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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 04.2007 Holger Buss |
5 | // + Copyright (c) 04.2007 Holger Buss |
| 6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
| 7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
14 | // + Verkauf von Luftbildaufnahmen, usw. |
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 21 | // + eindeutig als Ursprung verlinkt werden |
21 | // + eindeutig als Ursprung verlinkt werden |
| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 24 | // + Benutzung auf eigene Gefahr |
24 | // + Benutzung auf eigene Gefahr |
| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 28 | // + mit unserer Zustimmung zulässig |
28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 35 | // + from this software without specific prior written permission. |
35 | // + from this software without specific prior written permission. |
| 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 37 | // + for non-commercial use (directly or indirectly) |
37 | // + for non-commercial use (directly or indirectly) |
| 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 39 | // + with our written permission |
39 | // + with our written permission |
| 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
41 | // + clearly linked as origin |
| 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 52 | // + POSSIBILITY OF SUCH DAMAGE. |
52 | // + POSSIBILITY OF SUCH DAMAGE. |
| 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 54 | #include <stdlib.h> |
|
| - | 55 | #include <avr/io.h> |
|
| Line 54... | Line 56... | ||
| 54 | 56 | ||
| 55 | #include "main.h" |
57 | #include "main.h" |
| - | 58 | #include "eeprom.h" |
|
| - | 59 | #include "timer0.h" |
|
| - | 60 | #include "_Settings.h" |
|
| - | 61 | #include "analog.h" |
|
| - | 62 | #include "fc.h" |
|
| - | 63 | #include "uart.h" |
|
| - | 64 | #include "rc.h" |
|
| - | 65 | #include "twimaster.h" |
|
| - | 66 | #include "timer2.h" |
|
| - | 67 | #ifdef USE_KILLAGREG |
|
| - | 68 | #include "mm3.h" |
|
| - | 69 | #include "gps.h" |
|
| - | 70 | #endif |
|
| - | 71 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
| - | 72 | #include "mk3mag.h" |
|
| - | 73 | #endif |
|
| - | 74 | #include "led.h" |
|
| - | 75 | ||
| - | 76 | volatile uint16_t I2CTimeout = 100; |
|
| - | 77 | // gyro readings |
|
| - | 78 | volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
|
| - | 79 | // gyro neutral readings |
|
| - | 80 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
|
| - | 81 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
|
| - | 82 | // mean accelerations |
|
| Line 56... | Line -... | ||
| 56 | #include "eeprom.c" |
- | |
| 57 | 83 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
|
| 58 | unsigned char h,m,s; |
84 | |
| 59 | volatile unsigned int I2CTimeout = 100; |
- | |
| 60 | volatile int MesswertNick,MesswertRoll,MesswertGier; |
- | |
| 61 | volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
- | |
| 62 | volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
85 | // neutral acceleration readings |
| 63 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
- | |
| 64 | volatile float NeutralAccZ = 0; |
- | |
| 65 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
- | |
| 66 | long IntegralNick = 0,IntegralNick2 = 0; |
- | |
| 67 | long IntegralRoll = 0,IntegralRoll2 = 0; |
- | |
| 68 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
- | |
| 69 | long Integral_Gier = 0; |
- | |
| 70 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
- | |
| 71 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
- | |
| 72 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
- | |
| 73 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
- | |
| 74 | volatile long Mess_Integral_Hoch = 0; |
- | |
| 75 | volatile int KompassValue = 0; |
- | |
| 76 | volatile int KompassStartwert = 0; |
- | |
| 77 | volatile int KompassRichtung = 0; |
- | |
| 78 | unsigned int KompassSignalSchlecht = 500; |
- | |
| 79 | unsigned char MAX_GAS,MIN_GAS; |
- | |
| 80 | unsigned char Notlandung = 0; |
- | |
| 81 | unsigned char HoehenReglerAktiv = 0; |
- | |
| 82 | unsigned char TrichterFlug = 0; |
- | |
| 83 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
- | |
| 84 | long ErsatzKompass; |
- | |
| 85 | int ErsatzKompassInGrad; // Kompasswert in Grad |
- | |
| 86 | int GierGyroFehler = 0; |
- | |
| 87 | float GyroFaktor; |
- | |
| 88 | float IntegralFaktor; |
- | |
| 89 | volatile int DiffNick,DiffRoll; |
- | |
| 90 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
- | |
| 91 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
- | |
| 92 | volatile unsigned char SenderOkay = 0; |
- | |
| 93 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
- | |
| 94 | char MotorenEin = 0; |
- | |
| 95 | int HoehenWert = 0; |
- | |
| 96 | int SollHoehe = 0; |
- | |
| 97 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
- | |
| 98 | float Ki = FAKTOR_I; |
- | |
| 99 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
- | |
| 100 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
- | |
| 101 | - | ||
| 102 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
- | |
| 103 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
- | |
| 104 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
- | |
| 105 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
- | |
| 106 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
- | |
| 107 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
- | |
| 108 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
- | |
| 109 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
- | |
| 110 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
- | |
| 111 | unsigned char Parameter_UserParam1 = 0; |
- | |
| 112 | unsigned char Parameter_UserParam2 = 0; |
- | |
| 113 | unsigned char Parameter_UserParam3 = 0; |
- | |
| 114 | unsigned char Parameter_UserParam4 = 0; |
- | |
| 115 | unsigned char Parameter_UserParam5 = 0; |
- | |
| 116 | unsigned char Parameter_UserParam6 = 0; |
- | |
| 117 | unsigned char Parameter_UserParam7 = 0; |
- | |
| 118 | unsigned char Parameter_UserParam8 = 0; |
- | |
| 119 | unsigned char Parameter_ServoNickControl = 100; |
- | |
| 120 | unsigned char Parameter_LoopGasLimit = 70; |
- | |
| 121 | unsigned char Parameter_AchsKopplung1 = 0; |
- | |
| 122 | unsigned char Parameter_AchsGegenKopplung1 = 0; |
- | |
| 123 | unsigned char Parameter_DynamicStability = 100; |
- | |
| 124 | struct mk_param_struct EE_Parameter; |
- | |
| 125 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
- | |
| Line -... | Line 86... | ||
| - | 86 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
|
| - | 87 | volatile float NeutralAccZ = 0; |
|
| - | 88 | ||
| - | 89 | // attitude gyro integrals |
|
| - | 90 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
|
| - | 91 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
|
| - | 92 | volatile int32_t IntegralYaw = 0; |
|
| - | 93 | volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
|
| - | 94 | volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
|
| - | 95 | volatile int32_t Reading_IntegralGyroYaw = 0; |
|
| - | 96 | volatile int32_t MeanIntegralPitch; |
|
| - | 97 | volatile int32_t MeanIntegralRoll; |
|
| - | 98 | ||
| - | 99 | // attitude acceleration integrals |
|
| - | 100 | volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
|
| - | 101 | volatile int32_t Reading_Integral_Top = 0; |
|
| - | 102 | ||
| - | 103 | // compass course |
|
