Quadrocopter unkontrollierter Looping

Hallo,

mein Quadrocopter, ausgestattet mit einem XMega32A4 und MPU6000, 4x Roxxy BL2827-34 Motoren und 18A Graupner BL-Control fliegt mittlerweile schon sehr gut. Leider passiert sporadisch immer mal wieder ein Fehler bei Roll-Loops. Wenn ich um die Roll-Achse drehen möchte (360°) passiert es manchmal, dass eine Achse komplett zu spinnen beginnt. Das Ergebnis, der Quadro fällt ca. 20m taumelnd vom Himmel und ist teilweise geschrottet. Loopings um die Nick-Achse sind dagegen überhaupt kein Problem! Auch im normalen Flug passiert so etwas nicht, wirklich nur manchmal bei Roll-Loopings. Allerdings kann ich mir dieses Verhalten nicht erklären. Es scheint, als ob der rechte vordere und der linke hintere Motor (oder vorne links und hinten rechts) nicht mehr richtig reagieren. Dieses Verhalten zeigt sich sowohl mit der Shrediquette-Software von Willa als auch mit meiner eigenen abgespeckten Software.
Ich hatte schon überlegt, ob es an den Reglern liegt, aber das wiederspricht sich dadurch, dass ich Nick-Flips problemlos machen kann. Vielleicht schaut jemand mal vorsichtshalber über meinen Code!? Oder fällt euch sonst was ein?

Code:

---

$regfile = "xm32a4def.dat"
$framesize = 100
$swstack = 100
$hwstack = 100
$crystal = 32000000


$lib "xmega.lib"
$external _xmegafix_clear
$external _xmegafix_rol_r1014


Config Osc = Disabled , 32mhzosc = Enabled
Config Sysclock = 32mhz , Prescalea = 1 , Prescalebc = 1_1



Declare Sub Rcsignal()
Declare Sub Pidregulator()
Declare Sub Drivemotors()
Declare Sub Init_mpu()
Declare Sub Read_gyro()
Declare Sub Read_acc()




'--RC Settings--
Config Pinc.2 = Input

On Portc_int0 Getreceiver
Enable Portc_int0 , Lo

Portc_pin2ctrl = &B00_011_001
Portc_int0mask = &B0000_0100
Portc_intctrl = &B0000_00_01


Config Tcc0 = Normal , Prescale = 256 , Resolution = 16
On Tcc0_ovf Detectrxpause
Enable Tcc0_ovf , Lo


'--UART Settings--
Config Com2 = 38400 , Mode = Asynchroneous , Parity = None , Stopbits = 1 , Databits = 8
Config Serialin1 = Buffered , Size = 254
Config Serialout1 = Buffered , Size = 254
Open "COM2:" For Binary As #1


'--TWI Settings--
Dim Twi_start As Byte
Open "twie" For Binary As #2
Config Twie = 400000
I2cinit #2



'--Motor Constants--
Const Pwm_mot_off = 20000
Const Pwm_mot_max = 60000


'--PWM Settings--
Config Tcd0 = Pwm , Prescale = 1 , Comparea = Enabled , Compareb = Enabled , Comparec = Enabled , Compared = Enabled , Event_source = Off , Event_action = Off , Event_delay = Disabled , Resolution = 16

Tcd0_cca = Pwm_mot_off
Tcd0_ccb = Pwm_mot_off
Tcd0_ccc = Pwm_mot_off
Tcd0_ccd = Pwm_mot_off


'--LED--
Config Portb.0 = Output
Config Portb.1 = Output
Config Portb.2 = Output
Led1 Alias Portb.0
Led2 Alias Portb.1
Led3 Alias Portb.2
Led1 = 0
Led2 = 0
Led3 = 0


