WebSVN - FlightCtrl - Diff - Rev 1377 and 1391



int   GierGyroFehler = 0;
char GyroFaktor,GyroFaktorGier;
char IntegralFaktor,IntegralFaktorGier;
int  DiffNick,DiffRoll;
//int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
volatile unsigned char SenderOkay = 0;
volatile unsigned char SenderRSSI = 0;
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
char MotorenEin = 0;
long HoehenWert = 0;

signed int KopplungsteilNickRoll,KopplungsteilRollNick;
unsigned char RequiredMotors = 4;
unsigned char Motor[MAX_MOTORS];
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;}

 
int MotorSmoothing(int neu, int alt)
{
 int motor;

    LED_Init();
    MikroKopterFlags |= FLAG_CALIBRATE;
    FromNaviCtrl_Value.Kalman_K = -1;
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
 
   for(i=0;i<8;i++)
    {
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
        }
    SenderOkay = 100;
    if(ServoActive)

  for(i=0;i<8;i++)
    {
     int tmp;
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
         if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
        }
}

 
//############################################################################

    ANALOG_ON;
   for(i=0;i<8;i++)
    {
     int tmp;
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
         LIMIT_MIN_MAX(tmp, 0, 255);
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
        }
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
}

//############################################################################
// Trägt ggf. das Poti als Parameter ein
void ParameterZuordnung(void)
//############################################################################
{
 
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
 
 
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);

 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
 Ki = 10300 / (Parameter_I_Faktor + 1);
 MAX_GAS = EE_Parameter.Gas_Max;
 MIN_GAS = EE_Parameter.Gas_Min;
 
 
}

 
//############################################################################
//

Rev 1377	Rev 1391
Line 91...	Line 91...
91	int GierGyroFehler = 0;	91	int GierGyroFehler = 0;
92	char GyroFaktor,GyroFaktorGier;	92	char GyroFaktor,GyroFaktorGier;
93	char IntegralFaktor,IntegralFaktorGier;	93	char IntegralFaktor,IntegralFaktorGier;
94	int DiffNick,DiffRoll;	94	int DiffNick,DiffRoll;
95	//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;	95	//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
96	unsigned char Poti[9] = {0,0,0,0,0,0,0,0};	96	unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
97	volatile unsigned char SenderOkay = 0;	97	volatile unsigned char SenderOkay = 0;
98	volatile unsigned char SenderRSSI = 0;	98	volatile unsigned char SenderRSSI = 0;
99	int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;	99	int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
100	char MotorenEin = 0;	100	char MotorenEin = 0;
101	long HoehenWert = 0;	101	long HoehenWert = 0;
Line 158...	Line 158...
158	signed int KopplungsteilNickRoll,KopplungsteilRollNick;	158	signed int KopplungsteilNickRoll,KopplungsteilRollNick;
159	unsigned char RequiredMotors = 4;	159	unsigned char RequiredMotors = 4;
160	unsigned char Motor[MAX_MOTORS];	160	unsigned char Motor[MAX_MOTORS];
161	signed int tmp_motorwert[MAX_MOTORS];	161	signed int tmp_motorwert[MAX_MOTORS];
162	unsigned char LoadHandler = 0;	162	unsigned char LoadHandler = 0;
163	#define LIMIT_MIN(value, min) {if(value < min) value = min;}	163	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
164	#define LIMIT_MAX(value, max) {if(value > max) value = max;}	164	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
165	#define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}	165	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
Line 166...	Line 166...
166		166
167	int MotorSmoothing(int neu, int alt)	167	int MotorSmoothing(int neu, int alt)
168	{	168	{
169	int motor;	169	int motor;
Line 262...	Line 262...
262	LED_Init();	262	LED_Init();
263	MikroKopterFlags \|= FLAG_CALIBRATE;	263	MikroKopterFlags \|= FLAG_CALIBRATE;
264	FromNaviCtrl_Value.Kalman_K = -1;	264	FromNaviCtrl_Value.Kalman_K = -1;
265	FromNaviCtrl_Value.Kalman_MaxDrift = 0;	265	FromNaviCtrl_Value.Kalman_MaxDrift = 0;
266	FromNaviCtrl_Value.Kalman_MaxFusion = 32;	266	FromNaviCtrl_Value.Kalman_MaxFusion = 32;
267		267
268	for(i=0;i<8;i++)	268	for(i=0;i<8;i++)
269	{	269	{
270	Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;	270	Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
271	}	271	}
272	SenderOkay = 100;	272	SenderOkay = 100;
273	if(ServoActive)	273	if(ServoActive)
Line 429...	Line 429...
429	for(i=0;i<8;i++)	429	for(i=0;i<8;i++)
430	{	430	{
431	int tmp;	431	int tmp;
432	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;	432	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
433	if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;	433	if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;
434	if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;	434	if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;
435	}	435	}
436	}	436	}
Line 437...	Line 437...
437		437
438	//############################################################################	438	//############################################################################
Line 454...	Line 454...
454	ANALOG_ON;	454	ANALOG_ON;
455	for(i=0;i<8;i++)	455	for(i=0;i<8;i++)
456	{	456	{
457	int tmp;	457	int tmp;
458	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;	458	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
459	if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;	459	LIMIT_MIN_MAX(tmp, 0, 255);
460	if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;	460	if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;
461	}	461	}
462	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;	462	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
463	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;	463	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
464	}	464	}
Line 497...	Line 497...
497	//############################################################################	497	//############################################################################
498	// Trägt ggf. das Poti als Parameter ein	498	// Trägt ggf. das Poti als Parameter ein
499	void ParameterZuordnung(void)	499	void ParameterZuordnung(void)
500	//############################################################################	500	//############################################################################
501	{	501	{
502	// #define CHK_POTI(b,a) {if(a < 247) b = a; else switch(a) { case 248: b = Poti8; break; case 249: b = Poti7; break; case 250: b = Poti6; break; case 251: b = Poti5; break; case 252: b = Poti4; break; case 253: b = Poti3; break; case 254: b = Poti2; break; case 255: b = Poti1; break; };}	-
503	#define CHK_POTI(b,a) {if(a < 247) b = a; else b = Poti[255 - a];}	502	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
504	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); if(b <= min) b = min; else if(b >= max) b = max;}	503	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
505	// #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; }	-
506		504
507	CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);	505	CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
508	CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);	506	CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
509	CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);	507	CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
510	CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);	508	CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
511	CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);	509	CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
Line 537...	Line 535...
537	CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);	535	CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
538	CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);	536	CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
539	Ki = 10300 / (Parameter_I_Faktor + 1);	537	Ki = 10300 / (Parameter_I_Faktor + 1);
540	MAX_GAS = EE_Parameter.Gas_Max;	538	MAX_GAS = EE_Parameter.Gas_Max;
541	MIN_GAS = EE_Parameter.Gas_Min;	539	MIN_GAS = EE_Parameter.Gas_Min;
542	J5Low;	-
543	sei();	-
544	}	540	}
Line 545...	Line 541...
545		541
546	//############################################################################	542	//############################################################################
547	//	543	//

Subversion Repositories FlightCtrl

(root)/tags/V2.02a/fc.c @ 2690 - Rev 1377 → 1391