| - | 104 | volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
|
| - | 105 | volatile int16_t CompassCourse = -1; |
|
| - | 106 | volatile int16_t CompassOffCourse = 0; |
|
| - | 107 | volatile uint8_t CompassCalState = 0; |
|
| - | 108 | uint8_t FunnelCourse = 0; |
|
| - | 109 | uint16_t BadCompassHeading = 500; |
|
| - | 110 | int32_t YawGyroHeading; |
|
| - | 111 | int16_t YawGyroDrift; |
|
| - | 112 | ||
| - | 113 | ||
| - | 114 | int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
|
| - | 115 | ||
| - | 116 | ||
| - | 117 | // flags |
|
| - | 118 | uint8_t MotorsOn = 0; |
|
| - | 119 | uint8_t EmergencyLanding = 0; |
|
| - | 120 | uint16_t Model_Is_Flying = 0; |
|
| - | 121 | ||
| - | 122 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
|
| - | 123 | ||
| - | 124 | float Gyro_P_Factor; |
|
| - | 125 | float Gyro_I_Factor; |
|
| - | 126 | ||
| - | 127 | volatile int16_t DiffPitch, DiffRoll; |
|
| - | 128 | ||
| - | 129 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
|
| - | 130 | ||
| - | 131 | // setpoints for motors |
|
| - | 132 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
|
| - | 133 | ||
| - | 134 | // stick values derived by rc channels readings |
|
| - | 135 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
|
| - | 136 | int16_t GPS_Pitch = 0, GPS_Roll = 0; |
|
| - | 137 | ||
| - | 138 | int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
|
| - | 139 | // stick values derived by uart inputs |
|
| - | 140 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
|
| - | 141 | ||
| - | 142 | ||
| - | 143 | ||
| - | 144 | ||
| - | 145 | int16_t ReadingHeight = 0; |
|
| - | 146 | int16_t SetPointHeight = 0; |
|
| - | 147 | ||
| - | 148 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
|
| - | 149 | ||
| - | 150 | float Ki = FACTOR_I; |
|
| - | 151 | ||
| - | 152 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
|
| - | 153 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
|
| - | 154 | ||
| - | 155 | ||
| - | 156 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
|
| - | 157 | ||
| - | 158 | ||
| 126 | int MaxStickNick = 0,MaxStickRoll = 0; |
159 | /************************************************************************/ |
| 127 | unsigned int modell_fliegt = 0; |
160 | /* Creates numbeeps beeps at the speaker */ |
| 128 | 161 | /************************************************************************/ |
|
| 129 | void Piep(unsigned char Anzahl) |
162 | void Beep(uint8_t numbeeps) |
| 130 | { |
163 | { |
| 131 | while(Anzahl--) |
164 | while(numbeeps--) |
| 132 | { |
165 | { |
| - | 166 | if(MotorsOn) return; //auf keinen Fall im Flug! |
|
| - | 167 | BeepTime = 100; // 0.1 second |
|
| 133 | if(MotorenEin) return; //auf keinen Fall im Flug! |
168 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
| 134 | beeptime = 100; |
169 | // this will block the flight control loop, |
| Line 135... | Line 170... | ||
| 135 | Delay_ms(250); |
170 | // therefore do not use this funktion if motors are running |
| 136 | } |
171 | } |
| - | 172 | } |
|
| 137 | } |
173 | |
| 138 | - | ||
| 139 | //############################################################################ |
174 | /************************************************************************/ |
| 140 | // Nullwerte ermitteln |
175 | /* Neutral Readings */ |
| 141 | void SetNeutral(void) |
176 | /************************************************************************/ |
| 142 | //############################################################################ |
177 | void SetNeutral(void) |
| 143 | { |
178 | { |
| 144 | NeutralAccX = 0; |
179 | NeutralAccX = 0; |
| 145 | NeutralAccY = 0; |
180 | NeutralAccY = 0; |
| 146 | NeutralAccZ = 0; |
181 | NeutralAccZ = 0; |
| 147 | AdNeutralNick = 0; |
182 | AdNeutralPitch = 0; |
| 148 | AdNeutralRoll = 0; |
183 | AdNeutralRoll = 0; |
| 149 | AdNeutralGier = 0; |
184 | AdNeutralYaw = 0; |
| 150 | Parameter_AchsKopplung1 = 0; |
185 | FCParam.Yaw_PosFeedback = 0; |
| 151 | Parameter_AchsGegenKopplung1 = 0; |
186 | FCParam.Yaw_NegFeedback = 0; |
| 152 | CalibrierMittelwert(); |
- | |
| 153 | Delay_ms_Mess(100); |
- | |
| 154 | CalibrierMittelwert(); |
- | |
| 155 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
- | |
| 156 | { |
- | |
| 157 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
- | |
| 158 | } |
- | |
| 159 | - | ||
| 160 | AdNeutralNick= AdWertNick; |
- | |
| 161 | AdNeutralRoll= AdWertRoll; |
- | |
| 162 | AdNeutralGier= AdWertGier; |
187 | CalibMean(); |
| 163 | StartNeutralRoll = AdNeutralRoll; |
188 | Delay_ms_Mess(100); |
| 164 | StartNeutralNick = AdNeutralNick; |
- | |
| 165 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
- | |
| 166 | { |
189 | CalibMean(); |
| - | 190 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
|
| - | 191 | { |
|
| 167 | NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
192 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| - | 193 | } |
|
| - | 194 | AdNeutralPitch = AdValueGyrPitch; |
|
| - | 195 | AdNeutralRoll = AdValueGyrRoll; |
|
| 168 | NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
196 | AdNeutralYaw = AdValueGyrYaw; |
| 169 | NeutralAccZ = Aktuell_az; |
197 | StartNeutralRoll = AdNeutralRoll; |
| 170 | } |
198 | StartNeutralPitch = AdNeutralPitch; |
| 171 | else |
199 | if(GetParamWord(PID_ACC_PITCH) > 1023) |
| 172 | { |
200 | { |
| - | 201 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
|
| - | 202 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
|
| - | 203 | NeutralAccZ = Current_AccZ; |
|
| - | 204 | } |
|
| - | 205 | else |
|
| 173 | NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
206 | { |
| 174 | NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
207 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
| 175 | NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
208 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| 176 | } |
209 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
| 177 | 210 | } |
|
| 178 | Mess_IntegralNick = 0; |
211 | Reading_IntegralGyroPitch = 0; |
| 179 | Mess_IntegralNick2 = 0; |
212 | Reading_IntegralGyroPitch2 = 0; |
| 180 | Mess_IntegralRoll = 0; |
213 | Reading_IntegralGyroRoll = 0; |
| 181 | Mess_IntegralRoll2 = 0; |
214 | Reading_IntegralGyroRoll2 = 0; |
| 182 | Mess_Integral_Gier = 0; |
215 | Reading_IntegralGyroYaw = 0; |
| 183 | MesswertNick = 0; |
216 | Reading_GyroPitch = 0; |
| 184 | MesswertRoll = 0; |
217 | Reading_GyroRoll = 0; |
| 185 | MesswertGier = 0; |
218 | Reading_GyroYaw = 0; |
| 186 | StartLuftdruck = Luftdruck; |
- | |
| 187 | HoeheD = 0; |
219 | StartAirPressure = AirPressure; |
| 188 | Mess_Integral_Hoch = 0; |
220 | HeightD = 0; |
| 189 | KompassStartwert = KompassValue; |
221 | Reading_Integral_Top = 0; |
| 190 | GPS_Neutral(); |
222 | CompassCourse = CompassHeading; |
| 191 | beeptime = 50; |
223 | BeepTime = 50; |
| 192 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
224 | TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
| - | 225 | TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
|
| 193 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
226 | ExternHeightValue = 0; |
| 194 | ExternHoehenValue = 0; |
227 | GPS_Pitch = 0; |
| Line 195... | Line 228... | ||
| 195 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
228 | GPS_Roll = 0; |
| 196 | GierGyroFehler = 0; |
229 | YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
| - | 230 | YawGyroDrift = 0; |
|
| 197 | SendVersionToNavi = 1; |
231 | } |
| 198 | } |
- | |
| 199 | 232 | ||
