WebSVN - FlightCtrl - Diff - Rev 1454 and 1465

 signed int tmp_motorwert[MAX_MOTORS];
 unsigned char LoadHandler = 0;
 #define LIMIT_MIN(value, min) {if(value < min) value = min;}
 #define LIMIT_MAX(value, max) {if(value > max) value = max;}
 #define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
-uint8_t servoValues[6] = { 127, 127, 127, 127, 127 , 127 };
-uint8_t MakeByte(int16_t i) {
-        if (i < 0) return 0;
-        if (i > 255) return 255;
-        return i;
-}
 int MotorSmoothing(int neu, int alt)
+{
  int motor;
 void SendMotorData(void)
 //############################################################################
+{
  unsigned char i;
     if(!MotorenEin)
+        {
          MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
+                 for(i=0;i<MAX_MOTORS;i++)
+                  {
+                   if(!PC_MotortestActive)  MotorTest[i] = 0;
+                   Motor[i] = MotorTest[i];
-        else
+                  }
+          if(PC_MotortestActive) PC_MotortestActive--;
+        }
-                MikroKopterFlags |= FLAG_MOTOR_RUN;
+        else MikroKopterFlags |= FLAG_MOTOR_RUN;
+/*    DebugOut.Analog[12] = Motor[0];
+    DebugOut.Analog[13] = Motor[1];
+    DebugOut.Analog[14] = Motor[3];
     DebugOut.Analog[15] = Motor[2];*/
     //Start I2C Interrupt Mode
     twi_state = 0;
  Ki = 10300 / (Parameter_I_Faktor + 1);
  MAX_GAS = EE_Parameter.Gas_Max;
  MIN_GAS = EE_Parameter.Gas_Min;
+}
 //############################################################################
 //
 void MotorRegler(void)
 //############################################################################
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Emfang gut
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         if(SenderOkay > 140)
+            {
                         MikroKopterFlags &= ~FLAG_NOTLANDUNG;
             RcLostTimer = EE_Parameter.NotGasZeit * 50;
             if(GasMischanteil > 40 && MotorenEin)
+                {
                 if(modell_fliegt < 0xffff) modell_fliegt++;
     DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
     DebugOut.Analog[2] = Mittelwert_AccNick / 4;
     DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
     DebugOut.Analog[4] = MesswertGier;
     DebugOut.Analog[5] = HoehenWert/5;
-    //DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
+    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
     DebugOut.Analog[8] = KompassValue;
     DebugOut.Analog[9] = UBat;
     DebugOut.Analog[10] = SenderOkay;
     DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
     //DebugOut.Analog[16] = Mittelwert_AccHoch;
   if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
+   {
     modell_fliegt = 1;
         GasMischanteil = MIN_GAS;
+   }
-/*// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Mischer und PI-Regler
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   DebugOut.Analog[7] = GasMischanteil;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gier-Anteil
     if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
     if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
     pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
     tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
     if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
-    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;*/
+    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Servo Mixer
+// Universal Mixer
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        {
-                int16_t nick, roll, tmp, pitch, throttle;
-                int16_t servo[6];
-        // throttle
-        throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + Mixer.Motor[2][0];
-        if (throttle < 0) throttle = 0;
-        tmp = throttle / Mixer.Motor[3][0];
-        if (tmp > Mixer.Motor[3][1] * 2) tmp = Mixer.Motor[3][1] * 2;
-                DebugOut.Analog[7] = tmp;
-                if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) {
-                        tmp = 0;
-            }
-        servo[4] = tmp;
-                // pitch
-        pitch = throttle / Mixer.Motor[4][0] + Mixer.Motor[4][2];
-        if (pitch > Mixer.Motor[4][1]) pitch = Mixer.Motor[4][1];
-                servo[0] = -pitch;
-                servo[1] = pitch;
-                servo[2] = pitch;
-        nick = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
-        roll = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
-                // nick
-        nick /= Mixer.Motor[0][1];
-        nick -= PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] / Mixer.Motor[5][0];
-        servo[0] += 127 + Mixer.Motor[0][0] - nick;
-        servo[1] += 127 + Mixer.Motor[0][0] + nick;
-        servo[2] += 127 + Mixer.Motor[0][0] - nick;
-                // roll
-        roll /= Mixer.Motor[0][2];
-        roll -= PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] / Mixer.Motor[6][0];
-        servo[0] += roll;
-        servo[1] += roll;
-        // gier
-        tmp = MesswertGier / Mixer.Motor[0][3];
-        servo[3] = 127 + Mixer.Motor[1][1] + tmp + (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] / Mixer.Motor[7][0]);
-        // not used
-        servo[5] = 127;
-        for(tmp = 0; tmp < 6; tmp++) {
-                servoValues[tmp] = MakeByte(servo[tmp]);
-        }
-                DebugOut.Analog[12] = servo[0];
-                DebugOut.Analog[13] = servo[1];
-                DebugOut.Analog[14] = servo[2];
+#if 1
+        #include "helimixer.inc";
+#else
+ for(i=0; i<MAX_MOTORS; i++)
+ {
+  signed int tmp_int;
+  if(Mixer.Motor[i][0] > 0)
+   {
+    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
+    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
+    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
+    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
+    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
+        tmp_int = tmp_motorwert[i] / STICK_GAIN;
+        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
-                DebugOut.Analog[15] = servo[3];
+    Motor[i] = tmp_int;
+   }
+   else Motor[i] = 0;
+ }
+/*
+if(Poti1 > 20)  Motor1 = 0;
+if(Poti1 > 90)  Motor6 = 0;
+if(Poti1 > 140) Motor2 = 0;
-                DebugOut.Analog[6] = pitch;
+//if(Poti1 > 200) Motor7 = 0;

Subversion Repositories FlightCtrl

(root)/branches/V0.76g-acid/fc.c - Rev 1454 → 1465