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| 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 // + * 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 |
| 42 | // + 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" |
| 43 | // + 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 |
| 44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 45 | // + 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 |
| 46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| Line 438... | Line 439... | ||
| 438 | GRN_ON; |
439 | GRN_ON; |
| 439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
440 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 440 | // Gaswert ermitteln |
441 | // Gaswert ermitteln |
| 441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
442 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 442 | GasMischanteil = StickGas; |
443 | GasMischanteil = StickGas; |
| 443 | if(GasMischanteil < MIN_GAS) GasMischanteil = MIN_GAS; |
444 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 444 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
445 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 445 | // Empfang schlecht |
446 | // Empfang schlecht |
| 446 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
447 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 447 | if(SenderOkay < 100) |
448 | if(SenderOkay < 100) |
| 448 | { |
449 | { |
| Line 980... | Line 981... | ||
| 980 | { |
981 | { |
| 981 | int w,v,r,fehler,korrektur; |
982 | int w,v,r,fehler,korrektur; |
| 982 | static int KompassSignalSchlecht = 0; |
983 | static int KompassSignalSchlecht = 0; |
| 983 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
984 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 984 | v = abs(IntegralRoll /512); |
985 | v = abs(IntegralRoll /512); |
| 985 | //v /= 4; |
- | |
| 986 | //w /= 4; |
- | |
| 987 | if(v > w) w = v; // grösste Neigung ermitteln |
986 | if(v > w) w = v; // grösste Neigung ermitteln |
| 988 | // if((MaxStickNick > 32) || (MaxStickRoll > 32)) w *= 2; |
- | |
| 989 | korrektur = w / 8 + 1; |
987 | korrektur = w / 8 + 1; |
| 990 | if(w < 25 && NeueKompassRichtungMerken && !KompassSignalSchlecht) |
988 | if(w < 25 && NeueKompassRichtungMerken && !KompassSignalSchlecht) |
| 991 | { |
989 | { |
| 992 | KompassStartwert = KompassValue; |
990 | KompassStartwert = KompassValue; |
| 993 | NeueKompassRichtungMerken = 0; |
991 | NeueKompassRichtungMerken = 0; |
| 994 | } |
992 | } |
| Line 995... | Line 993... | ||
| 995 | 993 | ||
| 996 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
994 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 997 | ErsatzKompass += (fehler * 8) / korrektur; |
- | |
| 998 | // DebugOut.Analog[10] = fehler; |
995 | ErsatzKompass += (fehler * 8) / korrektur; |
| 999 | w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
996 | w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| 1000 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
997 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 1001 | if(w > 0) |
998 | if(w > 0) |
| 1002 | { |
999 | { |
| 1003 | if(!KompassSignalSchlecht) |
1000 | if(!KompassSignalSchlecht) |
| 1004 | { |
1001 | { |
| 1005 | GierGyroFehler += fehler; |
1002 | GierGyroFehler += fehler; |
| 1006 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
- | |
| 1007 | //v = 32; |
1003 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 1008 | //r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
1004 | //r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 1009 | r = KompassRichtung; |
1005 | r = KompassRichtung; |
| 1010 | v = (r * w) / v; // nach Kompass ausrichten |
1006 | v = (r * w) / v; // nach Kompass ausrichten |
| 1011 | w = 3 * Parameter_KompassWirkung; |
1007 | w = 3 * Parameter_KompassWirkung; |