
208
    ReadingRoll = (int16_t) AdValueGyrRoll - AdNeutralRoll;
Line 209... Line 209...
209
    MesswertNick = (signed int) AdValueGyrNick - AdNeutralNick;
209
    ReadingPitch = (int16_t) AdValueGyrPitch - AdNeutralPitch;
210
 
210
 
211
//DebugOut.Analog[26] = MesswertNick;
211
//DebugOut.Analog[26] = ReadingPitch;
212
DebugOut.Analog[28] = MesswertRoll;
212
DebugOut.Analog[28] = ReadingRoll;
213
 
213
 
214
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
214
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
215
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdValueAccNick))) / 2L;
215
        Mean_AccPitch = ((long)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (long)AdValueAccPitch))) / 2L;
216
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L;
216
        Mean_AccRoll = ((long)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L;
217
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdValueAccTop)) / 2L;
217
        Mean_AccTop = ((long)Mean_AccTop * 1 + ((long)AdValueAccTop)) / 2L;
218
    IntegralAccNick += ACC_AMPLIFY * AdValueAccNick;
218
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
219
    IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll;
219
    IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll;
220
    IntegralAccZ    += Current_AccZ - NeutralAccZ;
220
    IntegralAccZ    += Current_AccZ - NeutralAccZ;
221
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
221
// Yaw  ++++++++++++++++++++++++++++++++++++++++++++++++
222
            Mess_Integral_Gier +=  MesswertGier;
222
            Reading_Integral_Yaw +=  ReadingYaw;
223
            Mess_Integral_Gier2 += MesswertGier;
223
            Reading_Integral_Yaw2 += ReadingYaw;
224
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
224
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
225
      if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
225
      if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
226
         {
226
         {
227
            tmpl = Mess_IntegralNick / 4096L;
227
            tmpl = Reading_IntegralPitch / 4096L;
228
            tmpl *= MesswertGier;
228
            tmpl *= ReadingYaw;
229
            tmpl *= Parameter_AchsKopplung1;  //125
229
            tmpl *= Parameter_AchsKopplung1;  //125
230
            tmpl /= 2048L;
230
            tmpl /= 2048L;
231
            tmpl2 = Mess_IntegralRoll / 4096L;
231
            tmpl2 = Reading_IntegralRoll / 4096L;
232
            tmpl2 *= MesswertGier;
232
            tmpl2 *= ReadingYaw;
233
            tmpl2 *= Parameter_AchsKopplung1;
233
            tmpl2 *= Parameter_AchsKopplung1;
234
            tmpl2 /= 2048L;
234
            tmpl2 /= 2048L;
235
         }
235
         }
236
      else  tmpl = tmpl2 = 0;
236
      else  tmpl = tmpl2 = 0;
237
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
237
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
238
            MesswertRoll += tmpl;
238
            ReadingRoll += tmpl;
239
            MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109
239
            ReadingRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109
240
            Mess_IntegralRoll2 += MesswertRoll;
240
            Reading_IntegralRoll2 += ReadingRoll;
241
            Mess_IntegralRoll +=  MesswertRoll - LageKorrekturRoll;
241
            Reading_IntegralRoll +=  ReadingRoll - AttitudeCorrectionRoll;
242
            if(Mess_IntegralRoll > Umschlag180Roll)
242
            if(Reading_IntegralRoll > TurnOver180Roll)
243
            {
243
            {
244
             Mess_IntegralRoll  = -(Umschlag180Roll - 10000L);
244
             Reading_IntegralRoll  = -(TurnOver180Roll - 10000L);
245
             Mess_IntegralRoll2 = Mess_IntegralRoll;
245
             Reading_IntegralRoll2 = Reading_IntegralRoll;
246
            }
246
            }
247
            if(Mess_IntegralRoll <-Umschlag180Roll)
247
            if(Reading_IntegralRoll <-TurnOver180Roll)
248
            {
248
            {
249
             Mess_IntegralRoll =  (Umschlag180Roll - 10000L);
249
             Reading_IntegralRoll =  (TurnOver180Roll - 10000L);
250
             Mess_IntegralRoll2 = Mess_IntegralRoll;
250
             Reading_IntegralRoll2 = Reading_IntegralRoll;
251
            }
251
            }
252
            if(AdValueGyrRoll < 15)   MesswertRoll = -1000;
252
            if(AdValueGyrRoll < 15)   ReadingRoll = -1000;
253
            if(AdValueGyrRoll <  7)   MesswertRoll = -2000;
253
            if(AdValueGyrRoll <  7)   ReadingRoll = -2000;
254
            if(BoardRelease == 10)
254
            if(BoardRelease == 10)
255
                         {
255
                         {
256
              if(AdValueGyrRoll > 1010) MesswertRoll = +1000;
256
              if(AdValueGyrRoll > 1010) ReadingRoll = +1000;
257
              if(AdValueGyrRoll > 1017) MesswertRoll = +2000;
257
              if(AdValueGyrRoll > 1017) ReadingRoll = +2000;
258
                         }
258
                         }
259
                         else
259
                         else
260
                         {
260
                         {
261
              if(AdValueGyrRoll > 2020) MesswertRoll = +1000;
261
              if(AdValueGyrRoll > 2020) ReadingRoll = +1000;
262
              if(AdValueGyrRoll > 2034) MesswertRoll = +2000;
262
              if(AdValueGyrRoll > 2034) ReadingRoll = +2000;
263
                         }
263
                         }
264
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
264
// Pitch  ++++++++++++++++++++++++++++++++++++++++++++++++
265
            MesswertNick -= tmpl2;
265
            ReadingPitch -= tmpl2;
266
            MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L;
266
            ReadingPitch -= (tmpl*Parameter_AchsGegenKopplung1)/512L;
267
            Mess_IntegralNick2 += MesswertNick;
267
            Reading_IntegralPitch2 += ReadingPitch;
268
            Mess_IntegralNick  += MesswertNick - LageKorrekturNick;
268
            Reading_IntegralPitch  += ReadingPitch - AttitudeCorrectionPitch;
269
            if(Mess_IntegralNick > Umschlag180Nick)
269
            if(Reading_IntegralPitch > TurnOver180Pitch)
270
            {
270
            {
271
             Mess_IntegralNick = -(Umschlag180Nick - 10000L);
271
             Reading_IntegralPitch = -(TurnOver180Pitch - 10000L);
272
             Mess_IntegralNick2 = Mess_IntegralNick;
272
             Reading_IntegralPitch2 = Reading_IntegralPitch;
273
            }
273
            }
274
            if(Mess_IntegralNick <-Umschlag180Nick)
274
            if(Reading_IntegralPitch <-TurnOver180Pitch)
275
            {
275
            {
276
             Mess_IntegralNick =  (Umschlag180Nick - 10000L);
276
             Reading_IntegralPitch =  (TurnOver180Pitch - 10000L);
277
             Mess_IntegralNick2 = Mess_IntegralNick;
277
             Reading_IntegralPitch2 = Reading_IntegralPitch;
278
            }
278
            }
279
            if(AdValueGyrNick < 15)   MesswertNick = -1000;
279
            if(AdValueGyrPitch < 15)   ReadingPitch = -1000;
280
            if(AdValueGyrNick <  7)   MesswertNick = -2000;
280
            if(AdValueGyrPitch <  7)   ReadingPitch = -2000;
281
            if(BoardRelease == 10)
281
            if(BoardRelease == 10)
282
                         {
282
                         {
283
              if(AdValueGyrNick > 1010) MesswertNick = +1000;
283
              if(AdValueGyrPitch > 1010) ReadingPitch = +1000;
284
              if(AdValueGyrNick > 1017) MesswertNick = +2000;
284
              if(AdValueGyrPitch > 1017) ReadingPitch = +2000;
285
                         }
285
                         }
286
                         else
286
                         else
287
                         {
287
                         {
288
              if(AdValueGyrNick > 2020) MesswertNick = +1000;
288
              if(AdValueGyrPitch > 2020) ReadingPitch = +1000;
289
              if(AdValueGyrNick > 2034) MesswertNick = +2000;
289
              if(AdValueGyrPitch > 2034) ReadingPitch = +2000;
Line 290... Line 290...
290
                         }
290
                         }
291
//++++++++++++++++++++++++++++++++++++++++++++++++
291
//++++++++++++++++++++++++++++++++++++++++++++++++
292
// ADC einschalten
292
// ADC einschalten
293
    ADC_Enable();
293
    ADC_Enable();
294
//++++++++++++++++++++++++++++++++++++++++++++++++
294
//++++++++++++++++++++++++++++++++++++++++++++++++
Line 295... Line 295...
295
 