'--MPU 60X0--
Const Mpuaddw = &B11010000
Const Mpuaddr = &B11010001

Dim Gyrox As Integer
Dim Gyroy As Integer
Dim Gyroz As Integer
Dim Tmp_gyrox(2) As Byte At Gyrox Overlay
Dim Tmp_gyroy(2) As Byte At Gyroy Overlay
Dim Tmp_gyroz(2) As Byte At Gyroz Overlay
Dim Accx As Integer
Dim Accy As Integer
Dim Tmp_accx(2) As Byte At Accx Overlay
Dim Tmp_accy(2) As Byte At Accy Overlay
Dim Gyrox_offset As Integer
Dim Gyroy_offset As Integer
Dim Gyroz_offset As Integer
Dim Accx_offset As Integer
Dim Accy_offset As Integer
Dim Roll_check(50) As Integer
Dim Nick_check(50) As Integer
Dim Yaw_check(50) As Integer
Dim Check_tmp As Integer
Dim Offset_tmp As Long
Dim Movement As Byte
Dim Compare_tmp As Integer


'--RC Channel--
Const Throttlechannel = 1
Const Nickchannel = 3
Const Rollchannel = 2
Const Yawchannel = 4
Const Statechannel = 5


'--Read Receiver (Rx)--
Const Maxrcchannel = 8
Dim Empftmp(maxrcchannel) As Word
Dim Empf(maxrcchannel) As Word
Dim Channel As Byte
Dim Lpempf(maxrcchannel) As Word
Dim Intempf(maxrcchannel) As Integer
Dim Receiver_check As Byte
Dim Rc_set_throttle As Long
Dim Rc_set_roll As Long
Dim Rc_set_nick As Long
Dim Rc_set_yaw As Long
Dim Acro_sensitivy As Word
Dim Hover_sensitivy As Word
Dim Yaw_sensitivy As Word


'--Motors--
Dim Vorwahl_pwm As Word
Dim Vorwahl As Word
Dim Motor_rear_left As Long
Dim Motor_rear_right As Long
Dim Motor_front_right As Long
Dim Motor_front_left As Long


'--Control Loop (PID)--
Dim Acro_p As Word
Dim Acro_i As Word
Dim Acro_d As Word

Dim Hover_p As Word
Dim Hover_i As Word
Dim Hover_d As Word

Dim Yaw_p As Word
Dim Yaw_i As Word

Dim Xangle As Single
Dim Yangle As Single

Dim Gyro_yangle As Single
Dim Gyro_xangle As Single

Dim Gyro_influence As Single
Dim Acc_influence As Single

Dim Roll_error As Long
Dim Nick_error As Long
Dim Yaw_error As Long

Dim Roll_error_integral As Long
Dim Nick_error_integral As Long
Dim Yaw_error_integral As Long

Dim Roll_error_differential As Long
Dim Nick_error_differential As Long

Dim Roll_error_old As Long
Dim Nick_error_old As Long

Dim P_set_roll As Long
Dim I_set_roll As Long
Dim D_set_roll As Long

Dim P_set_nick As Long
Dim I_set_nick As Long
Dim D_set_nick As Long

Dim P_set_yaw As Long
Dim I_set_yaw As Long


'-- Internal Variables --
Dim Failsave As Byte
Dim State As Byte
Dim I As Byte


'--Startup--
Vorwahl = 5000

Failsave = 0


'8 Zoll Props:
Acro_p = 270                                                'Acro_p = 270 / 300
Acro_i = 62                                                'Acro_i = 62  / 70
Acro_d = 20                                                'Acro_d = 20  / 25
Acro_sensitivy = 320
Yaw_p = 120                                                '160
Yaw_i = 29                                                  '40



Hover_p = 40
Hover_i = 25
Hover_d = 140



State = 0


Hover_sensitivy = 100
Yaw_sensitivy = 400

Gyro_influence = 0.99
Acc_influence = 1 - Gyro_influence


Lpempf(1) = 24
Lpempf(2) = 100
Lpempf(3) = 100
Lpempf(4) = 100
Lpempf(5) = 24
Lpempf(6) = 24
Lpempf(7) = 24
Lpempf(8) = 24


Waitms 250
Call Init_mpu()
Waitms 250

Clear Serialin1
Clear Serialout1


'--Get Offset--
For I = 1 To 10
  Toggle Led1
  Waitms 100
Next I
Led1 = 0

Gyrox_offset = 0
Gyroy_offset = 0
Gyroz_offset = 0

Movement = 1

While Movement = 1

  Movement = 0

  For I = 1 To 50
      Call Read_gyro()
      Roll_check(i) = Gyrox
      Nick_check(i) = Gyroy
      Yaw_check(i) = Gyroz
      Waitms 10
  Next I