| 200 | //############################################################################ |
233 | /************************************************************************/ |
| - | 234 | /* Averaging Measurement Readings */ |
|
| - | 235 | /************************************************************************/ |
|
| 201 | // Bearbeitet die Messwerte |
236 | void Mean(void) |
| 202 | void Mittelwert(void) |
237 | { |
| 203 | //############################################################################ |
238 | static int32_t tmpl,tmpl2; |
| 204 | { |
239 | |
| 205 | static signed long tmpl,tmpl2; |
240 | // Get offset corrected gyro readings (~ to angular velocity) |
| 206 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
241 | Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| 207 | MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
- | |
| 208 | MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
- | |
| 209 | 242 | Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
|
| 210 | //DebugOut.Analog[26] = MesswertNick; |
243 | Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
| 211 | DebugOut.Analog[28] = MesswertRoll; |
244 | |
| - | 245 | // Acceleration Sensor |
|
| - | 246 | // sliding average sensor readings |
|
| 212 | 247 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
|
| 213 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
248 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
| - | 249 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
|
| 214 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
250 | |
| 215 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
251 | // sum sensor readings for later averaging |
| 216 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
252 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
| - | 253 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
|
| - | 254 | ||
| 217 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
255 | NaviAccPitch += AdValueAccPitch; |
| 218 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
- | |
| 219 | NaviAccNick += AdWertAccNick; |
- | |
| 220 | NaviAccRoll += AdWertAccRoll; |
256 | NaviAccRoll += AdValueAccRoll; |
| 221 | NaviCntAcc++; |
257 | NaviCntAcc++; |
| 222 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
258 | |
| 223 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
259 | // Yaw |
| - | 260 | // calculate yaw gyro integral (~ to rotation angle) |
|
| - | 261 | Reading_IntegralGyroYaw += Reading_GyroYaw; |
|
| 224 | ErsatzKompass += MesswertGier; |
262 | YawGyroHeading += Reading_GyroYaw; |
| 225 | Mess_Integral_Gier += MesswertGier; |
263 | if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
| 226 | Mess_Integral_Gier2 += MesswertGier; |
264 | if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
| 227 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
265 | |
| 228 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
266 | |
| 229 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
267 | // Coupling fraction |
| 230 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
268 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
| 231 | { |
269 | { |
| 232 | tmpl = (MesswertGier * Mess_IntegralNick) / 2048L; |
270 | tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
| 233 | tmpl *= Parameter_AchsKopplung1; //125 |
271 | tmpl *= FCParam.Yaw_PosFeedback; |
| 234 | tmpl /= 4096L; |
272 | tmpl /= 4096L; |
| 235 | tmpl2 = (MesswertGier * Mess_IntegralRoll) / 2048L; |
273 | tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
| - | 274 | tmpl2 *= FCParam.Yaw_PosFeedback; |
|
| 236 | tmpl2 *= Parameter_AchsKopplung1; |
275 | tmpl2 /= 4096L; |
| 237 | tmpl2 /= 4096L; |
276 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
| 238 | if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
277 | } |
| 239 | } |
278 | else tmpl = tmpl2 = 0; |
| 240 | else tmpl = tmpl2 = 0; |
279 | |
| 241 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
280 | // Roll |
| 242 | MesswertRoll += tmpl; |
281 | Reading_GyroRoll += tmpl; |
| 243 | MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
282 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
| 244 | Mess_IntegralRoll2 += MesswertRoll; |
283 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
| 245 | Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
284 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
| 246 | if(Mess_IntegralRoll > Umschlag180Roll) |
285 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
| 247 | { |
286 | { |
| 248 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
287 | Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
| 249 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
288 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| 250 | } |
289 | } |
| 251 | if(Mess_IntegralRoll <-Umschlag180Roll) |
290 | if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
| 252 | { |
291 | { |
| 253 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
292 | Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
| 254 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
293 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| 255 | } |
294 | } |
| 256 | if(AdWertRoll < 15) MesswertRoll = -1000; |
295 | if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
| 257 | if(AdWertRoll < 7) MesswertRoll = -2000; |
296 | if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
| 258 | if(PlatinenVersion == 10) |
297 | if(BoardRelease == 10) |
| 259 | { |
298 | { |
| 260 | if(AdWertRoll > 1010) MesswertRoll = +1000; |
299 | if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
| 261 | if(AdWertRoll > 1017) MesswertRoll = +2000; |
300 | if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
| 262 | } |
301 | } |
| 263 | else |
302 | else |
| 264 | { |
303 | { |
| 265 | if(AdWertRoll > 2020) MesswertRoll = +1000; |
304 | if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
| 266 | if(AdWertRoll > 2034) MesswertRoll = +2000; |
305 | if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
| 267 | } |
306 | } |
| 268 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 269 | MesswertNick -= tmpl2; |
307 | // Pitch |
| 270 | MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
308 | Reading_GyroPitch -= tmpl2; |
| 271 | Mess_IntegralNick2 += MesswertNick; |
309 | Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
| 272 | Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
310 | Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
| 273 | 311 | Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
|
| 274 | if(Mess_IntegralNick > Umschlag180Nick) |
312 | if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
| 275 | { |
313 | { |
| 276 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
314 | Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
| 277 | Mess_IntegralNick2 = Mess_IntegralNick; |
315 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| 278 | } |
316 | } |
| 279 | if(Mess_IntegralNick <-Umschlag180Nick) |
317 | if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
| 280 | { |
318 | { |
| 281 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
319 | Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
| 282 | Mess_IntegralNick2 = Mess_IntegralNick; |
320 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| 283 | } |
321 | } |
| 284 | if(AdWertNick < 15) MesswertNick = -1000; |
322 | if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
| 285 | if(AdWertNick < 7) MesswertNick = -2000; |
323 | if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
| 286 | if(PlatinenVersion == 10) |