295
 
296
    Integral_Gier  = Mess_Integral_Gier;
296
    Integral_Yaw  = Reading_Integral_Yaw;
297
    IntegralNick = Mess_IntegralNick;
297
    IntegralPitch = Reading_IntegralPitch;
298
    IntegralRoll = Mess_IntegralRoll;
298
    IntegralRoll = Reading_IntegralRoll;
299
    IntegralNick2 = Mess_IntegralNick2;
299
    IntegralPitch2 = Reading_IntegralPitch2;
300
    IntegralRoll2 = Mess_IntegralRoll2;
300
    IntegralRoll2 = Reading_IntegralRoll2;
301
 
301
 
302
  if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Nick && !Looping_Roll)
302
  if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll)
303
  {
303
  {
304
    if(MesswertNick > 200)       MesswertNick += 4 * (MesswertNick - 200);
304
    if(ReadingPitch > 200)       ReadingPitch += 4 * (ReadingPitch - 200);
305
    else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
305
    else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200);
Line 316... Line 316...
316
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
316
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
317
}
317
}
Line 318... Line 318...
318
 
318
 
319
//############################################################################
319
//############################################################################
320
// Messwerte beim Ermitteln der Nullage
320
// Messwerte beim Ermitteln der Nullage
321
void CalibrierMittelwert(void)
321
void CalibMean(void)
322
//############################################################################
322
//############################################################################
323
{
323
{
324
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
324
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
325
        ADC_Disable();
325
        ADC_Disable();
326
        MesswertNick = AdValueGyrNick;
326
        ReadingPitch = AdValueGyrPitch;
327
        MesswertRoll = AdValueGyrRoll;
327
        ReadingRoll = AdValueGyrRoll;
328
        MesswertGier = AdValueGyrGier;
328
        ReadingYaw = AdValueGyrYaw;
329
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdValueAccNick;
329
        Mean_AccPitch = ACC_AMPLIFY * (long)AdValueAccPitch;
330
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll;
330
        Mean_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll;
331
        Mittelwert_AccHoch = (long)AdValueAccTop;
331
        Mean_AccTop = (long)AdValueAccTop;
332
   // ADC einschalten
332
   // ADC einschalten
333
    ADC_Enable();
333
    ADC_Enable();
334
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
334
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
335
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
335
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
Line 338... Line 338...
338
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
338
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
339
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
339
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
340
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
340
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
341
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
341
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
Line 342... Line 342...
342
 
342
 
343
        Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L;
343
        TurnOver180Pitch = (long) ParamSet.AngleTurnOverPitch * 2500L;
344
        Umschlag180Roll = (long) ParamSet.WinkelUmschlagNick * 2500L;
344
        TurnOver180Roll = (long) ParamSet.AngleTurnOverRoll * 2500L;
Line 345... Line 345...
345
}
345
}
346
 
346
 
347
//############################################################################
347
//############################################################################
348
// Senden der Motorwerte per I2C-Bus
348
// Senden der Motorwerte per I2C-Bus
349
void SendMotorData(void)
349
void SendMotorData(void)
350
//############################################################################
350
//############################################################################
351
{
351
{
352
    if(MOTOR_OFF || !MotorenEin)
352
    if(MOTOR_OFF || !MotorsOn)
353
        {
353
        {
354
        Motor_Hinten = 0;
354
        Motor_Rear = 0;
355
        Motor_Vorne = 0;
355
        Motor_Front = 0;
356
        Motor_Rechts = 0;
356
        Motor_Right = 0;
357
        Motor_Links = 0;
357
        Motor_Left = 0;
358
        if(MotorTest[0]) Motor_Vorne = MotorTest[0];
358
        if(MotorTest[0]) Motor_Front = MotorTest[0];
359
        if(MotorTest[1]) Motor_Hinten = MotorTest[1];
359
        if(MotorTest[1]) Motor_Rear = MotorTest[1];
360
        if(MotorTest[2]) Motor_Links = MotorTest[2];
360
        if(MotorTest[2]) Motor_Left = MotorTest[2];
Line 361... Line 361...
361
        if(MotorTest[3]) Motor_Rechts = MotorTest[3];
361
        if(MotorTest[3]) Motor_Right = MotorTest[3];
362
        }
362
        }
363
 
363
 
364
    DebugOut.Analog[12] = Motor_Vorne;
364
    DebugOut.Analog[12] = Motor_Front;
Line 365... Line 365...
365
    DebugOut.Analog[13] = Motor_Hinten;
365
    DebugOut.Analog[13] = Motor_Rear;
366
    DebugOut.Analog[14] = Motor_Links;
366
    DebugOut.Analog[14] = Motor_Left;
367
    DebugOut.Analog[15] = Motor_Rechts;
367
    DebugOut.Analog[15] = Motor_Right;
368
 
368
 
Line 379... Line 379...
379
void ParameterZuordnung(void)
379
void ParameterZuordnung(void)
380
//############################################################################
380
//############################################################################
381
{
381
{
Line 382... Line 382...
382
 
382
 
383
 #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
383
 #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
384
 CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHoehe,0,255);
384
 CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHight,0,255);
385
 CHK_POTI(Parameter_Luftdruck_D,ParamSet.Luftdruck_D,0,100);
385
 CHK_POTI(Parameter_Luftdruck_D,ParamSet.AirPressure_D,0,100);
386
 CHK_POTI(Parameter_Hoehe_P,ParamSet.Hoehe_P,0,100);
386
 CHK_POTI(Parameter_Hoehe_P,ParamSet.Hight_P,0,100);
387
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hoehe_ACC_Wirkung,0,255);
387
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hight_ACC_Effect,0,255);
388
 CHK_POTI(Parameter_KompassWirkung,ParamSet.KompassWirkung,0,255);
388
 CHK_POTI(Parameter_CompassYawEffect,ParamSet.CompassYawEffect,0,255);
389
 CHK_POTI(Parameter_Gyro_P,ParamSet.Gyro_P,10,255);
389
 CHK_POTI(Parameter_Gyro_P,ParamSet.Gyro_P,10,255);
390
 CHK_POTI(Parameter_Gyro_I,ParamSet.Gyro_I,0,255);
390
 CHK_POTI(Parameter_Gyro_I,ParamSet.Gyro_I,0,255);
391
 CHK_POTI(Parameter_I_Factor,ParamSet.I_Factor,0,255);
391
 CHK_POTI(Parameter_I_Factor,ParamSet.I_Factor,0,255);
392
 CHK_POTI(Parameter_UserParam1,ParamSet.UserParam1,0,255);
392
 CHK_POTI(Parameter_UserParam1,ParamSet.UserParam1,0,255);
Line 395... Line 395...
395
 CHK_POTI(Parameter_UserParam4,ParamSet.UserParam4,0,255);
395
 CHK_POTI(Parameter_UserParam4,ParamSet.UserParam4,0,255);
396
 CHK_POTI(Parameter_UserParam5,ParamSet.UserParam5,0,255);
396
 CHK_POTI(Parameter_UserParam5,ParamSet.UserParam5,0,255);
397
 CHK_POTI(Parameter_UserParam6,ParamSet.UserParam6,0,255);
397
 CHK_POTI(Parameter_UserParam6,ParamSet.UserParam6,0,255);
398
 CHK_POTI(Parameter_UserParam7,ParamSet.UserParam7,0,255);
398
 CHK_POTI(Parameter_UserParam7,ParamSet.UserParam7,0,255);
399
 CHK_POTI(Parameter_UserParam8,ParamSet.UserParam8,0,255);
399
 CHK_POTI(Parameter_UserParam8,ParamSet.UserParam8,0,255);
400
 CHK_POTI(Parameter_ServoNickControl,ParamSet.ServoNickControl,0,255);
400
 CHK_POTI(Parameter_ServoPitchControl,ParamSet.ServoPitchControl,0,255);
401
 CHK_POTI(Parameter_LoopGasLimit,ParamSet.LoopGasLimit,0,255);
401
 CHK_POTI(Parameter_LoopGasLimit,ParamSet.LoopGasLimit,0,255);
402
 CHK_POTI(Parameter_AchsKopplung1,    ParamSet.AchsKopplung1,0,255);
402
 CHK_POTI(Parameter_AchsKopplung1,    ParamSet.AchsKopplung1,0,255);
403
 CHK_POTI(Parameter_AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255);
403
 CHK_POTI(Parameter_AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255);
404
 CHK_POTI(Parameter_DynamicStability,ParamSet.DynamicStability,0,255);
404
 CHK_POTI(Parameter_DynamicStability,ParamSet.DynamicStability,0,255);
Line 412... Line 412...
412
//############################################################################
412
//############################################################################
413
//
413
//
414
void MotorRegler(void)
414
void MotorRegler(void)
415
//############################################################################
415
//############################################################################
416
{
416
{
417
         int motorwert,pd_ergebnis,h,tmp_int;
417
         int MotorValue, pd_ergebnis, h, tmp_int;
418
         int GierMischanteil,GasMischanteil;
418
         int YawMixingFraction, GasMixingFraction;
419
     static long SummeNick=0,SummeRoll=0;
419
     static long SumPitch = 0, SumRoll = 0;
420
     static long sollGier = 0,tmp_long,tmp_long2;
420
     static long SetPointYaw = 0, tmp_long, tmp_long2;
421
     static long IntegralFehlerNick = 0;
421
     static long IntegralErrorPitch = 0;
422
     static long IntegralFehlerRoll = 0;
422
     static long IntegralErrorRoll = 0;
423
         static unsigned int RcLostTimer;
423
         static unsigned int RcLostTimer;
424
         static unsigned char delay_neutral = 0;
424
         static unsigned char delay_neutral = 0;
425
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
425
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
426
         static unsigned int  modell_fliegt = 0;
426
         static unsigned int  modell_fliegt = 0;
427
     static int hoehenregler = 0;
427
     static int hoehenregler = 0;
428
     static char TimerWerteausgabe = 0;
428
     static char TimerDebugOut = 0;
429
     static char NeueKompassRichtungMerken = 0;
429
     static char StoreNewCompassCourse = 0;
430
     static long ausgleichNick, ausgleichRoll;
430
     static long CorrectionPitch, CorrectionRoll;
Line 431... Line 431...
431
 
