Che Guevara
02.07.2011, 17:54
Hallo,
um eine Prozedur etwas schneller zu machen, wollte ich versch. Divisionen durch Shiften ersetzen, jedoch habe ich ein Problem:
So wollte ich es machen:
Shift _long_tmp , Right, 15, Signed
Jedoch scheint das nicht zu funktionieren, warum auch immer?! Die Variable _long_tmp kann sowohl negativ als auch positiv sein. Ist das ein Bug in meiner Version (V1.11.9.5) oder habe ich einen Fehler?
Zum Hintergrund:
Im Code meines Tricopters habe ich einen PID-Regler, welcher mit Integern rechnet, weils schneller als Fließkomma ist. Ich multipliziere den Fehler erst mit der jeweiligen Variable und teile dann durch einen best. Wert... dieses Teilen möchte ich eben durch Shift ersetzen. Damit mir meine Integer Variable nicht überlauft, benutze ich dafür die Variable _long_tmp. Hier mal der komplette Code:
$regfile = "m328pdef.dat"
$crystal = 16000000
$framesize = 200
$hwstack = 200
$swstack = 200
$baud = 38400
Open "COMC.2:19200,8,N,1" For Input As #1
Open "COMC.3:19200,8,N,1" For Output As #2
Declare Sub Init_system()
Declare Sub Filter_gyro_data()
Declare Sub Filter_rx_data()
Declare Sub Mixer()
Declare Sub Send_data()
Declare Sub Pid_regulator()
Declare Sub Wmp_init()
Declare Sub Send_zero()
Declare Sub Read_wmp_data()
Declare Sub Set_wmp_offset()
$lib "I2C_TWI.LBX"
Config Scl = Portc.5 '0
Config Sda = Portc.4 '1
Config Twi = 100000
I2cinit
Config Timer0 = Timer , Prescale = 256
On Timer0 Pausedetect
Enable Timer0
Config Int0 = Falling
On Int0 Measure
Enable Int0
Config Pind.2 = Input
Portd.2 = 0
'####################################
'###########KONSTANTEN###############
'####################################
Const _maxchannel = 8
Const Start_byte = 127
Dim _yaw_kp As Integer
Dim _roll_kp As Integer
Dim _pitch_kp As Integer
Dim _yaw_ki As Integer
Dim _roll_ki As Integer
Dim _pitch_ki As Integer
Dim _yaw_kd As Integer
Dim _roll_kd As Integer
Dim _pitch_kd As Integer
_yaw_kp = 100 '100
_roll_kp = 40 '40
_pitch_kp = 85 '85
_yaw_ki = 55 '55
_roll_ki = 90 '90
_pitch_ki = 138 '138
_yaw_kd = 0 '0
_roll_kd = 0 '120
_pitch_kd = 0 '112
Const _bl1offset = 0
Const _bl2offset = 0
Const _bl3offset = 0
Const _bl4offset = 0
'###################################
'###################################
'###################################
Dim _long_tmp As Long
Dim _timer2_counter As Byte
'###################################
'#########RC-EMPFÄNGER##############
'###################################
Dim Bufferbyte As Byte
Dim Kanal(_maxchannel) As Word
Dim Channel As Byte
Dim _bl(4) As Word
Dim I As Byte
Dim _crc As Word
Dim _sbl(_maxchannel) As Integer
'###################################
'###################################
'###################################
'###################################
'###########I2C-Inputs##############
'###################################
Dim Wmplus_buffer(6) As Byte
'###################################
'###################################
'###################################