324 | if(BoardRelease == 10) |
| 287 | { |
325 | { |
| 288 | if(AdWertNick > 1010) MesswertNick = +1000; |
326 | if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
| 289 | if(AdWertNick > 1017) MesswertNick = +2000; |
327 | if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
| 290 | } |
328 | } |
| - | 329 | else |
|
| 291 | else |
330 | { |
| 292 | { |
- | |
| 293 | if(AdWertNick > 2020) MesswertNick = +1000; |
331 | if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
| 294 | if(AdWertNick > 2034) MesswertNick = +2000; |
- | |
| 295 | } |
332 | if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
| 296 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
333 | } |
| 297 | // ADC einschalten |
334 | |
| 298 | ANALOG_ON; |
335 | // start ADC again to capture measurement values for the next loop |
| 299 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
336 | ADC_Enable(); |
| 300 | 337 | ||
| 301 | Integral_Gier = Mess_Integral_Gier; |
338 | IntegralYaw = Reading_IntegralGyroYaw; |
| 302 | IntegralNick = Mess_IntegralNick; |
339 | IntegralPitch = Reading_IntegralGyroPitch; |
| 303 | IntegralRoll = Mess_IntegralRoll; |
340 | IntegralRoll = Reading_IntegralGyroRoll; |
| 304 | IntegralNick2 = Mess_IntegralNick2; |
341 | IntegralPitch2 = Reading_IntegralGyroPitch2; |
| 305 | IntegralRoll2 = Mess_IntegralRoll2; |
342 | IntegralRoll2 = Reading_IntegralGyroRoll2; |
| 306 | 343 | ||
| 307 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
344 | if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
| 308 | { |
345 | { |
| 309 | if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
- | |
| 310 | else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
- | |
| 311 | if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
- | |
| 312 | else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
- | |
| 313 | } |
- | |
| 314 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
- | |
| 315 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
- | |
| 316 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
- | |
| 317 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
346 | if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
| Line 318... | Line 347... | ||
| 318 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
347 | else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
| 319 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
348 | if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
| - | 349 | else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
|
| 320 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
350 | } |
| 321 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
- | |
| 322 | } |
351 | } |
| 323 | 352 | ||
| 324 | //############################################################################ |
353 | /************************************************************************/ |
| - | 354 | /* Averaging Measurement Readings for Calibration */ |
|
| 325 | // Messwerte beim Ermitteln der Nullage |
355 | /************************************************************************/ |
| 326 | void CalibrierMittelwert(void) |
356 | void CalibMean(void) |
| 327 | //############################################################################ |
357 | { |
| - | 358 | // stop ADC to avoid changing values during calculation |
|
| 328 | { |
359 | ADC_Disable(); |
| 329 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
360 | |
| 330 | ANALOG_OFF; |
361 | Reading_GyroPitch = AdValueGyrPitch; |
| - | 362 | Reading_GyroRoll = AdValueGyrRoll; |
|
| 331 | MesswertNick = AdWertNick; |
363 | Reading_GyroYaw = AdValueGyrYaw; |
| 332 | MesswertRoll = AdWertRoll; |
364 | |
| 333 | MesswertGier = AdWertGier; |
- | |
| 334 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
- | |
| 335 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
- | |
| 336 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
- | |
| 337 | // ADC einschalten |
- | |
| 338 | ANALOG_ON; |
- | |
| 339 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
- | |
| 340 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
- | |
| Line 341... | Line 365... | ||
| 341 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
365 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
| 342 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
366 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
| 343 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
367 | Mean_AccTop = (int32_t)AdValueAccTop; |
| Line 344... | Line 368... | ||
| 344 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
368 | // start ADC (enables internal trigger so that the ISR in analog.c |
| 345 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
369 | // updates the readings once) |
| - | 370 | ADC_Enable(); |
|
| 346 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
371 | |
| 347 | - | ||
| 348 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
372 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| 349 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
373 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| 350 | } |
374 | } |
| 351 | 375 | ||
| 352 | //############################################################################ |
376 | /************************************************************************/ |
| 353 | // Senden der Motorwerte per I2C-Bus |
377 | /* Transmit Motor Data via I2C */ |
| 354 | void SendMotorData(void) |
378 | /************************************************************************/ |
| 355 | //############################################################################ |
379 | void SendMotorData(void) |
| 356 | { |
380 | { |
| 357 | if(MOTOR_OFF || !MotorenEin) |
381 | if(MOTOR_OFF || !MotorsOn) |
| 358 | { |
382 | { |
| 359 | Motor_Hinten = 0; |
383 | Motor_Rear = 0; |
| 360 | Motor_Vorne = 0; |
384 | Motor_Front = 0; |
| 361 | Motor_Rechts = 0; |
385 | Motor_Right = 0; |
| 362 | Motor_Links = 0; |
386 | Motor_Left = 0; |
| 363 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
387 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
| 364 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
388 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
| Line 365... | Line 389... | ||
| 365 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
389 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
| 366 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
390 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
| 367 | } |
391 | } |
| 368 | 392 | ||
| 369 | DebugOut.Analog[12] = Motor_Vorne; |
393 | DebugOut.Analog[12] = Motor_Front; |
| Line 370... | Line 394... | ||
| 370 | DebugOut.Analog[13] = Motor_Hinten; |
394 | DebugOut.Analog[13] = Motor_Rear; |
| 371 | DebugOut.Analog[14] = Motor_Links; |
395 | DebugOut.Analog[14] = Motor_Left; |
| - | 396 | DebugOut.Analog[15] = Motor_Right; |
|
| 372 | DebugOut.Analog[15] = Motor_Rechts; |
397 | |
| 373 | - | ||
| 374 | //Start I2C Interrupt Mode |
398 | //Start I2C Interrupt Mode |
| - | 399 | twi_state = 0; |
|
| - | 400 | motor = 0; |
|
| 375 | twi_state = 0; |
401 | I2C_Start(); |
| - | 402 | } |
|
| 376 | motor = 0; |
403 | |
| 377 | i2c_start(); |
404 | |
| 378 | } |
405 | |
| 379 | 406 | /************************************************************************/ |
|
| 380 | 407 | /* Maps the parameter to poti values */ |
|
| 381 | 408 | /************************************************************************/ |
|
| 382 | //############################################################################ |