431
 
Line 432... Line 432...
432
        Mittelwert();
432
        Mean();
433
 
433
 
434
    GRN_ON;
434
    GRN_ON;
435
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
435
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
436
// Gaswert ermitteln
436
// Gaswert ermitteln
437
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
437
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
438
        GasMischanteil = StickGas;
438
        GasMixingFraction = StickGas;
439
    if(GasMischanteil < 0) GasMischanteil = 0;
439
    if(GasMixingFraction < 0) GasMixingFraction = 0;
440
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
440
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
441
// Emfang schlecht
441
// Emfang schlecht
442
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
442
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 451... Line 451...
451
            }
451
            }
452
         }
452
         }
453
        if(RcLostTimer) RcLostTimer--;
453
        if(RcLostTimer) RcLostTimer--;
454
        else
454
        else
455
         {
455
         {
456
          MotorenEin = 0;
456
          MotorsOn = 0;
457
          Notlandung = 0;
457
          EmergencyLanding = 0;
458
         }
458
         }
459
        ROT_ON;
459
        ROT_ON;
460
        if(modell_fliegt > 2000)  // wahrscheinlich in der Luft --> langsam absenken
460
        if(modell_fliegt > 2000)  // wahrscheinlich in der Luft --> langsam absenken
461
            {
461
            {
462
            GasMischanteil = ParamSet.EmergencyGas;
462
            GasMixingFraction = ParamSet.EmergencyGas;
463
            Notlandung = 1;
463
            EmergencyLanding = 1;
464
            PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0;
464
            PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
465
            PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
465
            PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
466
            PPM_in[ParamSet.ChannelAssignment[CH_GIER]] = 0;
466
            PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
467
            }
467
            }
468
         else MotorenEin = 0;
468
         else MotorsOn = 0;
469
        }
469
        }
470
        else
470
        else
471
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
471
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
472
// Emfang gut
472
// Emfang gut
473
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
473
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
474
        if(SenderOkay > 140)
474
        if(SenderOkay > 140)
475
            {
475
            {
476
            Notlandung = 0;
476
            EmergencyLanding = 0;
477
            RcLostTimer = ParamSet.EmergencyGasDuration * 50;
477
            RcLostTimer = ParamSet.EmergencyGasDuration * 50;
478
            if(GasMischanteil > 40)
478
            if(GasMixingFraction > 40)
479
                {
479
                {
480
                if(modell_fliegt < 0xffff) modell_fliegt++;
480
                if(modell_fliegt < 0xffff) modell_fliegt++;
481
                }
481
                }
482
            if((modell_fliegt < 200) || (GasMischanteil < 40))
482
            if((modell_fliegt < 200) || (GasMixingFraction < 40))
483
                {
483
                {
484
                SummeNick = 0;
484
                SumPitch = 0;
485
                SummeRoll = 0;
485
                SumRoll = 0;
486
                Mess_Integral_Gier = 0;
486
                Reading_Integral_Yaw = 0;
487
                Mess_Integral_Gier2 = 0;
487
                Reading_Integral_Yaw2 = 0;
488
                }
488
                }
489
            if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorenEin == 0)
489
            if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorsOn == 0)
490
                {
490
                {
491
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
491
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492
// auf Nullwerte kalibrieren
492
// auf Nullwerte kalibrieren
493
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
493
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
494
                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75)  // Neutralwerte
494
                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)  // Neutralwerte
495
                    {
495
                    {
496
                    if(++delay_neutral > 200)  // nicht sofort
496
                    if(++delay_neutral > 200)  // nicht sofort
497
                        {
497
                        {
498
                        GRN_OFF;
498
                        GRN_OFF;
499
                        MotorenEin = 0;
499
                        MotorsOn = 0;
500
                        delay_neutral = 0;
500
                        delay_neutral = 0;
501
                        modell_fliegt = 0;
501
                        modell_fliegt = 0;
502
                        if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
502
                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
503
                        {
503
                        {
504
                         unsigned char setting=1;
504
                         unsigned char setting=1;
505
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1;
505
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
506
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2;
506
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
507
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3;
507
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
508
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4;
508
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
509
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5;
509
                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
510
                         SetActiveParamSet(setting);  // aktiven Datensatz merken
510
                         SetActiveParamSet(setting);  // aktiven Datensatz merken
511
                        }
511
                        }
512
                        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?
512
                        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?
513
                          {
513
                          {
514
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
514
                             if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
515
                          }
515
                          }
516
                            ParamSet_ReadFromEEProm(GetActiveParamSet());
516
                            ParamSet_ReadFromEEProm(GetActiveParamSet());
517
                        SetNeutral();
517
                        SetNeutral();
518
                        Piep(GetActiveParamSet());
518
                        Piep(GetActiveParamSet());
519
                        }
519
                        }
520
                    }
520
                    }
521
                 else
521
                 else
522
                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75)  // ACC Neutralwerte speichern
522
                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)  // ACC Neutralwerte speichern
523
                    {
523
                    {
524
                    if(++delay_neutral > 200)  // nicht sofort
524
                    if(++delay_neutral > 200)  // nicht sofort
525
                        {
525
                        {
526
                        GRN_OFF;
526
                        GRN_OFF;
527
                        SetParamByte(PID_ACC_NICK,0xFF); // Werte löschen
527
                        SetParamByte(PID_ACC_PITCH,0xFF); // Werte löschen
528
                        MotorenEin = 0;
528
                        MotorsOn = 0;
529
                        delay_neutral = 0;
529
                        delay_neutral = 0;
530
                        modell_fliegt = 0;
530
                        modell_fliegt = 0;
531
                        SetNeutral();
531
                        SetNeutral();
532
                        SetParamByte(PID_ACC_NICK, NeutralAccX / 256); // ACC-NeutralWerte speichern
532
                        SetParamByte(PID_ACC_PITCH, NeutralAccX / 256); // ACC-NeutralWerte speichern
533
                        SetParamByte(PID_ACC_NICK+1,NeutralAccX % 256); // ACC-NeutralWerte speichern
533
                        SetParamByte(PID_ACC_PITCH+1,NeutralAccX % 256); // ACC-NeutralWerte speichern
534
                        SetParamByte(PID_ACC_ROLL,NeutralAccY / 256);
534
                        SetParamByte(PID_ACC_ROLL,NeutralAccY / 256);
535
                        SetParamByte(PID_ACC_ROLL+1,NeutralAccY % 256);
535
                        SetParamByte(PID_ACC_ROLL+1,NeutralAccY % 256);
536
                        SetParamByte(PID_ACC_Z,(int)NeutralAccZ / 256);
536
                        SetParamByte(PID_ACC_Z,(int)NeutralAccZ / 256);
537
                        SetParamByte(PID_ACC_Z+1,(int)NeutralAccZ % 256);
537
                        SetParamByte(PID_ACC_Z+1,(int)NeutralAccZ % 256);
538
                        Piep(GetActiveParamSet());
538
                        Piep(GetActiveParamSet());
Line 544... Line 544...
544
// Gas ist unten
544
// Gas ist unten
545
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
545
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
546
            if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120)
546
            if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120)
547
                {
547
                {
548
                // Starten
548
                // Starten
549
                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75)
549
                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
550
                    {
550
                    {
551
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
551
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
552
// Einschalten
552
// Einschalten
553
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
553
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
554
                    if(++delay_einschalten > 200)
554
                    if(++delay_einschalten > 200)
555
                        {
555
                        {
556
                        delay_einschalten = 200;
556
                        delay_einschalten = 200;
557
                        modell_fliegt = 1;
557
                        modell_fliegt = 1;
558
                        MotorenEin = 1;
558
                        MotorsOn = 1;
559
                        sollGier = 0;
559
                        SetPointYaw = 0;
560
                        Mess_Integral_Gier = 0;
560
                        Reading_Integral_Yaw = 0;
561
                        Mess_Integral_Gier2 = 0;
561
                        Reading_Integral_Yaw2 = 0;
562
                        Mess_IntegralNick = 0;
562
                        Reading_IntegralPitch = 0;
563
                        Mess_IntegralRoll = 0;
563
                        Reading_IntegralRoll = 0;
564
                        Mess_IntegralNick2 = IntegralNick;
564
                        Reading_IntegralPitch2 = IntegralPitch;
565
                        Mess_IntegralRoll2 = IntegralRoll;
565
                        Reading_IntegralRoll2 = IntegralRoll;
566
                        SummeNick = 0;
566
                        SumPitch = 0;
567
                        SummeRoll = 0;
567
                        SumRoll = 0;
568
                        }
568
                        }
569
                    }
569
                    }
570
                    else delay_einschalten = 0;
570
                    else delay_einschalten = 0;
571
                //Auf Neutralwerte setzen
571
                //Auf Neutralwerte setzen
572
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
572
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
573
// Auschalten
573
// Auschalten
574
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
574
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
575
                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75)
575
                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
576
                    {
576
                    {
577
                    if(++delay_ausschalten > 200)  // nicht sofort
577
                    if(++delay_ausschalten > 200)  // nicht sofort
578
                        {
578
                        {
579
                        MotorenEin = 0;
579
                        MotorsOn = 0;
580
                        delay_ausschalten = 200;
580
                        delay_ausschalten = 200;
581
                        modell_fliegt = 0;
581
                        modell_fliegt = 0;
582
                        }
582
                        }
583
                    }
583
                    }
584
                else delay_ausschalten = 0;
584
                else delay_ausschalten = 0;
Line 586... Line 586...
586
            }
586
            }
Line 587... Line 587...
587
 
