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| Rev 1639 | Rev 1642 | ||
|---|---|---|---|
| Line 271... | Line 271... | ||
| 271 | Parameter_AchsKopplung1 = 0; |
271 | Parameter_AchsKopplung1 = 0; |
| 272 | Parameter_AchsKopplung2 = 0; |
272 | Parameter_AchsKopplung2 = 0; |
| Line 273... | Line 273... | ||
| 273 | 273 | ||
| Line 274... | Line 274... | ||
| 274 | ExpandBaro = 0; |
274 | ExpandBaro = 0; |
| 275 | 275 | ||
| Line 276... | Line 276... | ||
| 276 | TransmitBlConfig = 1; |
276 | TransmitBlConfig = 1; |
| 277 | motorread = 0; |
277 | motorread = 0; |
| Line 627... | Line 627... | ||
| 627 | static long IntegralFehlerRoll = 0; |
627 | static long IntegralFehlerRoll = 0; |
| 628 | static unsigned int RcLostTimer; |
628 | static unsigned int RcLostTimer; |
| 629 | static unsigned char delay_neutral = 0; |
629 | static unsigned char delay_neutral = 0; |
| 630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 631 | static unsigned char calibration_done = 0; |
631 | static unsigned char calibration_done = 0; |
| 632 | static char TimerWerteausgabe = 0; |
- | |
| 633 | static char NeueKompassRichtungMerken = 0; |
632 | static char NeueKompassRichtungMerken = 0; |
| 634 | static long ausgleichNick, ausgleichRoll; |
633 | static long ausgleichNick, ausgleichRoll; |
| 635 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
634 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 636 | unsigned char i; |
635 | unsigned char i; |
| 637 | Mittelwert(); |
636 | Mittelwert(); |
| Line 1273... | Line 1272... | ||
| 1273 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1272 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
| 1274 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1273 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| Line 1275... | Line 1274... | ||
| 1275 | 1274 | ||
| 1276 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1275 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1277 | #define OPA_OFFSET_STEP 15 |
1276 | #define OPA_OFFSET_STEP 15 |
| 1278 | #else |
1277 | #else |
| 1279 | #define OPA_OFFSET_STEP 10 |
1278 | #define OPA_OFFSET_STEP 10 |
| 1280 | #endif |
1279 | #endif |
| 1281 | int HCGas, HeightDeviation = 0; |
1280 | int HCGas, HeightDeviation = 0; |
| 1282 | static int HeightTrimming = 0; // rate for change of height setpoint |
1281 | static int HeightTrimming = 0; // rate for change of height setpoint |
| Line 1286... | Line 1285... | ||
| 1286 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1285 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1287 | int CosAttitude; // for projection of hoover gas |
1286 | int CosAttitude; // for projection of hoover gas |
| Line 1288... | Line 1287... | ||
| 1288 | 1287 | ||
| 1289 | // get the current hooverpoint |
1288 | // get the current hooverpoint |
| 1290 | DebugOut.Analog[21] = HoverGas; |
1289 | DebugOut.Analog[21] = HoverGas; |
| 1291 | 1290 | ||
| 1292 | // Expand the measurement |
1291 | // Expand the measurement |
| 1293 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
1292 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| 1294 | if(!BaroExpandActive) |
1293 | if(!BaroExpandActive) |
| 1295 | { |
1294 | { |
| Line 1639... | Line 1638... | ||
| 1639 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1638 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| Line 1640... | Line 1639... | ||
| 1640 | 1639 | ||
| 1641 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1640 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | // Universal Mixer |
1641 | // Universal Mixer |
| 1643 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1642 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1644 | for(i=0; i<MAX_MOTORS; i++) |
1643 | for(i=0; i<MAX_MOTORS; i++) |
| 1645 | { |
1644 | { |
| 1646 | signed int tmp_int; |
1645 | signed int tmp_int; |
| 1647 | if(Mixer.Motor[i][0] > 0) |
1646 | if(Mixer.Motor[i][0] > 0) |
| 1648 | { |
1647 | { |
| 1649 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
1648 | tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| 1650 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1649 | tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| 1651 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1650 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| 1652 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1651 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| 1653 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
1652 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
| 1654 | tmp_int = tmp_motorwert[i] / 4; |
1653 | tmp_int = tmp_motorwert[i] / 4; |
| 1655 | Motor[i].SetPointLowerBits = tmp_motorwert[i] % 4; |
1654 | Motor[i].SetPointLowerBits = tmp_motorwert[i] % 4; |
| 1656 | LIMIT_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
1655 | LIMIT_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1657 | Motor[i].SetPoint = tmp_int; |
1656 | Motor[i].SetPoint = tmp_int; |
| - | 1657 | } |
|
| - | 1658 | else |
|
| 1658 | } |
1659 | { |
| - | 1660 | Motor[i].SetPoint = 0; |
|
| - | 1661 | Motor[i].SetPointLowerBits = 0; |
|
| 1659 | else Motor[i].SetPoint = 0; |
1662 | } |
| 1660 | } |
1663 | } |