409 | void ParameterMapping(void) |
| 383 | // Trägt ggf. das Poti als Parameter ein |
410 | { |
| 384 | void ParameterZuordnung(void) |
411 | if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
| 385 | //############################################################################ |
412 | // else the last updated values are used |
| 386 | { |
413 | { |
| 387 | 414 | //update poti values by rc-signals |
|
| 388 | #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;} |
415 | #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;} |
| 389 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
416 | CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
| 390 | CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
417 | CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
| 391 | CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
418 | CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
| 392 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
419 | CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
| 393 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
420 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
| 394 | CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
421 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
| 395 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
422 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
| 396 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
423 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
| 397 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
424 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
| 398 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
- | |
| 399 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
425 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
| 400 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
- | |
| 401 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
- | |
| - | 426 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
|
| 402 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
427 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
| Line -... | Line 428... | ||
| - | 428 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
|
| - | 429 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
|
| - | 430 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
|
| - | 431 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
|
| - | 432 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
|
| - | 433 | CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
|
| - | 434 | CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
|
| - | 435 | CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
|
| - | 436 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
|
| - | 437 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
|
| - | 438 | } |
|
| - | 439 | } |
|
| - | 440 | ||
| - | 441 | ||
| - | 442 | void SetCompassCalState(void) |
|
| - | 443 | { |
|
| Line 403... | Line 444... | ||
| 403 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
444 | static uint8_t stick = 1; |
| 404 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
- | |
| - | 445 | ||
| - | 446 | // if pitch is centered or top set stick to zero |
|
| 405 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
447 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
| 406 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
- | |
| 407 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
448 | // if pitch is down trigger to next cal state |
| Line 617... | Line 730... | ||
| 617 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
730 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| 618 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
731 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
| 619 | StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
732 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
| - | 733 | StickPitch -= (GPS_Pitch); |
|
| 620 | 734 | ||
| 621 | // StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
735 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
| 622 | 736 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
|
| 623 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
737 | StickRoll -= (GPS_Roll); |
| - | 738 | ||
| 624 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
739 | // direct mapping of yaw and thrust |
| 625 | 740 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
|
| 626 | /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) > MaxStickNick) |
741 | StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
| - | 742 | ||
| 627 | MaxStickNick = abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]); else MaxStickNick--; |
743 | // update gyro control loop factors |
| 628 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > MaxStickRoll) |
744 | Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
| 629 | MaxStickRoll = abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); else MaxStickRoll--; |
745 | Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
| 630 | */ |
746 | |
| 631 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256.0/STICK_GAIN); |
747 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 632 | IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN); |
748 | // Digital Control via DubWise |
| 633 | 749 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 634 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
750 | |
| 635 | //+ Digitale Steuerung per DubWise |
751 | #define KEY_VALUE (FCParam.UserParam8 * 4) // step width |
| 636 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
752 | if(DubWiseKeys[1]) BeepTime = 10; |
| - | 753 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
|
| 637 | #define KEY_VALUE (Parameter_UserParam8 * 4) //(Poti3 * 8) |
754 | else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
| 638 | if(DubWiseKeys[1]) beeptime = 10; |
755 | else tmp_int = 0; |
| 639 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
756 | ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
| 640 | if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
- | |
| 641 | ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
- | |
| 642 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
- | |
| 643 | if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
- | |
| 644 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
- | |
| 645 | - | ||
| 646 | if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
- | |
| 647 | if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
- | |
| 648 | if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
- | |
| Line -... | Line 757... | ||
| - | 757 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
|
| - | 758 | else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
|
| - | 759 | else tmp_int = 0; |
|
| - | 760 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
|
| - | 761 | ||
| - | 762 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
|
| - | 763 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
|
| - | 764 | if(DubWiseKeys[0] & 2) ExternHeightValue++; |
|
| - | 765 | if(DubWiseKeys[0] & 16) ExternHeightValue--; |
|
| - | 766 | ||
| - | 767 | StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
|
| 649 | if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
768 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
| - | 769 | StickYaw += (STICK_GAIN * ExternStickYaw); |
|
| 650 | 770 | ||
| 651 | StickNick += (STICK_GAIN * ExternStickNick) / 8; |
771 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 772 | //+ Analog control via serial communication |