587
 
588
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
588
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
589
// neue Werte von der Funke
589
// neue Werte von der Funke
590
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
590
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
591
 if(!NewPpmData-- || Notlandung)
591
 if(!NewPpmData-- || EmergencyLanding)
592
  {
592
  {
593
    int tmp_int;
-
 
594
        static int stick_nick,stick_roll;
593
    int tmp_int;
595
    ParameterZuordnung();
594
    ParameterZuordnung();
596
    StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4;
595
    StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
597
    StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D;
596
    StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
598
    StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
597
    StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
Line 599... Line 598...
599
    StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
598
    StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
600
 
599
 
Line 601... Line 600...
601
    StickGier = -PPM_in[ParamSet.ChannelAssignment[CH_GIER]];
600
    StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
602
        StickGas  = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;
601
        StickGas  = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;
603
 
602
 
604
   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) > MaxStickNick)
603
   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
605
     MaxStickNick = abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]); else MaxStickNick--;
604
     MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); else MaxStickPitch--;
Line 606... Line 605...
606
   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
605
   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
607
     MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--;
606
     MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--;
Line 608... Line 607...
608
   if(Notlandung)  {MaxStickNick = 0; MaxStickRoll = 0;}
607
   if(EmergencyLanding)  {MaxStickPitch = 0; MaxStickRoll = 0;}
609
 
608
 
610
    GyroFaktor     = ((float)Parameter_Gyro_P + 10.0) / 256.0;
609
    GyroFactor     = ((float)Parameter_Gyro_P + 10.0) / 256.0;
611
    IntegralFaktor = ((float) Parameter_Gyro_I) / 44000;
610
    IntegralFactor = ((float) Parameter_Gyro_I) / 44000;
612
 
611
 
613
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
612
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
614
//+ Digitale Steuerung per DubWise
613
//+ Digitale Steuerung per DubWise
615
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
614
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
616
#define KEY_VALUE (Parameter_UserParam1 * 4)  //(Poti3 * 8)
615
#define KEY_VALUE (Parameter_UserParam1 * 4)  //(Poti3 * 8)
617
if(DubWiseKeys[1]) BeepTime = 10;
616
if(DubWiseKeys[1]) BeepTime = 10;
618
    if(DubWiseKeys[1] & DUB_KEY_UP)    tmp_int = KEY_VALUE;   else
617
    if(DubWiseKeys[1] & DUB_KEY_UP)    tmp_int = KEY_VALUE;   else
Line 619... Line 618...
619
    if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;  else   tmp_int = 0;
618
    if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;  else   tmp_int = 0;
620
    ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8;
619
    ExternStickPitch= (ExternStickPitch* 7 + tmp_int) / 8;
621
    if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE; else
620
    if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE; else
622
    if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0;
621
    if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0;
Line 623... Line 622...
623
    ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
622
    ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
624
 
623
 
625
    if(DubWiseKeys[0] & 8)  ExternStickGier = 50;else
624
    if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
626
    if(DubWiseKeys[0] & 4)  ExternStickGier =-50;else ExternStickGier = 0;
625
    if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
627
    if(DubWiseKeys[0] & 2)  ExternHoehenValue++;
626
    if(DubWiseKeys[0] & 2)  ExternHightValue++;
628
    if(DubWiseKeys[0] & 16) ExternHoehenValue--;
627
    if(DubWiseKeys[0] & 16) ExternHightValue--;
629
 
628
 
630
    StickNick += ExternStickNick / 8;
629
    StickPitch += ExternStickPitch/ 8;
631
    StickRoll += ExternStickRoll / 8;
630
    StickRoll += ExternStickRoll / 8;
632
    StickGier += ExternStickGier;
631
    StickYaw += ExternStickYaw;
633
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
632
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
634
//+ Analoge Steuerung per Seriell
633
//+ Analoge Steuerung per Seriell
635
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
634
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
636
   if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128)
635
   if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128)
Line 637... Line 636...
637
    {
636
    {
638
         StickNick += (int) ExternControl.Nick * (int) ParamSet.Stick_P;
637
         StickPitch += (int) ExternControl.Pitch * (int) ParamSet.Stick_P;
639
         StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P;
638
         StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P;
640
         StickGier += ExternControl.Gier;
639
         StickYaw += ExternControl.Yaw;
641
     ExternHoehenValue =  (int) ExternControl.Hight * (int)ParamSet.Hoehe_Verstaerkung;
640
     ExternHightValue =  (int) ExternControl.Hight * (int)ParamSet.Hight_Gain;
642
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
641
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
643
    }
642
    }
644
 
643
 
645
    if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
644
    if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFactor =  0;
646
    if(GyroFaktor < 0) GyroFaktor = 0;
645
    if(GyroFactor < 0) GyroFactor = 0;
647
    if(IntegralFaktor < 0) IntegralFaktor = 0;
646
    if(IntegralFactor < 0) IntegralFactor = 0;
648
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
647
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
649
// Looping?
648
// Looping?
650
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
649
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
651
  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Links = 1;
650
  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
652
  else
651
  else
653
   {
652
   {
654
     {
653
     {
655
      if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Links = 0;
654
      if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
656
     }
655
     }
657
   }
656
   }
Line 658... Line 657...
658
  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Rechts = 1;
657
  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
659
   else
658
   else
660
   {
659
   {
661
   if(Looping_Rechts) // Hysterese
660
   if(Looping_Right) // Hysterese
662
     {
661
     {
663
      if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Rechts = 0;
662
      if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
664
     }
663
     }
665
   }
664
   }
666
 