  Offset_tmp = 0
  For I = 1 To 50
      Offset_tmp = Offset_tmp + Roll_check(i)
  Next I
  Offset_tmp = Offset_tmp / 50

  For I = 1 To 50
      Compare_tmp = Offset_tmp - Roll_check(i)
      Compare_tmp = Abs(compare_tmp)
      If Compare_tmp >= 64 Then Movement = 1
  Next I


  Offset_tmp = 0
  For I = 1 To 50
      Offset_tmp = Offset_tmp + Nick_check(i)
  Next I
  Offset_tmp = Offset_tmp / 50

  For I = 1 To 50
      Compare_tmp = Offset_tmp - Nick_check(i)
      Compare_tmp = Abs(compare_tmp)
      If Compare_tmp >= 64 Then Movement = 1
  Next I


  Offset_tmp = 0
  For I = 1 To 50
      Offset_tmp = Offset_tmp + Yaw_check(i)
  Next I
  Offset_tmp = Offset_tmp / 50

  For I = 1 To 50
      Compare_tmp = Offset_tmp - Yaw_check(i)
      Compare_tmp = Abs(compare_tmp)
      If Compare_tmp >= 64 Then Movement = 1
  Next I

  Toggle Led1

Wend


Led1 = 0
For I = 1 To 10
  Toggle Led2
  Waitms 100
Next I
Led2 = 0


Offset_tmp = 0
For I = 1 To 50
  Offset_tmp = Offset_tmp + Roll_check(i)
Next I
Offset_tmp = Offset_tmp / 50
Gyrox_offset = Offset_tmp

Offset_tmp = 0
For I = 1 To 50
  Offset_tmp = Offset_tmp + Nick_check(i)
Next I
Offset_tmp = Offset_tmp / 50
Gyroy_offset = Offset_tmp

Offset_tmp = 0
For I = 1 To 50
  Offset_tmp = Offset_tmp + Yaw_check(i)
Next I
Offset_tmp = Offset_tmp / 50
Gyroz_offset = Offset_tmp


'--Enable Interrupts--
Config Priority = Static , Vector = Application , Lo = Enabled , Med = Enabled , Hi = Enabled
Enable Interrupts

Waitms 100

'check for receiver
Receiver_check = 0
While Receiver_check < 200
  If Empf(statechannel) > 50 Or Empf(statechannel) < 20 Or Empf(throttlechannel) > 50 Or Empf(throttlechannel) < 20 Then
      If Receiver_check > 0 Then Decr Receiver_check
  Else
      If Receiver_check < 250 Then Incr Receiver_check
  End If
Wend




Do


  Call Rcsignal()
  Call Pidregulator()
  Call Drivemotors()


Loop

End



Sub Rcsignal()

  For I = 1 To 4
      Lpempf(i) = Lpempf(i) * 3
      Lpempf(i) = Lpempf(i) + Empf(i)
      Shift Lpempf(i) , Right , 2 , Signed
      If Lpempf(i) < 22 Then Lpempf(i) = 22
      If Lpempf(i) >= 179 Then Lpempf(i) = 178
  Next I

  For I = 5 To Maxrcchannel
      Lpempf(i) = Lpempf(i) * 7
      Lpempf(i) = Lpempf(i) + Empf(i)
      Shift Lpempf(i) , Right , 3 , Signed
      If Lpempf(i) < 22 Then Lpempf(i) = 22
      If Lpempf(i) >= 179 Then Lpempf(i) = 178
  Next I


  Intempf(1) = Lpempf(throttlechannel) - 22
  For I = 2 To Maxrcchannel
      Intempf(i) = Lpempf(i) - 100
  Next I

  If Channel >= 12 Then
      If Failsave < 250 Then Incr Failsave
  Else
      If Failsave >= 1 Then Decr Failsave
  End If