'###################################
'#########GYRO######################
'###################################
Dim Yaw As Word
Dim Yaw0 As Byte At Yaw + 1 Overlay
Dim Yaw1 As Byte At Yaw Overlay
Dim Roll As Word
Dim Roll0 As Byte At Roll + 1 Overlay
Dim Roll1 As Byte At Roll Overlay
Dim Pitch As Word
Dim Pitch0 As Byte At Pitch + 1 Overlay
Dim Pitch1 As Byte At Pitch Overlay
Dim _yawoffset As Long
Dim _rolloffset As Long
Dim _pitchoffset As Long
Dim _yawoffset_int As Integer
Dim _rolloffset_int As Integer
Dim _pitchoffset_int As Integer
Dim _yawnow As Integer
Dim _rollnow As Integer
Dim _pitchnow As Integer
'###################################
'###################################
'###################################
'##################################
'#########PID-REGLER###############
'##################################
Dim _yaw_kp_err As Integer
Dim _roll_kp_err As Integer
Dim _pitch_kp_err As Integer
Dim _yaw_ki_err As Integer
Dim _roll_ki_err As Integer
Dim _pitch_ki_err As Integer
Dim _yaw_ki_sum As Integer
Dim _roll_ki_sum As Integer
Dim _pitch_ki_sum As Integer
Dim _yaw_kd_err As Integer
Dim _roll_kd_err As Integer
Dim _pitch_kd_err As Integer
Dim _yaw_kd_old As Integer
Dim _roll_kd_old As Integer
Dim _pitch_kd_old As Integer
Dim _yaw_pid As Integer
Dim _roll_pid As Integer
Dim _pitch_pid As Integer
Dim _yaw_err As Integer
Dim _roll_err As Integer
Dim _pitch_err As Integer
'#################################
'#################################
'#################################
Wait 2
Call Init_system()
Enable Interrupts
Do
Call Filter_rx_data()
Call Filter_gyro_data()
Call Pid_regulator()
Call Mixer()
Call Send_data()
Loop
Sub Filter_gyro_data()
Call Read_wmp_data()
_yawnow = Yaw - _yawoffset_int
_rollnow = Roll - _rolloffset_int
_pitchnow = Pitch - _pitchoffset_int
End Sub
Sub Filter_rx_data()
For I = 1 To _maxchannel
_sbl(i) = Kanal(i) - 100
If _sbl(i) < 2 And _sbl(i) > -2 Then _sbl(i) = 0
_sbl(i) = _sbl(i) * 25
Next I
_sbl(2) = _sbl(2) * 10
_sbl(2) = _sbl(2) / 110
_sbl(3) = _sbl(3) * 10
_sbl(3) = _sbl(3) / 110
_sbl(4) = _sbl(4) * 10
_sbl(4) = _sbl(4) / 30
_sbl(7) = _sbl(7) / 10
_sbl(8) = _sbl(8) / 10
_roll_kd = 0 + _sbl(7)
_pitch_kd = 0 + _sbl(8)
End Sub
Measure:
If Channel > 0 And Channel < 9 Then
Kanal(channel) = Timer0
End If
Timer0 = 6
Incr Channel
Return
Pausedetect:
Channel = 0
Return
Sub Wmp_init()
I2cstart
I2cwbyte &HA6
I2cwbyte &HFE
I2cwbyte &H04
I2cstop
End Sub
Sub Send_zero()
I2cstart
I2cwbyte &HA4
I2cwbyte &H00
I2cstop
End Sub
Sub Read_wmp_data()
Gosub Send_zero
I2creceive &HA4 , Wmplus_buffer(1) , 0 , 6
Yaw1 = Wmplus_buffer(1)
Roll1 = Wmplus_buffer(2)
Pitch1 = Wmplus_buffer(3)
Shift Wmplus_buffer(4) , Right , 2 : Yaw0 = Wmplus_buffer(4)
Shift Wmplus_buffer(5) , Right , 2 : Roll0 = Wmplus_buffer(5)
Shift Wmplus_buffer(6) , Right , 2 : Pitch0 = Wmplus_buffer(6)
Shift Yaw , Right , 2
Shift Roll , Right , 2
Shift Pitch , Right , 2
End Sub
Sub Set_wmp_offset()
_yawoffset = 0