665
 
667
  if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Oben = 1;
666
  if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
668
  else
667
  else
669
   {
668
   {
670
    if(Looping_Oben)  // Hysterese
669
    if(Looping_Top)  // Hysterese
671
     {
670
     {
672
      if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Oben = 0;
671
      if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
673
     }
672
     }
Line 674... Line 673...
674
   }
673
   }
675
  if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Unten = 1;
674
  if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
676
   else
675
   else
Line 677... Line 676...
677
   {
676
   {
678
    if(Looping_Unten) // Hysterese
677
    if(Looping_Down) // Hysterese
679
     {
678
     {
680
      if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Unten = 0;
679
      if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
681
     }
680
     }
Line 682... Line 681...
682
   }
681
   }
683
 
682
 
684
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
683
   if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
685
   if(Looping_Oben  || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
684
   if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
686
  } // Ende neue Funken-Werte
685
  } // Ende neue Funken-Werte
687
 
686
 
688
  if(Looping_Roll) BeepTime = 100;
687
  if(Looping_Roll) BeepTime = 100;
689
  if(Looping_Roll || Looping_Nick)
688
  if(Looping_Roll || Looping_Pitch)
690
   {
689
   {
691
    if(GasMischanteil > ParamSet.LoopGasLimit) GasMischanteil = ParamSet.LoopGasLimit;
690
    if(GasMixingFraction > ParamSet.LoopGasLimit) GasMixingFraction = ParamSet.LoopGasLimit;
692
   }
691
   }
693
 
692
 
694
 
693
 
Line 695... Line 694...
695
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
694
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
696
// Bei Empfangsausfall im Flug
695
// Bei Empfangsausfall im Flug
697
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
696
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
698
   if(Notlandung)
697
   if(EmergencyLanding)
Line 699... Line 698...
699
    {
698
    {
700
     StickGier = 0;
699
     StickYaw = 0;
701
     StickNick = 0;
700
     StickPitch = 0;
702
     StickRoll = 0;
701
     StickRoll = 0;
Line 703... Line 702...
703
     GyroFaktor  = 0.5;//Originalwert von Holger 0.1;
702
     GyroFactor  = 0.5;//Originalwert von Holger 0.1;
704
     IntegralFaktor = 0.003; //Originalwert von Holger 0.005;
703
     IntegralFactor = 0.003; //Originalwert von Holger 0.005;
705
     Looping_Roll = 0;
704
     Looping_Roll = 0;
706
     Looping_Nick = 0;
705
     Looping_Pitch = 0;
707
    }
706
    }
708
 
707
 
709
 
708
 
710
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
709
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711
// Integrale auf ACC-Signal abgleichen
710
// Integrale auf ACC-Signal abgleichen
712
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
711
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
713
#define ABGLEICH_ANZAHL 256L
712
#define ABGLEICH_ANZAHL 256L
714
 
713
 
715
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
714
 MeanIntegralPitch  += IntegralPitch;    // Für die Mittelwertbildung aufsummieren
716
 MittelIntegralRoll  += IntegralRoll;
715
 MeanIntegralRoll  += IntegralRoll;
Line 717... Line 716...
717
 MittelIntegralNick2 += IntegralNick2;
716
 MeanIntegralPitch2 += IntegralPitch2;
718
 MittelIntegralRoll2 += IntegralRoll2;
717
 MeanIntegralRoll2 += IntegralRoll2;
719
 
718
 
720
 if(Looping_Nick || Looping_Roll)
719
 if(Looping_Pitch || Looping_Roll)
721
  {
720
  {
722
    IntegralAccNick = 0;
721
    IntegralAccPitch = 0;
723
    IntegralAccRoll = 0;
722
    IntegralAccRoll = 0;
724
    MittelIntegralNick = 0;
723
    MeanIntegralPitch = 0;
725
    MittelIntegralRoll = 0;
724
    MeanIntegralRoll = 0;
726
    MittelIntegralNick2 = 0;
725
    MeanIntegralPitch2 = 0;
727
    MittelIntegralRoll2 = 0;
726
    MeanIntegralRoll2 = 0;
728
    Mess_IntegralNick2 = Mess_IntegralNick;
727
    Reading_IntegralPitch2 = Reading_IntegralPitch;
729
    Mess_IntegralRoll2 = Mess_IntegralRoll;
728
    Reading_IntegralRoll2 = Reading_IntegralRoll;
730
    ZaehlMessungen = 0;
729
    ZaehlMessungen = 0;
731
    LageKorrekturNick = 0;
730
    AttitudeCorrectionPitch = 0;
732
    LageKorrekturRoll = 0;
731
    AttitudeCorrectionRoll = 0;
733
  }
732
  }
734
 
733
 
Line 755... Line 754...
755
    if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
754
    if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
756
    if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
755
    if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
757
    if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
756
    if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
758
    if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
757
    if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
Line 759... Line 758...
759
 
758
 
760
    Mess_IntegralNick -= tmp_long;
759
    Reading_IntegralPitch -= tmp_long;
761
    Mess_IntegralRoll -= tmp_long2;
760
    Reading_IntegralRoll -= tmp_long2;
762
  }
761
  }
Line 763... Line 762...
763
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
762
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
764
 
763
 
765
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
764
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
766
 {
765
 {
767
  static int cnt = 0;
766
  static int cnt = 0;
768
  static char last_n_p,last_n_n,last_r_p,last_r_n;
767
  static char last_n_p,last_n_n,last_r_p,last_r_n;
769
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
768
  static long MeanIntegralPitch_old,MeanIntegralRoll_old;
770
  if(!Looping_Nick && !Looping_Roll)
769
  if(!Looping_Pitch && !Looping_Roll)
771
  {
770
  {
772
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
771
    MeanIntegralPitch  /= ABGLEICH_ANZAHL;
773
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
772
    MeanIntegralRoll  /= ABGLEICH_ANZAHL;
774
        IntegralAccNick = (ParamSet.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
773
        IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / ABGLEICH_ANZAHL;
775
        IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
774
        IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
776
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
775
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
777
#define MAX_I 0//(Poti2/10)
776
#define MAX_I 0//(Poti2/10)
778
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
777
// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
779
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
778
    IntegralErrorPitch = (long)(MeanIntegralPitch - (long)IntegralAccPitch);
780
    ausgleichNick = IntegralFehlerNick / ParamSet.GyroAccAbgleich;
779
    CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
781
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
780
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
Line 782... Line 781...
782
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
781
    IntegralErrorRoll = (long)(MeanIntegralRoll - (long)IntegralAccRoll);
783
    ausgleichRoll = IntegralFehlerRoll / ParamSet.GyroAccAbgleich;
782
    CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim;
Line 784... Line 783...
784
 
783
 
785
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
784
    AttitudeCorrectionPitch = CorrectionPitch / ABGLEICH_ANZAHL;
786
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
785
    AttitudeCorrectionRoll = CorrectionRoll / ABGLEICH_ANZAHL;
787
 
786
 
788
   if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25))
787
   if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
Line 789... Line 788...
789
    {
788
    {
790
     LageKorrekturNick /= 2;
789
     AttitudeCorrectionPitch /= 2;
791
     LageKorrekturNick /= 2;
790
     AttitudeCorrectionPitch /= 2;
792
    }
791
    }
793
 
792
 
794
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
793
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
795
// Gyro-Drift ermitteln
794
// Gyro-Drift ermitteln
796
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
795
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 797... Line 796...
797
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
796
    MeanIntegralPitch2 /= ABGLEICH_ANZAHL;
798
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
797
    MeanIntegralRoll2 /= ABGLEICH_ANZAHL;
799
    tmp_long  = IntegralNick2 - IntegralNick;
798
    tmp_long  = IntegralPitch2 - IntegralPitch;
800
    tmp_long2 = IntegralRoll2 - IntegralRoll;
799
    tmp_long2 = IntegralRoll2 - IntegralRoll;
Line 801... Line 800...
801
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
800
    //DebugOut.Analog[25] = MeanIntegralRoll2 / 26;
802
 
801
 
Line 803... Line 802...
803
    IntegralFehlerNick = tmp_long;
802
    IntegralErrorPitch = tmp_long;
804
    IntegralFehlerRoll = tmp_long2;
803
    IntegralErrorRoll = tmp_long2;
805
    Mess_IntegralNick2 -= IntegralFehlerNick;
804
    Reading_IntegralPitch2 -= IntegralErrorPitch;
806
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
805
    Reading_IntegralRoll2 -= IntegralErrorRoll;
807
 
806
 
808
//    IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2;
807
//    IntegralErrorPitch = (IntegralErrorPitch * 1 + tmp_long) / 2;
809
//    IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2;
808
//    IntegralErrorRoll = (IntegralErrorRoll * 1 + tmp_long2) / 2;
810
 