  If State = 0 Then
      If Intempf(throttlechannel) < 20 Then
        If Intempf(statechannel) >= -30 And Intempf(statechannel) < 30 Then
            State = 1
        End If
      End If
  Else
      If Intempf(statechannel) < -30 Then
        If Intempf(throttlechannel) < 20 Then
            State = 0
        End If
      Elseif Intempf(statechannel) >= -30 And Intempf(statechannel) < 30 Then
        State = 1
      Elseif Intempf(statechannel) >= 30 Then
        State = 2
      End If
  End If


  Led1 = 0
  Led2 = 0
  Led3 = 0
  If State = 0 Then Led1 = 1
  If State = 1 Then Led2 = 1
  If State = 2 Then Led3 = 1

  Rc_set_throttle = Intempf(throttlechannel) * 250
  Rc_set_yaw = Intempf(yawchannel) * Yaw_sensitivy

End Sub


Sub Pidregulator()

  Call Read_gyro()

  If State = 1 Then

      Rc_set_roll = Intempf(rollchannel) * Acro_sensitivy
      Rc_set_nick = Intempf(nickchannel) * Acro_sensitivy

      Roll_error = Gyrox
      Roll_error = Roll_error - Rc_set_roll

      Roll_error_integral = Roll_error_integral + Roll_error
      If Roll_error_integral >= 320000 Then Roll_error_integral = 320000
      If Roll_error_integral < -320000 Then Roll_error_integral = -320000

      Roll_error_differential = Roll_error - Roll_error_old
      Roll_error_old = Roll_error



      P_set_roll = Roll_error * Acro_p
      Shift P_set_roll , Right , 9 , Signed                'P_set_roll = P_set_roll / 512
      I_set_roll = Roll_error_integral * Acro_i
      Shift I_set_roll , Right , 14 , Signed                'I_set_roll = I_set_roll / 16384
      D_set_roll = Roll_error_differential * Acro_d
      Shift D_set_roll , Right , 9 , Signed                'D_set_roll = D_set_roll / 512



      Nick_error = Gyroy
      Nick_error = Nick_error - Rc_set_nick

      Nick_error_integral = Nick_error_integral + Nick_error
      If Nick_error_integral >= 320000 Then Nick_error_integral = 320000
      If Nick_error_integral < -320000 Then Nick_error_integral = -320000

      Nick_error_differential = Nick_error - Nick_error_old
      Nick_error_old = Nick_error


      P_set_nick = Nick_error * Acro_p
      Shift P_set_nick , Right , 9 , Signed                'P_set_nick = P_set_nick / 512
      I_set_nick = Nick_error_integral * Acro_i
      Shift I_set_nick , Right , 14 , Signed                'I_set_nick = I_set_Nick / 16384
      D_set_nick = Nick_error_differential * Acro_d
      Shift D_set_nick , Right , 9 , Signed                'D_set_nick = D_set_nick / 512


  Elseif State = 2 Then

      Call Read_acc()

      Rc_set_roll = Intempf(rollchannel) * Hover_sensitivy
      Rc_set_nick = Intempf(nickchannel) * Hover_sensitivy


      Gyro_yangle = Gyro_yangle + Gyrox

      Gyro_yangle = Gyro_yangle * Gyro_influence
      Yangle = Accy * Acc_influence
      Gyro_yangle = Gyro_yangle + Yangle

      Roll_error = Gyro_yangle - Rc_set_roll
      Roll_error_integral = Roll_error_integral + Roll_error
      If Roll_error_integral >= 4000000 Then Roll_error_integral = 4000000
      If Roll_error_integral < -4000000 Then Roll_error_integral = -4000000

      P_set_roll = Roll_error * Hover_p
      Shift P_set_roll , Right , 8 , Signed                'P_set_roll = P_set_roll / 256
      I_set_roll = Roll_error_integral * Hover_i
      Shift I_set_roll , Right , 10 , Signed                'I_set_roll = I_set_roll / 1024
      D_set_roll = Gyrox * Hover_d
      Shift D_set_roll , Right , 4 , Signed                'D_set_roll = D_set_roll / 16