_rolloffset = 0
_pitchoffset = 0
For I = 1 To 100
Waitms 5
Call Read_wmp_data()
_yawoffset = _yawoffset + Yaw
_rolloffset = _rolloffset + Roll
_pitchoffset = _pitchoffset + Pitch
Next I
_yawoffset = _yawoffset / 100
_rolloffset = _rolloffset / 100
_pitchoffset = _pitchoffset / 100
_yawoffset_int = _yawoffset
_rolloffset_int = _rolloffset
_pitchoffset_int = _pitchoffset
End Sub
Sub Pid_regulator()
'##############FEHLER_BERECHNEN##########
_yaw_err = _sbl(4) - _yawnow
_roll_err = _sbl(2) - _rollnow
_pitch_err = _sbl(3) - _pitchnow
'##############PROPORTIONAL##############
_long_tmp = _yaw_err * _yaw_kp
_long_tmp = _long_tmp / 200
_yaw_kp_err = _long_tmp
_long_tmp = _roll_err * _roll_kp
_long_tmp = _long_tmp / 200
_roll_kp_err = _long_tmp
_long_tmp = _pitch_err * _pitch_kp
_long_tmp = _long_tmp / 200
_pitch_kp_err = _long_tmp
'##############INTEGRAL##################
_long_tmp = _yaw_err * _yaw_ki
_long_tmp = _long_tmp / 20000
_yaw_ki_err = _long_tmp
_yaw_ki_sum = _yaw_ki_sum + _yaw_ki_err
_long_tmp = _roll_err * _roll_ki
_long_tmp = _long_tmp / 20000
_roll_ki_err = _long_tmp
_roll_ki_sum = _roll_ki_sum + _roll_ki_err
_long_tmp = _pitch_err * _pitch_ki
_long_tmp = _long_tmp / 20000
_pitch_ki_err = _long_tmp
_pitch_ki_sum = _pitch_ki_sum + _pitch_ki_err
'##############DIFFERENNTIAL#############
_long_tmp = _yaw_err * _yaw_kd
_long_tmp = _long_tmp / 40000
_yaw_kd_err = _long_tmp
_yaw_kd_err = _yaw_kd_old - _yaw_kd_err
_yaw_kd_old = _yaw_kd_err
_long_tmp = _roll_err * _roll_kd
_long_tmp = _long_tmp / 40000
_roll_kd_err = _long_tmp
_roll_kd_err = _roll_kd_old - _roll_kd_err
_roll_kd_old = _roll_kd_err
_long_tmp = _pitch_err * _pitch_kd
_long_tmp = _long_tmp / 40000
_pitch_kd_err = _long_tmp
_pitch_kd_err = _pitch_kd_err - _pitch_kd_old
_pitch_kd_old = _pitch_kd_err
'##############AUFSUMMIEREN##############
_yaw_pid = _yaw_kp_err + _yaw_ki_sum
_yaw_pid = _yaw_pid + _yaw_kd_err
_roll_pid = _roll_kp_err + _roll_ki_sum
_roll_pid = _roll_pid + _roll_kd_err
_pitch_pid = _pitch_kp_err + _pitch_ki_sum
_pitch_pid = _pitch_pid + _pitch_kd_err
'###############WERTE_BEGRENZEN##########
If _yaw_pid < -1000 Then _yaw_pid = -1000
If _yaw_pid > 1000 Then _yaw_pid = 1000
If _roll_pid < -1000 Then _roll_pid = -1000
If _roll_pid > 1000 Then _roll_pid = 1000
If _pitch_pid < -1000 Then _pitch_pid = -1000
If _pitch_pid > 1000 Then _pitch_pid = 1000
End Sub
Sub Mixer()
_bl(1) = 62667 - _sbl(1)
_bl(2) = _bl(1)
_bl(3) = _bl(1)
_bl(4) = 62667
_bl(1) = _bl(1) + _bl1offset
_bl(2) = _bl(2) + _bl2offset
_bl(3) = _bl(3) + _bl3offset
_bl(4) = _bl(4) + _bl4offset
If _sbl(5) > -250 Then
_bl(1) = _bl(1) + _pitch_pid
_bl(2) = _bl(2) - _roll_pid
_bl(3) = _bl(3) + _roll_pid
_pitch_pid = _pitch_pid / 2
_bl(2) = _bl(2) - _pitch_pid
_bl(3) = _bl(3) - _pitch_pid
_bl(4) = _bl(4) - _yaw_pid
Else
_bl(1) = 63800
_bl(2) = 63800
_bl(3) = 63800
_yaw_kp_err = 0
_yaw_ki_sum = 0
_yaw_kd_err = 0
_yaw_ki_err = 0
_yaw_kd_old = 0
_roll_kp_err = 0
_roll_ki_sum = 0