|
| - | 773 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 774 | ||
| - | 775 | if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
|
| - | 776 | { |
|
| - | 777 | StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
|
| - | 778 | StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
|
| - | 779 | StickYaw += ExternControl.Yaw; |
|
| Line 652... | Line -... | ||
| 652 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
- | |
| 653 | StickGier += STICK_GAIN * ExternStickGier; |
- | |
| 654 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 655 | //+ Analoge Steuerung per Seriell |
- | |
| 656 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
780 | ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
| 657 | if(ExternControl.Config & 0x01 && Parameter_UserParam8 > 128) |
781 | if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
| 658 | { |
- | |
| 659 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
- | |
| 660 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
- | |
| 661 | StickGier += ExternControl.Gier; |
- | |
| 662 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
- | |
| 663 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
- | |
| 664 | } |
- | |
| 665 | if(StickGas < 0) StickGas = 0; |
- | |
| 666 | - | ||
| 667 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
- | |
| 668 | if(GyroFaktor < 0) GyroFaktor = 0; |
- | |
| 669 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
- | |
| 670 | - | ||
| 671 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick)/STICK_GAIN; else MaxStickNick--; |
- | |
| 672 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; else MaxStickRoll--; |
- | |
| 673 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
- | |
| 674 | - | ||
| 675 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 676 | // Looping? |
- | |
| 677 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 678 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
- | |
| 679 | else |
- | |
| 680 | { |
- | |
| 681 | { |
- | |
| 682 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
- | |
| 683 | } |
- | |
| 684 | } |
- | |
| 685 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
- | |
| 686 | else |
- | |
| 687 | { |
- | |
| 688 | if(Looping_Rechts) // Hysterese |
- | |
| 689 | { |
- | |
| 690 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
- | |
| 691 | } |
- | |
| 692 | } |
- | |
| 693 | - | ||
| 694 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
- | |
| 695 | else |
- | |
| 696 | { |
- | |
| 697 | if(Looping_Oben) // Hysterese |
- | |
| 698 | { |
- | |
| 699 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
- | |
| 700 | } |
- | |
| 701 | } |
- | |
| 702 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
- | |
| 703 | else |
- | |
| 704 | { |
- | |
| 705 | if(Looping_Unten) // Hysterese |
- | |
| 706 | { |
- | |
| 707 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
- | |
| 708 | } |
- | |
| 709 | } |
- | |
| 710 | - | ||
| 711 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
- | |
| 712 | if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
- | |
| 713 | } // Ende neue Funken-Werte |
- | |
| 714 | - | ||
| 715 | if(Looping_Roll) beeptime = 100; |
- | |
| 716 | if(Looping_Roll || Looping_Nick) |
- | |
| 717 | { |
- | |
| 718 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
- | |
| 719 | } |
- | |
| 720 | - | ||
| 721 | - | ||
| 722 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 723 | // Bei Empfangsausfall im Flug |
- | |
| 724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 725 | if(Notlandung) |
- | |
| 726 | { |
- | |
| 727 | StickGier = 0; |
- | |
| 728 | StickNick = 0; |
- | |
| 729 | StickRoll = 0; |
- | |
| 730 | GyroFaktor = (float) 100 / (256.0 / STICK_GAIN); |
- | |
| 731 | IntegralFaktor = (float) 120 / (44000 / STICK_GAIN); |
- | |
| 732 | Looping_Roll = 0; |
- | |
| 733 | Looping_Nick = 0; |
- | |
| 734 | } |
- | |
| 735 | - | ||
| 736 | - | ||
| 737 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 738 | // Integrale auf ACC-Signal abgleichen |
- | |
| 739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 740 | #define ABGLEICH_ANZAHL 256L |
- | |
| 741 | - | ||
| 742 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
- | |
| 743 | MittelIntegralRoll += IntegralRoll; |
782 | } |
| 744 | MittelIntegralNick2 += IntegralNick2; |
- | |
| 745 | MittelIntegralRoll2 += IntegralRoll2; |
- | |
| 746 | - | ||
| 747 | if(Looping_Nick || Looping_Roll) |
- | |
| 748 | { |
- | |
| 749 | IntegralAccNick = 0; |
- | |
| 750 | IntegralAccRoll = 0; |
- | |
| 751 | MittelIntegralNick = 0; |
- | |
| 752 | MittelIntegralRoll = 0; |
- | |
| 753 | MittelIntegralNick2 = 0; |
- | |
| 754 | MittelIntegralRoll2 = 0; |
- | |
| 755 | Mess_IntegralNick2 = Mess_IntegralNick; |
- | |
| 756 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
- | |
| 757 | ZaehlMessungen = 0; |
- | |
| 758 | LageKorrekturNick = 0; |
- | |
| 759 | LageKorrekturRoll = 0; |
- | |
| 760 | } |
- | |
| Line 761... | Line -... | ||
| 761 | - | ||
| 762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
783 | if(StickThrust < 0) StickThrust = 0; |
| - | 784 | ||
| - | 785 | // disable I part of gyro control feedback |
|
| 763 | if(!Looping_Nick && !Looping_Roll) |
786 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
| - | 787 | // avoid negative scaling factors |
|
| 764 | { |
788 | if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
| - | 789 | if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
|
| - | 790 | ||
| 765 | long tmp_long, tmp_long2; |
791 | |
| - | 792 | // update max stick positions for pitch and roll |
|
| 766 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
793 | |
| 767 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
794 | if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
| - | 795 | else MaxStickPitch--; |
|
| 768 | tmp_long /= 16; |
796 | if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| - | 797 | else MaxStickRoll--; |
|
| 769 | tmp_long2 /= 16; |
798 | |
| 770 | if((MaxStickNick > 32) || (MaxStickRoll > 32)) |
- | |
| 771 | { |
799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 772 | tmp_long /= 3; |
800 | // Looping? |
| - | 801 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 773 | tmp_long2 /= 3; |
802 | |
| 774 | } |
- | |
| 775 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
803 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| - | 804 | else |
|
| 776 | { |
805 | { |
| - | 806 | if(Looping_Left) // Hysteresis |
|
| - | 807 | { |
|
| 777 | tmp_long /= 3; |
808 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
| - | 809 | } |
|
| 778 | tmp_long2 /= 3; |
810 | } |
| 779 | } |
811 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
| - | 812 | else |
|
| 780 | 813 | { |
|
| - | 814 | if(Looping_Right) // Hysteresis |
|
| - | 815 | { |
|
| - | 816 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
|
| 781 | #define AUSGLEICH 32 |
817 | } |
| 782 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
818 | } |
| 783 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
819 | |
| - | 820 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
|
| - | 821 | else |
|
| 784 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
822 | { |
| 785 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
- | |
| 786 | - | ||
| 787 | Mess_IntegralNick -= tmp_long; |
- | |
| 788 | Mess_IntegralRoll -= tmp_long2; |
- | |
| 789 | } |
823 | if(Looping_Top) // Hysteresis |
| - | 824 | { |
|