809
 
811
 
810
 
Line 812... Line 811...
812
DebugOut.Analog[17] = IntegralAccNick / 26;
811
DebugOut.Analog[17] = IntegralAccPitch / 26;
813
DebugOut.Analog[18] = IntegralAccRoll / 26;
812
DebugOut.Analog[18] = IntegralAccRoll / 26;
814
DebugOut.Analog[19] = IntegralFehlerNick;// / 26;
813
DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
815
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26;
814
DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
816
DebugOut.Analog[21] = MittelIntegralNick / 26;
815
DebugOut.Analog[21] = MeanIntegralPitch / 26;
817
DebugOut.Analog[22] = MittelIntegralRoll / 26;
816
DebugOut.Analog[22] = MeanIntegralRoll / 26;
818
//DebugOut.Analog[28] = ausgleichNick;
817
//DebugOut.Analog[28] = CorrectionPitch;
819
DebugOut.Analog[29] = ausgleichRoll;
818
DebugOut.Analog[29] = CorrectionRoll;
820
DebugOut.Analog[30] = LageKorrekturRoll * 10;
819
DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
821
 
820
 
822
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL * 4)
821
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL * 4)
823
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16)
822
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16)
824
#define BEWEGUNGS_LIMIT 20000
823
#define BEWEGUNGS_LIMIT 20000
825
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
824
// Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
826
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
825
        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
827
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT)
826
        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < BEWEGUNGS_LIMIT)
828
        {
827
        {
829
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
828
        if(IntegralErrorPitch >  FEHLER_LIMIT2)
830
         {
829
         {
831
           if(last_n_p)
830
           if(last_n_p)
832
           {
831
           {
833
            cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
832
            cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2;
834
            ausgleichNick = IntegralFehlerNick / 8;
833
            CorrectionPitch = IntegralErrorPitch / 8;
835
            if(ausgleichNick > 5000) ausgleichNick = 5000;
834
            if(CorrectionPitch > 5000) CorrectionPitch = 5000;
836
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
835
            AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL;
837
           }
836
           }
838
           else last_n_p = 1;
837
           else last_n_p = 1;
839
         } else  last_n_p = 0;
838
         } else  last_n_p = 0;
840
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
839
        if(IntegralErrorPitch < -FEHLER_LIMIT2)
841
         {
840
         {
842
           if(last_n_n)
841
           if(last_n_n)
843
            {
842
            {
844
             cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
843
             cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2;
Line 845... Line 844...
845
             ausgleichNick = IntegralFehlerNick / 8;
844
             CorrectionPitch = IntegralErrorPitch / 8;
846
             if(ausgleichNick < -5000) ausgleichNick = -5000;
845
             if(CorrectionPitch < -5000) CorrectionPitch = -5000;
Line 847... Line 846...
847
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
846
             AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL;
848
            }
847
            }
849
           else last_n_n = 1;
848
           else last_n_n = 1;
850
         } else  last_n_n = 0;
849
         } else  last_n_n = 0;
851
        } else cnt = 0;
850
        } else cnt = 0;
852
        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
851
        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
853
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
852
        if(IntegralErrorPitch >  FEHLER_LIMIT)   AdNeutralPitch += cnt;
854
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
853
        if(IntegralErrorPitch < -FEHLER_LIMIT)   AdNeutralPitch -= cnt;
855
 
854
 
856
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
855
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
857
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
856
        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
858
 
857
 
859
        ausgleichRoll = 0;
858
        CorrectionRoll = 0;
860
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT)
859
        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < BEWEGUNGS_LIMIT)
861
        {
860
        {
862
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
861
        if(IntegralErrorRoll >  FEHLER_LIMIT2)
863
         {
862
         {
864
           if(last_r_p)
863
           if(last_r_p)
865
           {
864
           {
866
            cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
865
            cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2;
867
            ausgleichRoll = IntegralFehlerRoll / 8;
866
            CorrectionRoll = IntegralErrorRoll / 8;
868
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
867
            if(CorrectionRoll > 5000) CorrectionRoll = 5000;
869
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
868
            AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL;
870
           }
869
           }
871
           else last_r_p = 1;
870
           else last_r_p = 1;
872
         } else  last_r_p = 0;
871
         } else  last_r_p = 0;
873
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
872
        if(IntegralErrorRoll < -FEHLER_LIMIT2)
874
         {
873
         {
875
           if(last_r_n)
874
           if(last_r_n)
Line 876... Line 875...
876
           {
875
           {
877
            cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
876
            cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2;
878
            ausgleichRoll = IntegralFehlerRoll / 8;
877
            CorrectionRoll = IntegralErrorRoll / 8;
879
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
878
            if(CorrectionRoll < -5000) CorrectionRoll = -5000;
880
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
879
            AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL;
881
           }
880
           }
882
           else last_r_n = 1;
881
           else last_r_n = 1;
883
         } else  last_r_n = 0;
882
         } else  last_r_n = 0;
884
        } else
883
        } else
885
        {
884
        {
886
         cnt = 0;
885
         cnt = 0;
887
        }
886
        }
Line 888... Line 887...
888
 
887
 
889
        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
888
        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
890
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
889
        if(IntegralErrorRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
891
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
890
        if(IntegralErrorRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
892
DebugOut.Analog[27] = ausgleichRoll;
891
DebugOut.Analog[27] = CorrectionRoll;
893
DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
892
DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
894
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
893
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
895
  }
894
  }
896
  else
895
  else
897
  {
896
  {
898
   LageKorrekturRoll = 0;
897
   AttitudeCorrectionRoll = 0;
899
   LageKorrekturNick = 0;
898
   AttitudeCorrectionPitch = 0;
900
  }
899
  }
901
 
900
 
902
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
901
  if(!IntegralFactor) { AttitudeCorrectionRoll = 0; AttitudeCorrectionPitch = 0;} // z.B. bei HH
Line 903... Line 902...
903
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
902
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
904
   MittelIntegralNick_Alt = MittelIntegralNick;
903
   MeanIntegralPitch_old = MeanIntegralPitch;
905
   MittelIntegralRoll_Alt = MittelIntegralRoll;
904
   MeanIntegralRoll_old = MeanIntegralRoll;
906
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
905
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
907
    IntegralAccNick = 0;
906
    IntegralAccPitch = 0;
908
    IntegralAccRoll = 0;
907
    IntegralAccRoll = 0;
909
    IntegralAccZ = 0;
908
    IntegralAccZ = 0;
910
    MittelIntegralNick = 0;
909
    MeanIntegralPitch = 0;
911
    MittelIntegralRoll = 0;
910
    MeanIntegralRoll = 0;
912
    MittelIntegralNick2 = 0;
911
    MeanIntegralPitch2 = 0;
913
    MittelIntegralRoll2 = 0;
912
    MeanIntegralRoll2 = 0;
914
    ZaehlMessungen = 0;
913
    ZaehlMessungen = 0;
915
 }
914
 }
Line 916... Line 915...
916
//DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor);
915
//DebugOut.Analog[31] = StickRoll / (26*IntegralFactor);
917
 
916
 
918
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
917
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
919
//  Gieren
918
//  Gieren
920
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
919
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921
    if(abs(StickGier) > 20) // war 35
920
    if(abs(StickYaw) > 20) // war 35
922
     {
921
     {
Line 923... Line 922...
923
      if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) NeueKompassRichtungMerken = 1;
922
      if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
924
     }
923
     }
925
    tmp_int  = (long) ParamSet.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
924
    tmp_int  = (long) ParamSet.Yaw_P * ((long)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
926
    tmp_int += (ParamSet.Gier_P * StickGier) / 4;
925
    tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
927
    sollGier = tmp_int;
926
    SetPointYaw = tmp_int;
928
    Mess_Integral_Gier -= tmp_int;
927
    Reading_Integral_Yaw -= tmp_int;
Line 929... Line 928...
929
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
928
    if(Reading_Integral_Yaw > 50000) Reading_Integral_Yaw = 50000;  // begrenzen
930
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
929
    if(Reading_Integral_Yaw <-50000) Reading_Integral_Yaw =-50000;
931
 
930
 
932
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
931
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
933
//  Kompass
932
//  Kompass
934
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
933
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
935
    if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
934
    if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
936
    {
935
    {
937
        int w,v;
936
        int w,v;
938
            static uint8_t updKompass = 0;
937
            static uint8_t updCompass = 0;
939
 