_roll_kd_err = 0
_roll_ki_err = 0
_roll_kd_old = 0
_pitch_kp_err = 0
_pitch_ki_sum = 0
_pitch_kd_err = 0
_pitch_ki_err = 0
_pitch_kd_old = 0
_yaw_pid = 0
_roll_pid = 0
_pitch_pid = 0
End If
End Sub
Sub Send_data()
_crc = Crc16(_bl(1) , 4)
Printbin Start_byte ; _bl(1) ; _bl(2) ; _bl(3) ; _bl(4) ; _crc
Incr _timer2_counter
If _timer2_counter = 20 Then
_timer2_counter = 0
Print #2 , _roll_kd ; ":" ; _pitch_kd
'Print #2 , Kanal(1) ; ":" ; Kanal(2) ; ":" ; Kanal(3) ; ":" ; Kanal(4) ; ":" ; Kanal(5) ; ":" ; Kanal(6) ; ":" ; Kanal(7) ; ":" ; Kanal(8)
'Print #2 , _sbl(1) ; ":" ; _sbl(2) ; ":" ; _sbl(3) ; ":" ; _sbl(4) ; ":" ; _sbl(5) ; ":" ; _sbl(6) ; ":" ; _sbl(7) ; ":" ; _sbl(8)
'Print #2 , _yaw_kp ; ":" ; _roll_kp ; ":" ; _pitch_kp
'Print #2 , _yaw_pid ; ":" ; _roll_pid ; ":" ; _pitch_pid
'Print #2 , "ROLL: " ; _roll_kp_err ; ":" ; _roll_ki_sum ; ":" ; _roll_kd_err ;
'Print #2 , "PITCH: " ; _pitch_kp_err ; ":" ; _pitch_ki_sum ; ":" ; _pitch_kd_err ;
'Print #2 , "_______________"
End If
End Sub
Sub Init_system()
_yawnow = 0
_rollnow = 0
_pitchnow = 0
Call Wmp_init()
Wait 1
For I = 1 To 50 'the first measurements are trash!
Call Read_wmp_data()
Next I
Wait 1
Call Set_wmp_offset()
End Sub
End
Wenn ichs mit einer normalen Division mache, funktionierts, sprich der Kopter bewegt sich nicht, wenn er still auf dem Tisch steht! Wenn ich aber die Shift-Befehle einbaue, fängt nach ein paar Sekunden des stillen Liegens ein Motor an sich zu drehen! An was kann das liegen?
Gruß
Chris
um eine Prozedur etwas schneller zu machen, wollte ich versch. Divisionen durch Shiften ersetzen, jedoch habe ich ein Problem:
So wollte ich es machen:
Shift _long_tmp , Right, 15, Signed
Jedoch scheint das nicht zu funktionieren, warum auch immer?! Die Variable _long_tmp kann sowohl negativ als auch positiv sein. Ist das ein Bug in meiner Version (V1.11.9.5) oder habe ich einen Fehler?
Zum Hintergrund:
Im Code meines Tricopters habe ich einen PID-Regler, welcher mit Integern rechnet, weils schneller als Fließkomma ist. Ich multipliziere den Fehler erst mit der jeweiligen Variable und teile dann durch einen best. Wert... dieses Teilen möchte ich eben durch Shift ersetzen. Damit mir meine Integer Variable nicht überlauft, benutze ich dafür die Variable _long_tmp. Hier mal der komplette Code:
$regfile = "m328pdef.dat"
$crystal = 16000000
$framesize = 200
$hwstack = 200
$swstack = 200
$baud = 38400
Open "COMC.2:19200,8,N,1" For Input As #1
Open "COMC.3:19200,8,N,1" For Output As #2
Declare Sub Init_system()
Declare Sub Filter_gyro_data()
Declare Sub Filter_rx_data()
Declare Sub Mixer()
Declare Sub Send_data()
Declare Sub Pid_regulator()
Declare Sub Wmp_init()
Declare Sub Send_zero()
Declare Sub Read_wmp_data()
Declare Sub Set_wmp_offset()
$lib "I2C_TWI.LBX"
Config Scl = Portc.5 '0
Config Sda = Portc.4 '1
Config Twi = 100000
I2cinit
Config Timer0 = Timer , Prescale = 256
On Timer0 Pausedetect
Enable Timer0
Config Int0 = Falling
On Int0 Measure
