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838 | MikeW | 1 | /* |
2 | Copyright 2008, by Michael Walter |
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4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
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5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
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6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
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8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
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9 | |||
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
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11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
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12 | unless it is stated otherwise. |
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13 | */ |
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14 | |||
15 | extern int MesswertNick,MesswertRoll,MesswertGier; |
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16 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier; |
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17 | extern int NeutralAccX, NeutralAccY, NeutralAccZ; |
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18 | extern int GierMischanteil,GasMischanteil; |
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19 | |||
20 | extern int AdWertNick_Raw, AdWertRoll_Raw, AdWertGier_Raw; |
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21 | extern int AdWertAccHoch_Raw, AdWertAccRoll_Raw,AdWertAccNick_Raw, AdWertAccHoch_Raw; |
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22 | extern int AccumulatedACC_X, AccumulatedACC_Y, AccumulatedACC_Z; |
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23 | extern int AccumulatedACC_X_cnt, AccumulatedACC_Y_cnt, AccumulatedACC_Z_cnt; |
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24 | extern int AccumulatedRoll_X, AccumulatedRoll_Y, AccumulatedRoll_Z, AccumulatedAirPressure; |
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25 | extern int AccumulatedRoll_X_cnt, AccumulatedRoll_Y_cnt, AccumulatedRoll_Z_cnt, AccumulatedAirPressure_cnt; |
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26 | extern unsigned int AdWertAirPressure_Raw; |
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27 | |||
28 | extern int DiffNick,DiffRoll; |
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29 | extern unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
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30 | extern unsigned char MotorWert[5]; |
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31 | extern unsigned char SenderOkay; |
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32 | extern int StickNick,StickRoll,StickGier; |
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33 | |||
34 | void CalculateAverage(void); |
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35 | void GetRadioValues(void); |
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36 | void SendMotorData(void); |
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37 | void PID_Regler(void); |
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38 | void SetNeutral(void); |