938
 
940
                if (!updKompass--)              // Aufruf mit ~10 Hz
939
                if (!updCompass--)              // Aufruf mit ~10 Hz
941
                {
940
                {
942
                        KompassValue = MM3_heading(); // get current compass reading
941
                        CompassHeading = MM3_heading(); // get current compass reading
943
                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
942
                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
944
                        updKompass = 50;
943
                        updCompass = 50;
Line 945... Line 944...
945
                }
944
                }
946
 
945
 
947
        w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
946
        w = abs(IntegralPitch /512); // mit zunehmender Neigung den Einfluss drosseln
948
        v = abs(IntegralRoll /512);
947
        v = abs(IntegralRoll /512);
949
        if(v > w) w = v; // grösste Neigung ermitteln
948
        if(v > w) w = v; // grösste Neigung ermitteln
950
        if(w < 35 && NeueKompassRichtungMerken)
949
        if(w < 35 && StoreNewCompassCourse)
951
         {
950
         {
952
          KompassStartwert = KompassValue;
951
          CompassCourse = CompassHeading;
953
          NeueKompassRichtungMerken = 0;
952
          StoreNewCompassCourse = 0;
954
         }
953
         }
955
        w = (w * Parameter_KompassWirkung) / 64;           // auf die Wirkung normieren
954
        w = (w * Parameter_CompassYawEffect) / 64;           // auf die Wirkung normieren
956
        w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
955
        w = Parameter_CompassYawEffect - w;                  // Wirkung ggf drosseln
957
        if(w > 0)
956
        if(w > 0)
958
        {
957
        {
959
                        Mess_Integral_Gier += (KompassRichtung * w) / 32;  // nach Kompass ausrichten
958
                        Reading_Integral_Yaw -= (CompassOffCourse * w) / 32;  // nach Kompass ausrichten
960
           }
959
           }
961
     }
960
     }
Line 962... Line 961...
962
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
961
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
963
 
962
 
964
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
963
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
965
//  Debugwerte zuordnen
964
//  Debugwerte zuordnen
Line 989... Line 988...
989
    DebugOut.Analog[22] = motor_rx[5];
988
    DebugOut.Analog[22] = motor_rx[5];
990
    DebugOut.Analog[23] = motor_rx[6];
989
    DebugOut.Analog[23] = motor_rx[6];
991
    DebugOut.Analog[24] = motor_rx[7];
990
    DebugOut.Analog[24] = motor_rx[7];
992
    DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
991
    DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
993
*/
992
*/
994
//    DebugOut.Analog[9] = MesswertNick;
993
//    DebugOut.Analog[9] = ReadingPitch;
995
//    DebugOut.Analog[9] = SollHoehe;
994
//    DebugOut.Analog[9] = SetPointHight;
996
//    DebugOut.Analog[10] = Mess_Integral_Gier / 128;
995
//    DebugOut.Analog[10] = Reading_Integral_Yaw / 128;
997
//    DebugOut.Analog[11] = KompassStartwert;
996
//    DebugOut.Analog[11] = CompassCourse;
998
//    DebugOut.Analog[10] = Parameter_Gyro_I;
997
//    DebugOut.Analog[10] = Parameter_Gyro_I;
999
//    DebugOut.Analog[10] = ParamSet.Gyro_I;
998
//    DebugOut.Analog[10] = ParamSet.Gyro_I;
1000
//    DebugOut.Analog[9] = KompassRichtung;
999
//    DebugOut.Analog[9] = CompassOffCourse;
1001
//    DebugOut.Analog[10] = GasMischanteil;
1000
//    DebugOut.Analog[10] = GasMixingFraction;
1002
//    DebugOut.Analog[3] = HoeheD * 32;
1001
//    DebugOut.Analog[3] = HoeheD * 32;
1003
//    DebugOut.Analog[4] = hoehenregler;
1002
//    DebugOut.Analog[4] = hoehenregler;
1004
  }
1003
  }
Line 1005... Line 1004...
1005
 
1004
 
1006
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1005
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1007
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1006
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1008
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1007
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1009
//DebugOut.Analog[26] = MesswertNick;
1008
//DebugOut.Analog[26] = ReadingPitch;
Line 1010... Line 1009...
1010
//DebugOut.Analog[28] = MesswertRoll;
1009
//DebugOut.Analog[28] = ReadingRoll;
1011
 
1010
 
1012
    if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor;
1011
    if(Looping_Pitch) ReadingPitch = ReadingPitch * GyroFactor;
1013
    else             MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor;
1012
    else             ReadingPitch = IntegralPitch * IntegralFactor + ReadingPitch * GyroFactor;
1014
    if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor;
1013
    if(Looping_Roll) ReadingRoll = ReadingRoll * GyroFactor;
1015
    else             MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor;
1014
    else             ReadingRoll = IntegralRoll * IntegralFactor + ReadingRoll * GyroFactor;
1016
    MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2;
1015
    ReadingYaw = ReadingYaw * (2 * GyroFactor) + Integral_Yaw * IntegralFactor / 2;
1017
 
1016
 
1018
DebugOut.Analog[25] = IntegralRoll * IntegralFaktor;
1017
DebugOut.Analog[25] = IntegralRoll * IntegralFactor;
Line 1019... Line 1018...
1019
DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor);
1018
DebugOut.Analog[31] = StickRoll;// / (26*IntegralFactor);
1020
DebugOut.Analog[28] = MesswertRoll;
1019
DebugOut.Analog[28] = ReadingRoll;
1021
 
1020
 
1022
    // Maximalwerte abfangen
1021
    // Maximalwerte abfangen
1023
    #define MAX_SENSOR  2048
1022
    #define MAX_SENSOR  2048
1024
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1023
    if(ReadingPitch >  MAX_SENSOR) ReadingPitch =  MAX_SENSOR;
1025
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1024
    if(ReadingPitch < -MAX_SENSOR) ReadingPitch = -MAX_SENSOR;
1026
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1025
    if(ReadingRoll >  MAX_SENSOR) ReadingRoll =  MAX_SENSOR;
Line 1027... Line 1026...
1027
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1026
    if(ReadingRoll < -MAX_SENSOR) ReadingRoll = -MAX_SENSOR;
1028
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1027
    if(ReadingYaw >  MAX_SENSOR) ReadingYaw =  MAX_SENSOR;
1029
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1028
    if(ReadingYaw < -MAX_SENSOR) ReadingYaw = -MAX_SENSOR;
1030
 
1029
 
Line 1039... Line 1038...
1039
    int tmp_int;
1038
    int tmp_int;
1040
    if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)  // Regler wird über Schalter gesteuert
1039
    if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)  // Regler wird über Schalter gesteuert
1041
    {
1040
    {
1042
     if(Parameter_MaxHoehe < 50)
1041
     if(Parameter_MaxHoehe < 50)
1043
      {
1042
      {
1044
       SollHoehe = HoehenWert - 20;  // Parameter_MaxHoehe ist der PPM-Wert des Schalters
1043
       SetPointHight = ReadingHight - 20;  // Parameter_MaxHoehe ist der PPM-Wert des Schalters
1045
       HoehenReglerAktiv = 0;
1044
       HightControlActive = 0;
1046
      }
1045
      }
1047
      else
1046
      else
1048
        HoehenReglerAktiv = 1;
1047
        HightControlActive = 1;
1049
    }
1048
    }
1050
    else
1049
    else
1051
    {
1050
    {
1052
     SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hoehe_Verstaerkung - 20;
1051
     SetPointHight = ((int) ExternHightValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hight_Gain - 20;
1053
     HoehenReglerAktiv = 1;
1052
     HightControlActive = 1;
1054
    }
1053
    }
Line 1055... Line 1054...
1055
 