Enable Int0
Config Pind.2 = Input
Portd.2 = 0
'####################################
'###########KONSTANTEN###############
'####################################
Const _maxchannel = 8
Const Start_byte = 127
Dim _yaw_kp As Integer
Dim _roll_kp As Integer
Dim _pitch_kp As Integer
Dim _yaw_ki As Integer
Dim _roll_ki As Integer
Dim _pitch_ki As Integer
Dim _yaw_kd As Integer
Dim _roll_kd As Integer
Dim _pitch_kd As Integer
_yaw_kp = 100 '100
_roll_kp = 40 '40
_pitch_kp = 85 '85
_yaw_ki = 55 '55
_roll_ki = 90 '90
_pitch_ki = 138 '138
_yaw_kd = 0 '0
_roll_kd = 0 '120
_pitch_kd = 0 '112
Const _bl1offset = 0
Const _bl2offset = 0
Const _bl3offset = 0
Const _bl4offset = 0
'###################################
'###################################
'###################################
Dim _long_tmp As Long
Dim _timer2_counter As Byte
'###################################
'#########RC-EMPFÄNGER##############
'###################################
Dim Bufferbyte As Byte
Dim Kanal(_maxchannel) As Word
Dim Channel As Byte
Dim _bl(4) As Word
Dim I As Byte
Dim _crc As Word
Dim _sbl(_maxchannel) As Integer
'###################################
'###################################
'###################################
'###################################
'###########I2C-Inputs##############
'###################################
Dim Wmplus_buffer(6) As Byte
'###################################
'###################################
'###################################
'###################################
'#########GYRO######################
'###################################
Dim Yaw As Word
Dim Yaw0 As Byte At Yaw + 1 Overlay
Dim Yaw1 As Byte At Yaw Overlay
Dim Roll As Word
Dim Roll0 As Byte At Roll + 1 Overlay
Dim Roll1 As Byte At Roll Overlay
Dim Pitch As Word
Dim Pitch0 As Byte At Pitch + 1 Overlay
Dim Pitch1 As Byte At Pitch Overlay
Dim _yawoffset As Long
Dim _rolloffset As Long
Dim _pitchoffset As Long
Dim _yawoffset_int As Integer
Dim _rolloffset_int As Integer
Dim _pitchoffset_int As Integer
Dim _yawnow As Integer
Dim _rollnow As Integer
Dim _pitchnow As Integer
'###################################
'###################################
'###################################
'##################################
'#########PID-REGLER###############
'##################################
Dim _yaw_kp_err As Integer
Dim _roll_kp_err As Integer
Dim _pitch_kp_err As Integer
Dim _yaw_ki_err As Integer
Dim _roll_ki_err As Integer
Dim _pitch_ki_err As Integer
Dim _yaw_ki_sum As Integer
Dim _roll_ki_sum As Integer
Dim _pitch_ki_sum As Integer
Dim _yaw_kd_err As Integer
Dim _roll_kd_err As Integer
Dim _pitch_kd_err As Integer
Dim _yaw_kd_old As Integer
Dim _roll_kd_old As Integer
Dim _pitch_kd_old As Integer
Dim _yaw_pid As Integer
Dim _roll_pid As Integer
Dim _pitch_pid As Integer
Dim _yaw_err As Integer
Dim _roll_err As Integer
Dim _pitch_err As Integer
'#################################
'#################################