      Gyro_xangle = Gyro_xangle + Gyroy

      Gyro_xangle = Gyro_xangle * Gyro_influence
      Xangle = Accx * Acc_influence
      Gyro_xangle = Gyro_xangle + Xangle

      Nick_error = Gyro_xangle - Rc_set_nick
      Nick_error_integral = Nick_error_integral + Nick_error
      If Nick_error_integral >= 4000000 Then Nick_error_integral = 4000000
      If Nick_error_integral < -4000000 Then Nick_error_integral = -4000000

      P_set_nick = Nick_error * Hover_p
      Shift P_set_nick , Right , 8 , Signed                'P_set_nick = P_set_nick / 256
      I_set_nick = Nick_error_integral * Hover_i
      Shift I_set_nick , Right , 10 , Signed                'I_set_nick = I_set_nick / 1024
      D_set_nick = Gyroy * Hover_d
      Shift D_set_nick , Right , 4 , Signed                'D_Set_nick = D_set_nick / 16


  Elseif State = 0 Then

      Roll_error_integral = 0
      Nick_error_integral = 0
      Roll_error_old = 0
      Nick_error_old = 0

  End If

  If State >= 1 Then

      Yaw_error = Gyroz
      Yaw_error = Rc_set_yaw - Yaw_error

      Yaw_error_integral = Yaw_error_integral + Yaw_error
      If Yaw_error_integral >= 1024000 Then Yaw_error_integral = 1024000
      If Yaw_error_integral < -1024000 Then Yaw_error_integral = -1024000

      P_set_yaw = Yaw_error * Yaw_p
      Shift P_set_yaw , Right , 9 , Signed                  'P_set_yaw = P_set_yaw / 512
      I_set_yaw = Yaw_error_integral * Yaw_i
      Shift I_set_yaw , Right , 14 , Signed                'I_set_yaw = I_set_yaw / 16384

  Elseif State = 0 Then

      Yaw_error_integral = 0

  End If

End Sub


Sub Drivemotors()

  Vorwahl_pwm = Vorwahl + Pwm_mot_off

  If State >= 1 Then


      '--- Motor Rear Left ---
      Motor_rear_left = Pwm_mot_off + Rc_set_throttle
      Motor_rear_left = Motor_rear_left + Vorwahl
      If Motor_rear_left > 55000 Then Motor_rear_left = 55000

      Motor_rear_left = Motor_rear_left + P_set_roll
      Motor_rear_left = Motor_rear_left + I_set_roll
      Motor_rear_left = Motor_rear_left + D_set_roll

      Motor_rear_left = Motor_rear_left - P_set_nick
      Motor_rear_left = Motor_rear_left - I_set_nick
      Motor_rear_left = Motor_rear_left - D_set_nick

      Motor_rear_left = Motor_rear_left - P_set_yaw
      Motor_rear_left = Motor_rear_left - I_set_yaw

      If Motor_rear_left >= Pwm_mot_max Then Motor_rear_left = Pwm_mot_max
      If Motor_rear_left < Vorwahl_pwm Then Motor_rear_left = Vorwahl_pwm


      '--- Motor Rear Right ---
      Motor_rear_right = Pwm_mot_off + Rc_set_throttle
      Motor_rear_right = Motor_rear_right + Vorwahl
      If Motor_rear_right >= 55000 Then Motor_rear_right = 55000

      Motor_rear_right = Motor_rear_right - P_set_roll
      Motor_rear_right = Motor_rear_right - I_set_roll
      Motor_rear_right = Motor_rear_right - D_set_roll

      Motor_rear_right = Motor_rear_right - P_set_nick
      Motor_rear_right = Motor_rear_right - I_set_nick
      Motor_rear_right = Motor_rear_right - D_set_nick

      Motor_rear_right = Motor_rear_right + P_set_yaw
      Motor_rear_right = Motor_rear_right + I_set_yaw

      If Motor_rear_right >= Pwm_mot_max Then Motor_rear_right = Pwm_mot_max
      If Motor_rear_right < Vorwahl_pwm Then Motor_rear_right = Vorwahl_pwm