1054
 
1056
    if(Notlandung) SollHoehe = 0;
1055
    if(EmergencyLanding) SetPointHight = 0;
1057
    h = HoehenWert;
1056
    h = ReadingHight;
1058
    if((h > SollHoehe) && HoehenReglerAktiv)      // zu hoch --> drosseln
1057
    if((h > SetPointHight) && HightControlActive)      // zu hoch --> drosseln
1059
     {      h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
1058
     {      h = ((h - SetPointHight) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
1060
      h = GasMischanteil - h;         // vom Gas abziehen
1059
      h = GasMixingFraction - h;         // vom Gas abziehen
1061
      h -= (HoeheD * Parameter_Luftdruck_D)/8;    // D-Anteil
1060
      h -= (HoeheD * Parameter_Luftdruck_D)/8;    // D-Anteil
1062
      tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32;
1061
      tmp_int = ((Reading_Integral_Top / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32;
1063
      if(tmp_int > 50) tmp_int = 50;
1062
      if(tmp_int > 50) tmp_int = 50;
1064
      else if(tmp_int < -50) tmp_int = -50;
1063
      else if(tmp_int < -50) tmp_int = -50;
1065
      h -= tmp_int;
1064
      h -= tmp_int;
1066
      hoehenregler = (hoehenregler*15 + h) / 16;
1065
      hoehenregler = (hoehenregler*15 + h) / 16;
1067
      if(hoehenregler < ParamSet.Hoehe_MinGas) // nicht unter MIN
1066
      if(hoehenregler < ParamSet.Hight_MinGas) // nicht unter MIN
1068
       {
1067
       {
1069
         if(GasMischanteil >= ParamSet.Hoehe_MinGas) hoehenregler = ParamSet.Hoehe_MinGas;
1068
         if(GasMixingFraction >= ParamSet.Hight_MinGas) hoehenregler = ParamSet.Hight_MinGas;
1070
         if(GasMischanteil < ParamSet.Hoehe_MinGas) hoehenregler = GasMischanteil;
1069
         if(GasMixingFraction < ParamSet.Hight_MinGas) hoehenregler = GasMixingFraction;
1071
       }
1070
       }
1072
      if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas
1071
      if(hoehenregler > GasMixingFraction) hoehenregler = GasMixingFraction; // nicht mehr als Gas
1073
      GasMischanteil = hoehenregler;
1072
      GasMixingFraction = hoehenregler;
1074
     }
1073
     }
1075
  }
1074
  }
1076
  if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20;
1075
  if(GasMixingFraction > MAX_GAS - 20) GasMixingFraction = MAX_GAS - 20;
1077
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1076
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1078
// + Mischer und PI-Regler
1077
// + Mischer und PI-Regler
1079
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1078
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1080
  DebugOut.Analog[7] = GasMischanteil;
1079
  DebugOut.Analog[7] = GasMixingFraction;
1081
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1080
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1082
// Gier-Anteil
1081
// Gier-Anteil
1083
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1082
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1084
#define MUL_G  1.0
1083
#define MUL_G  1.0
1085
    GierMischanteil = MesswertGier - sollGier;     // Regler für Gier
1084
    YawMixingFraction = ReadingYaw - SetPointYaw;     // Regler für Gier
Line 1086... Line 1085...
1086
// GierMischanteil = 0;
1085
// YawMixingFraction = 0;
1087
 
1086
 
1088
    if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1087
    if(YawMixingFraction > (GasMixingFraction / 2)) YawMixingFraction = GasMixingFraction / 2;
1089
    if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
1088
    if(YawMixingFraction < -(GasMixingFraction / 2)) YawMixingFraction = -(GasMixingFraction / 2);
1090
    if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil));
1089
    if(YawMixingFraction > ((MAX_GAS - GasMixingFraction))) YawMixingFraction = ((MAX_GAS - GasMixingFraction));
1091
    if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil));
1090
    if(YawMixingFraction < -((MAX_GAS - GasMixingFraction))) YawMixingFraction = -((MAX_GAS - GasMixingFraction));
1092
 
1091
 
1093
    if(GasMischanteil < 20) GierMischanteil = 0;
1092
    if(GasMixingFraction < 20) YawMixingFraction = 0;
1094
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1093
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1095
// Nick-Achse
1094
// Pitch-Achse
1096
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1095
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1097
    DiffNick = MesswertNick - (StickNick - GPS_Nick);   // Differenz bestimmen
1096
    DiffPitch = ReadingPitch - (StickPitch - GPS_Pitch);        // Differenz bestimmen
1098
    if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung
1097
    if(IntegralFactor) SumPitch += IntegralPitch * IntegralFactor - (StickPitch - GPS_Pitch); // I-Anteil bei Winkelregelung
1099
    else  SummeNick += DiffNick; // I-Anteil bei HH
1098
    else  SumPitch += DiffPitch; // I-Anteil bei HH
1100
    if(SummeNick >  16000) SummeNick =  16000;
1099
    if(SumPitch >  16000) SumPitch =  16000;
1101
    if(SummeNick < -16000) SummeNick = -16000;
1100
    if(SumPitch < -16000) SumPitch = -16000;
1102
    pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick
1101
    pd_ergebnis = DiffPitch + Ki * SumPitch; // PI-Regler für Pitch
1103
    // Motor Vorn
1102
    // Motor Vorn
1104
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1103
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64;
Line 1105... Line 1104...
1105
    if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
1104
    if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
1106
    if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
1105
    if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
1107
 
1106
 
1108
    motorwert = GasMischanteil + pd_ergebnis + GierMischanteil;   // Mischer
1107
    MotorValue = GasMixingFraction + pd_ergebnis + YawMixingFraction;     // Mischer
1109
        if ((motorwert < 0)) motorwert = 0;
1108
        if ((MotorValue < 0)) MotorValue = 0;
1110
        else if(motorwert > MAX_GAS)        motorwert = MAX_GAS;
1109
        else if(MotorValue > MAX_GAS)       MotorValue = MAX_GAS;
1111
        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
1110
        if (MotorValue < MIN_GAS)            MotorValue = MIN_GAS;
1112
        Motor_Vorne = motorwert;
1111
        Motor_Front = MotorValue;
1113
    // Motor Heck
1112
    // Motor Heck
1114
        motorwert = GasMischanteil - pd_ergebnis + GierMischanteil;
1113
        MotorValue = GasMixingFraction - pd_ergebnis + YawMixingFraction;
1115
        if ((motorwert < 0)) motorwert = 0;
1114
        if ((MotorValue < 0)) MotorValue = 0;
1116
        else if(motorwert > MAX_GAS)        motorwert = MAX_GAS;
1115
        else if(MotorValue > MAX_GAS)       MotorValue = MAX_GAS;
1117
        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
1116
        if (MotorValue < MIN_GAS)            MotorValue = MIN_GAS;
1118
        Motor_Hinten = motorwert;
1117
        Motor_Rear = MotorValue;
1119
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1118
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1120
// Roll-Achse
1119
// Roll-Achse
1121
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1120
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1122
        DiffRoll = MesswertRoll - (StickRoll  - GPS_Roll);      // Differenz bestimmen
1121
        DiffRoll = ReadingRoll - (StickRoll  - GPS_Roll);       // Differenz bestimmen
1123
    if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll  - GPS_Roll);// I-Anteil bei Winkelregelung
1122
    if(IntegralFactor) SumRoll += IntegralRoll * IntegralFactor - (StickRoll  - GPS_Roll);// I-Anteil bei Winkelregelung
1124
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1123
    else                 SumRoll += DiffRoll;  // I-Anteil bei HH
1125
    if(SummeRoll >  16000) SummeRoll =  16000;
1124
    if(SumRoll >  16000) SumRoll =  16000;
1126
    if(SummeRoll < -16000) SummeRoll = -16000;
1125
    if(SumRoll < -16000) SumRoll = -16000;
1127
    pd_ergebnis = DiffRoll + Ki * SummeRoll;    // PI-Regler für Roll
1126
    pd_ergebnis = DiffRoll + Ki * SumRoll;      // PI-Regler für Roll
1128
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1127
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64;
1129
    if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
1128
    if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
1130
    if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
1129
    if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
Line 1131... Line 1130...
1131
    // Motor Links
1130
    // Motor Links
1132
    motorwert = GasMischanteil + pd_ergebnis - GierMischanteil;
1131
    MotorValue = GasMixingFraction + pd_ergebnis - YawMixingFraction;
1133
#define GRENZE Poti1
1132
#define GRENZE Poti1
1134
 
1133
 
1135
        if ((motorwert < 0)) motorwert = 0;
1134
        if ((MotorValue < 0)) MotorValue = 0;
1136
        else if(motorwert > MAX_GAS)            motorwert = MAX_GAS;
1135
        else if(MotorValue > MAX_GAS)           MotorValue = MAX_GAS;
Line 1137... Line 1136...
1137
        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
1136
        if (MotorValue < MIN_GAS)            MotorValue = MIN_GAS;
1138
    Motor_Links = motorwert;
1137
    Motor_Left = MotorValue;
1139
    // Motor Rechts
1138
    // Motor Rechts
1140
        motorwert = GasMischanteil - pd_ergebnis - GierMischanteil;
1139
        MotorValue = GasMixingFraction - pd_ergebnis - YawMixingFraction;
1141
 
1140
 
1142
        if ((motorwert < 0)) motorwert = 0;
1141
        if ((MotorValue < 0)) MotorValue = 0;