'#################################
Wait 2
Call Init_system()
Enable Interrupts
Do
Call Filter_rx_data()
Call Filter_gyro_data()
Call Pid_regulator()
Call Mixer()
Call Send_data()
Loop
Sub Filter_gyro_data()
Call Read_wmp_data()
_yawnow = Yaw - _yawoffset_int
_rollnow = Roll - _rolloffset_int
_pitchnow = Pitch - _pitchoffset_int
End Sub
Sub Filter_rx_data()
For I = 1 To _maxchannel
_sbl(i) = Kanal(i) - 100
If _sbl(i) < 2 And _sbl(i) > -2 Then _sbl(i) = 0
_sbl(i) = _sbl(i) * 25
Next I
_sbl(2) = _sbl(2) * 10
_sbl(2) = _sbl(2) / 110
_sbl(3) = _sbl(3) * 10
_sbl(3) = _sbl(3) / 110
_sbl(4) = _sbl(4) * 10
_sbl(4) = _sbl(4) / 30
_sbl(7) = _sbl(7) / 10
_sbl(8) = _sbl(8) / 10
_roll_kd = 0 + _sbl(7)
_pitch_kd = 0 + _sbl(8)
End Sub
Measure:
If Channel > 0 And Channel < 9 Then
Kanal(channel) = Timer0
End If
Timer0 = 6
Incr Channel
Return
Pausedetect:
Channel = 0
Return
Sub Wmp_init()
I2cstart
I2cwbyte &HA6
I2cwbyte &HFE
I2cwbyte &H04
I2cstop
End Sub
Sub Send_zero()
I2cstart
I2cwbyte &HA4
I2cwbyte &H00
I2cstop
End Sub
Sub Read_wmp_data()
Gosub Send_zero
I2creceive &HA4 , Wmplus_buffer(1) , 0 , 6
Yaw1 = Wmplus_buffer(1)
Roll1 = Wmplus_buffer(2)
Pitch1 = Wmplus_buffer(3)
Shift Wmplus_buffer(4) , Right , 2 : Yaw0 = Wmplus_buffer(4)
Shift Wmplus_buffer(5) , Right , 2 : Roll0 = Wmplus_buffer(5)
Shift Wmplus_buffer(6) , Right , 2 : Pitch0 = Wmplus_buffer(6)
Shift Yaw , Right , 2
Shift Roll , Right , 2
Shift Pitch , Right , 2
End Sub
Sub Set_wmp_offset()
_yawoffset = 0
_rolloffset = 0
_pitchoffset = 0
For I = 1 To 100
Waitms 5
Call Read_wmp_data()
_yawoffset = _yawoffset + Yaw
_rolloffset = _rolloffset + Roll
_pitchoffset = _pitchoffset + Pitch
Next I
_yawoffset = _yawoffset / 100
_rolloffset = _rolloffset / 100
_pitchoffset = _pitchoffset / 100
_yawoffset_int = _yawoffset
_rolloffset_int = _rolloffset
_pitchoffset_int = _pitchoffset
End Sub
Sub Pid_regulator()
'##############FEHLER_BERECHNEN##########
_yaw_err = _sbl(4) - _yawnow
_roll_err = _sbl(2) - _rollnow
_pitch_err = _sbl(3) - _pitchnow
'##############PROPORTIONAL##############
_long_tmp = _yaw_err * _yaw_kp
_long_tmp = _long_tmp / 200
_yaw_kp_err = _long_tmp
_long_tmp = _roll_err * _roll_kp
_long_tmp = _long_tmp / 200
_roll_kp_err = _long_tmp
_long_tmp = _pitch_err * _pitch_kp
_long_tmp = _long_tmp / 200
_pitch_kp_err = _long_tmp
'##############INTEGRAL##################
_long_tmp = _yaw_err * _yaw_ki
_long_tmp = _long_tmp / 20000
_yaw_ki_err = _long_tmp
_yaw_ki_sum = _yaw_ki_sum + _yaw_ki_err
_long_tmp = _roll_err * _roll_ki
_long_tmp = _long_tmp / 20000
_roll_ki_err = _long_tmp
_roll_ki_sum = _roll_ki_sum + _roll_ki_err
_long_tmp = _pitch_err * _pitch_ki
_long_tmp = _long_tmp / 20000
_pitch_ki_err = _long_tmp
_pitch_ki_sum = _pitch_ki_sum + _pitch_ki_err
'##############DIFFERENNTIAL#############
_long_tmp = _yaw_err * _yaw_kd
_long_tmp = _long_tmp / 40000
_yaw_kd_err = _long_tmp
_yaw_kd_err = _yaw_kd_old - _yaw_kd_err
_yaw_kd_old = _yaw_kd_err
_long_tmp = _roll_err * _roll_kd