      '--- Motor Front Right ---
      Motor_front_right = Pwm_mot_off + Rc_set_throttle
      Motor_front_right = Motor_front_right + Vorwahl
      If Motor_front_right >= 55000 Then Motor_front_right = 55000

      Motor_front_right = Motor_front_right - P_set_roll
      Motor_front_right = Motor_front_right - I_set_roll
      Motor_front_right = Motor_front_right - D_set_roll

      Motor_front_right = Motor_front_right + P_set_nick
      Motor_front_right = Motor_front_right + I_set_nick
      Motor_front_right = Motor_front_right + D_set_nick

      Motor_front_right = Motor_front_right - P_set_yaw
      Motor_front_right = Motor_front_right - I_set_yaw

      If Motor_front_right >= Pwm_mot_max Then Motor_front_right = Pwm_mot_max
      If Motor_front_right < Vorwahl_pwm Then Motor_front_right = Vorwahl_pwm


      '--- Motor Front Left ---
      Motor_front_left = Pwm_mot_off + Rc_set_throttle
      Motor_front_left = Motor_front_left + Vorwahl
      If Motor_front_left >= 55000 Then Motor_front_left = 550000

      Motor_front_left = Motor_front_left + P_set_roll
      Motor_front_left = Motor_front_left + I_set_roll
      Motor_front_left = Motor_front_left + D_set_roll

      Motor_front_left = Motor_front_left + P_set_nick
      Motor_front_left = Motor_front_left + I_set_nick
      Motor_front_left = Motor_front_left + D_set_nick

      Motor_front_left = Motor_front_left + P_set_yaw
      Motor_front_left = Motor_front_left + I_set_yaw

      If Motor_front_left >= Pwm_mot_max Then Motor_front_left = Pwm_mot_max
      If Motor_front_left < Vorwahl_pwm Then Motor_front_left = Vorwahl_pwm

  Elseif State = 0 Then

      Motor_rear_left = Pwm_mot_off
      Motor_rear_right = Pwm_mot_off
      Motor_front_right = Pwm_mot_off
      Motor_front_left = Pwm_mot_off

  End If

  If Failsave < 15 Then

      Tcd0_cca = Motor_front_left
      Tcd0_ccb = Motor_front_right
      Tcd0_ccc = Motor_rear_right
      Tcd0_ccd = Motor_rear_left

  Else

      Tcd0_cca = Pwm_mot_off
      Tcd0_ccb = Pwm_mot_off
      Tcd0_ccc = Pwm_mot_off
      Tcd0_ccd = Pwm_mot_off

  End If


End Sub


Sub Init_mpu()

  I2cstart #2                                              'start condition
  I2cwbyte Mpuaddw , #2                                    'write adress of MPU-6050
  I2cwbyte 25 , #2                                        'Register 25 Sample Rate Divider (1..8 kHz)
  I2cwbyte &B00000000 , #2                                'Divider set to 1  (soll)
  I2cstop #2                                              'stop condition

  I2cstart #2                                              'start condition
  I2cwbyte Mpuaddw , #2                                    'write adress of MPU-6050
  I2cwbyte 26 , #2                                        'Register 26 DLPF_CFG (digital lowpass filter) Configuration
  I2cwbyte &B00000000 , #2                                'Bits 0..2 = 000 - ACC:260Hz, 0.0ms; Gyro:256Hz, 0.98ms  ( &B00000000 )
  I2cstop #2                                              'stop condition

  I2cstart #2                                              'start condition
  I2cwbyte Mpuaddw , #2                                    'write adress of MPU-6050
  I2cwbyte 27 , #2                                        'Register 27 Gyro Configuration
  I2cwbyte &B00001000 , #2                                'Bits 3+4 = 00 - Full Scale Range: +/-250°/s
  I2cstop #2                                              'stop condition

  I2cstart #2                                              'start condition
  I2cwbyte Mpuaddw , #2                                    'write adress of MPU-6050
  I2cwbyte 28 , #2                                        'Register 28 ACC Configuration
  I2cwbyte &B00000000 , #2                                'Bits 3+4 = 00 - Full Scale Range: +/-2g / No High Pass Filter
  I2cstop #2                                              'stop condition