| 790 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
825 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
| - | 826 | } |
|
| Line 791... | Line -... | ||
| 791 | - | ||
| 792 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
- | |
| Line -... | Line 827... | ||
| - | 827 | } |
|
| - | 828 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
|
| - | 829 | else |
|
| - | 830 | { |
|
| - | 831 | if(Looping_Down) // Hysteresis |
|
| - | 832 | { |
|
| - | 833 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
|
| 793 | { |
834 | } |
| - | 835 | } |
|
| - | 836 | ||
| - | 837 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
|
| - | 838 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
|
| 794 | static int cnt = 0; |
839 | } // End of new RC-Values or Emergency Landing |
| - | 840 | ||
| - | 841 | ||
| - | 842 | if(Looping_Roll) BeepTime = 100; |
|
| - | 843 | if(Looping_Roll || Looping_Pitch) |
|
| - | 844 | { |
|
| - | 845 | if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
|
| - | 846 | } |
|
| 795 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
847 | |
| 796 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
848 | |
| 797 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug) |
849 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 798 | { |
850 | //+ LED Control on J16/J17 |
| 799 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
851 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 800 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
852 | LED1_Time = FCParam.UserParam7; |
| 801 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
853 | LED2_Time = FCParam.UserParam8; |
| - | 854 | LED_Update(); |
|
| - | 855 | ||
| - | 856 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 802 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
857 | // in case of emergency landing |
| 803 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
858 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 859 | // set all inputs to save values |
|
| - | 860 | if(EmergencyLanding) |
|
| - | 861 | { |
|
| - | 862 | StickYaw = 0; |
|
| - | 863 | StickPitch = 0; |
|
| - | 864 | StickRoll = 0; |
|
| - | 865 | Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
|
| - | 866 | Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
|
| - | 867 | Looping_Roll = 0; |
|
| - | 868 | Looping_Pitch = 0; |
|
| - | 869 | MaxStickPitch = 0; |
|
| - | 870 | MaxStickRoll = 0; |
|
| 804 | #define MAX_I 0//(Poti2/10) |
871 | } |
| 805 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
872 | |
| - | 873 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 874 | // Trim Gyro-Integrals to ACC-Signals |
|
| - | 875 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 876 | ||
| - | 877 | #define BALANCE_NUMBER 256L |
|
| - | 878 | // sum for averaging |
|
| 806 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
879 | MeanIntegralPitch += IntegralPitch; |
| - | 880 | MeanIntegralRoll += IntegralRoll; |
|
| - | 881 | ||
| - | 882 | if(Looping_Pitch || Looping_Roll) // if looping in any direction |
|
| - | 883 | { |
|
| - | 884 | // reset averaging for acc and gyro integral as well as gyro integral acc correction |
|
| - | 885 | MeasurementCounter = 0; |
|
| - | 886 | ||
| 807 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
887 | IntegralAccPitch = 0; |
| - | 888 | IntegralAccRoll = 0; |
|
| - | 889 | ||
| - | 890 | MeanIntegralPitch = 0; |
|
| - | 891 | MeanIntegralRoll = 0; |
|
| - | 892 | ||
| - | 893 | Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
|
| - | 894 | Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
|
| - | 895 | ||
| - | 896 | AttitudeCorrectionPitch = 0; |
|
| - | 897 | AttitudeCorrectionRoll = 0; |
|
| - | 898 | } |
|
| - | 899 | ||
| - | 900 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 901 | if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
|
| - | 902 | { |
|
| - | 903 | int32_t tmp_long, tmp_long2; |
|
| - | 904 | // determine the deviation of gyro integral from averaged acceleration sensor |
|
| - | 905 | tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
|
| 808 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
906 | tmp_long /= 16; |
| 809 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
907 | tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
| - | 908 | tmp_long2 /= 16; |
|
| - | 909 | ||
| 810 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
910 | if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
| - | 911 | { |
|
| - | 912 | tmp_long /= 3; |
|
| - | 913 | tmp_long2 /= 3; |
|
| - | 914 | } |
|
| 811 | 915 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
|
| 812 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
916 | { |
| 813 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
917 | tmp_long /= 3; |
| 814 | 918 | tmp_long2 /= 3; |
|
| 815 | if((MaxStickNick > 32) || (MaxStickRoll > 32) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) |
919 | } |
| - | 920 | ||
| 816 | { |
921 | #define BALANCE 32 |
| - | 922 | // limit correction effect |
|
| - | 923 | if(tmp_long > BALANCE) tmp_long = BALANCE; |
|
| 817 | LageKorrekturNick /= 2; |
924 | if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
| 818 | LageKorrekturRoll /= 2; |
925 | if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
| - | 926 | if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
|
| - | 927 | // correct current readings |
|
| 819 | } |
928 | Reading_IntegralGyroPitch -= tmp_long; |
| - | 929 | Reading_IntegralGyroRoll -= tmp_long2; |
|
| - | 930 | } |
|
| - | 931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 932 | // MeasurementCounter is incremented in the isr of analog.c |
|
| - | 933 | if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
|
| - | 934 | { |
|
| - | 935 | static int16_t cnt = 0; |
|
| - | 936 | static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
|
| 820 | 937 | static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
|
| - | 938 | ||
| 821 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
939 | // if not lopping in any direction (this should be alwais the case, |
| - | 940 | // because the Measurement counter is reset to 0 if looping in any direction is active.) |
|
| - | 941 | if(!Looping_Pitch && !Looping_Roll && !FunnelCourse) |
|
| - | 942 | { |
|
| - | 943 | // Calculate mean value of the gyro integrals |
|
| - | 944 | MeanIntegralPitch /= BALANCE_NUMBER; |
|
| 822 | // Gyro-Drift ermitteln |
945 | MeanIntegralRoll /= BALANCE_NUMBER; |
| - | 946 | ||
| - | 947 | // Calculate mean of the acceleration values |
|
| - | 948 | IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
|
| - | 949 | IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
|
| 823 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
950 | |
| 824 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
951 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 952 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
|
| 825 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
953 | IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
| 826 | tmp_long = IntegralNick2 - IntegralNick; |
954 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
| 827 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
955 | AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
| 828 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
956 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 829 | 957 | // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
|
| 830 | IntegralFehlerNick = tmp_long; |