_long_tmp = _long_tmp / 40000
_roll_kd_err = _long_tmp
_roll_kd_err = _roll_kd_old - _roll_kd_err
_roll_kd_old = _roll_kd_err
_long_tmp = _pitch_err * _pitch_kd
_long_tmp = _long_tmp / 40000
_pitch_kd_err = _long_tmp
_pitch_kd_err = _pitch_kd_err - _pitch_kd_old
_pitch_kd_old = _pitch_kd_err
'##############AUFSUMMIEREN##############
_yaw_pid = _yaw_kp_err + _yaw_ki_sum
_yaw_pid = _yaw_pid + _yaw_kd_err
_roll_pid = _roll_kp_err + _roll_ki_sum
_roll_pid = _roll_pid + _roll_kd_err
_pitch_pid = _pitch_kp_err + _pitch_ki_sum
_pitch_pid = _pitch_pid + _pitch_kd_err
'###############WERTE_BEGRENZEN##########
If _yaw_pid < -1000 Then _yaw_pid = -1000
If _yaw_pid > 1000 Then _yaw_pid = 1000
If _roll_pid < -1000 Then _roll_pid = -1000
If _roll_pid > 1000 Then _roll_pid = 1000
If _pitch_pid < -1000 Then _pitch_pid = -1000
If _pitch_pid > 1000 Then _pitch_pid = 1000
End Sub
Sub Mixer()
_bl(1) = 62667 - _sbl(1)
_bl(2) = _bl(1)
_bl(3) = _bl(1)
_bl(4) = 62667
_bl(1) = _bl(1) + _bl1offset
_bl(2) = _bl(2) + _bl2offset
_bl(3) = _bl(3) + _bl3offset
_bl(4) = _bl(4) + _bl4offset
If _sbl(5) > -250 Then
_bl(1) = _bl(1) + _pitch_pid
_bl(2) = _bl(2) - _roll_pid
_bl(3) = _bl(3) + _roll_pid
_pitch_pid = _pitch_pid / 2
_bl(2) = _bl(2) - _pitch_pid
_bl(3) = _bl(3) - _pitch_pid
_bl(4) = _bl(4) - _yaw_pid
Else
_bl(1) = 63800
_bl(2) = 63800
_bl(3) = 63800
_yaw_kp_err = 0
_yaw_ki_sum = 0
_yaw_kd_err = 0
_yaw_ki_err = 0
_yaw_kd_old = 0
_roll_kp_err = 0
_roll_ki_sum = 0
_roll_kd_err = 0
_roll_ki_err = 0
_roll_kd_old = 0
_pitch_kp_err = 0
_pitch_ki_sum = 0
_pitch_kd_err = 0
_pitch_ki_err = 0
_pitch_kd_old = 0
_yaw_pid = 0
_roll_pid = 0
_pitch_pid = 0
End If
End Sub
Sub Send_data()
_crc = Crc16(_bl(1) , 4)
Printbin Start_byte ; _bl(1) ; _bl(2) ; _bl(3) ; _bl(4) ; _crc
Incr _timer2_counter
If _timer2_counter = 20 Then
_timer2_counter = 0
Print #2 , _roll_kd ; ":" ; _pitch_kd
'Print #2 , Kanal(1) ; ":" ; Kanal(2) ; ":" ; Kanal(3) ; ":" ; Kanal(4) ; ":" ; Kanal(5) ; ":" ; Kanal(6) ; ":" ; Kanal(7) ; ":" ; Kanal(8)
'Print #2 , _sbl(1) ; ":" ; _sbl(2) ; ":" ; _sbl(3) ; ":" ; _sbl(4) ; ":" ; _sbl(5) ; ":" ; _sbl(6) ; ":" ; _sbl(7) ; ":" ; _sbl(8)
'Print #2 , _yaw_kp ; ":" ; _roll_kp ; ":" ; _pitch_kp
'Print #2 , _yaw_pid ; ":" ; _roll_pid ; ":" ; _pitch_pid
'Print #2 , "ROLL: " ; _roll_kp_err ; ":" ; _roll_ki_sum ; ":" ; _roll_kd_err ;
'Print #2 , "PITCH: " ; _pitch_kp_err ; ":" ; _pitch_ki_sum ; ":" ; _pitch_kd_err ;
'Print #2 , "_______________"
End If
End Sub
Sub Init_system()
_yawnow = 0
_rollnow = 0
_pitchnow = 0
Call Wmp_init()
Wait 1
For I = 1 To 50 'the first measurements are trash!
Call Read_wmp_data()
Next I
Wait 1
Call Set_wmp_offset()
End Sub
End
Wenn ichs mit einer normalen Division mache, funktionierts, sprich der Kopter bewegt sich nicht, wenn er still auf dem Tisch steht! Wenn ich aber die Shift-Befehle einbaue, fängt nach ein paar Sekunden des stillen Liegens ein Motor an sich zu drehen! An was kann das liegen?
Gruß
Chris