  I2cstart #2                                              'start condition
  I2cwbyte Mpuaddw , #2                                    'write adress of MPU-6050
  I2cwbyte 107 , #2                                        'Register 107 Power Management 1
  I2cwbyte &B00001011 , #2                                'No Reset / No Sleep / No Cycle / Temp_Sens: Dis / Clock Source: Z-Gyro
  I2cstop #2

End Sub


Sub Read_gyro()

  I2cstart #2
  I2cwbyte Mpuaddw , #2
  I2cwbyte 67 , #2
  I2crepstart #2
  I2cwbyte Mpuaddr , #2

  I2crbyte Tmp_gyrox(2) , Ack , #2
  I2crbyte Tmp_gyrox(1) , Ack , #2

  I2crbyte Tmp_gyroy(2) , Ack , #2
  I2crbyte Tmp_gyroy(1) , Ack , #2

  I2crbyte Tmp_gyroz(2) , Ack , #2
  I2crbyte Tmp_gyroz(1) , Nack , #2

  I2cstop #2

  Gyrox = 0 - Gyrox

'(
  Teile Gyro durch 32
  Shift Gyrox , Right , 5 , Signed
  Shift Gyroy , Right , 5 , Signed
  Shift Gyroz , Right , 5 , Signed
')
  Gyrox = Gyrox - Gyrox_offset
  Gyroy = Gyroy - Gyroy_offset
  Gyroz = Gyroz - Gyroz_offset

End Sub


Sub Read_acc()

  I2cstart #2
  I2cwbyte Mpuaddw , #2
  I2cwbyte 59 , #2
  I2crepstart #2
  I2cwbyte Mpuaddr , #2

  I2crbyte Tmp_accx(2) , Ack , #2
  I2crbyte Tmp_accx(1) , Ack , #2

  I2crbyte Tmp_accy(2) , Ack , #2
  I2crbyte Tmp_accy(1) , Nack , #2

  I2cstop #2

  Accx = -accx
  Accy = -accy

  Shift Accx , Left , 3 , Signed
  Shift Accy , Left , 3 , Signed

  Accx = Accx - Accx_offset
  Accy = Accy - Accy_offset

End Sub


Getreceiver:
  If Channel >= 1 And Channel <= Maxrcchannel Then
    Empftmp(channel) = Tcc0_cnt - 65092
    Empf(channel) = Empftmp(channel)
  End If
  Tcc0_cnt = 65000
  Incr Channel
Return


Detectrxpause:
  Channel = 0
Return

---

Wenn nötig, könnte ich das Verhalten mal filmen, dass ihr euch ein besseres Bild davon machen könntet.

Gruß
Chris

Hallo,

heute ist mein Graupner GR-16 Hott Empfänger kaputt gegangen. Ich denke, es lag an der kurzzeitig vorhandenen Überspannung (11V), welche wohl auch meinen MPU6000 gegrillt hat. Daraufhin habe ich mir einen neuen Empfänger (Graupner GR-24 Hott) gekauft. Dieser wollte sich anfangs nicht binden lassen, bis mir auffiel, dass das Teil mit den 3V3 nicht richtig arbeitet und sehr oft die Connection verlor. Denkt ihr, das könnte was mit meinen ungewollten Abstürzen zu tun haben, weil der Empfänger kurzzeitig die Verbindung verliert und das Teil dann 0.25s lang (bis zum eingebauten Failsave) irgendwas macht? Das wäre für mich eine halbwegs gute Erklärung, jedoch erklärt dies nicht, wieso dann Vor- / Rückwärts Loops problemlos funktionieren.... Vielleicht kann sich ja da jemand von euch einen Reim draus machen?
Außerdem wollte ich noch wissen, ob und wenn ja wie ich meinen kaputten Empfänger reparieren kann bzw. wie ich den Fehler finde? Das ist alles seeeeehr klein und ich vermute, es ist eine Multilayer Platine. Habe ich da überhaupt eine Chance? Das Teil kostet 75€ und ich möchte es ungerne wegwerfen, es sei denn, es gibt keine Chance auf Heilung.

Gruß
Chris