958 | IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
| 831 | IntegralFehlerRoll = tmp_long2; |
959 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
| - | 960 | AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
|
| - | 961 | ||
| - | 962 | if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
|
| - | 963 | { |
|
| - | 964 | AttitudeCorrectionPitch /= 2; |
|
| - | 965 | AttitudeCorrectionRoll /= 2; |
|
| - | 966 | } |
|
| 832 | Mess_IntegralNick2 -= IntegralFehlerNick; |
967 | |
| 833 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
968 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 834 | 969 | // Gyro-Drift ermitteln |
|
| Line 835... | Line 970... | ||
| 835 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
970 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 836 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
971 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| 837 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) AdNeutralGier++; |
972 | IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
| 838 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) AdNeutralGier--; |
973 | Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
| 839 | 974 | // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
|
| - | 975 | IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
|
| 840 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
976 | Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
| 841 | 977 | ||
| 842 | GierGyroFehler = 0; |
978 | if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
| 843 | 979 | if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
|
| 844 | 980 | YawGyroDrift = 0; |
|
| 845 | /*DebugOut.Analog[17] = IntegralAccNick / 26; |
981 | /* |
| 846 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
982 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
| 847 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
983 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
| 848 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
984 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
| 849 | */ |
985 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
| 850 | //DebugOut.Analog[21] = MittelIntegralNick / 26; |
986 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
| 851 | //MittelIntegralRoll = MittelIntegralRoll; |
987 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
| - | 988 | //DebugOut.Analog[28] = CorrectionPitch; |
|
| 852 | //DebugOut.Analog[28] = ausgleichNick; |
989 | DebugOut.Analog[29] = CorrectionRoll; |
| 853 | /* |
990 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
| 854 | DebugOut.Analog[29] = ausgleichRoll; |
991 | */ |
| 855 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
992 | |
| 856 | */ |
993 | #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
| 857 | 994 | #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
|
| 858 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
995 | #define MOVEMENT_LIMIT 20000 |
| 859 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
996 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 860 | #define BEWEGUNGS_LIMIT 20000 |
997 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| 861 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
998 | CorrectionPitch = 0; |
| 862 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
999 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
| - | 1000 | { |
|
| 863 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
1001 | if(IntegralErrorPitch > ERROR_LIMIT2) |
| 864 | { |
1002 | { |
| 865 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
1003 | if(last_n_p) |
| 866 | { |
1004 | { |
| 867 | if(last_n_p) |
1005 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| 868 | { |
1006 | CorrectionPitch = IntegralErrorPitch / 8; |
| 869 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
1007 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
| 870 | ausgleichNick = IntegralFehlerNick / 8; |
1008 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| - | 1009 | } |
|
| 871 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
1010 | else last_n_p = 1; |
| 872 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1011 | } |
| 873 | } |
1012 | else last_n_p = 0; |
| 874 | else last_n_p = 1; |
1013 | if(IntegralErrorPitch < -ERROR_LIMIT2) |
| 875 | } else last_n_p = 0; |
1014 | { |
| 876 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
- | |
| 877 | { |
1015 | if(last_n_n) |
| 878 | if(last_n_n) |
1016 | { |
| 879 | { |
1017 | cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| 880 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
1018 | CorrectionPitch = IntegralErrorPitch / 8; |
| 881 | ausgleichNick = IntegralFehlerNick / 8; |
1019 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
| 882 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
1020 | AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| 883 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
1021 | } |
| 884 | } |
1022 | else last_n_n = 1; |
| 885 | else last_n_n = 1; |
1023 | } |
| 886 | } else last_n_n = 0; |
1024 | else last_n_n = 0; |
| 887 | } |
1025 | } |
| 888 | else |
1026 | else |
| 889 | { |
1027 | { |
| - | 1028 | cnt = 0; |
|
| 890 | cnt = 0; |
1029 | BadCompassHeading = 500; |
| 891 | KompassSignalSchlecht = 500; |
1030 | } |
| 892 | } |
1031 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| 893 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
1032 | // correct Gyro Offsets |
| 894 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
1033 | if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
| 895 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
1034 | if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
| 896 | 1035 | ||
| 897 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
1036 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 898 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
1037 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| 899 | 1038 | CorrectionRoll = 0; |
|
| 900 | ausgleichRoll = 0; |
1039 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
| - | 1040 | { |
|
| 901 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
1041 | if(IntegralErrorRoll > ERROR_LIMIT2) |
| - | 1042 | { |
|
| 902 | { |
1043 | if(last_r_p) |
| 903 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
1044 | { |
| 904 | { |
1045 | cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| 905 | if(last_r_p) |
1046 | CorrectionRoll = IntegralErrorRoll / 8; |
| 906 | { |
1047 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
| 907 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
- | |
| - | 1048 | AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
|
| 908 | ausgleichRoll = IntegralFehlerRoll / 8; |
1049 | } |
| 909 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
1050 | else last_r_p = 1; |
| 910 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
1051 | } |
| - | 1052 | else last_r_p = 0; |
|
| 911 | } |
1053 | if(IntegralErrorRoll < -ERROR_LIMIT2) |
| 912 | else last_r_p = 1; |
1054 | { |
| 913 | } else last_r_p = 0; |
1055 | if(last_r_n) |
| 914 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
1056 | { |
| Line 1003... | Line 1195... | ||
| 1003 | w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
1195 | BadCompassHeading = 250; |
| 1004 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
1196 | } |
| 1210 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
1408 | if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |