Rev 683 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
||
| 3 | #######################################################################################*/ |
||
| 4 | |||
| 5 | #ifndef _FC_H |
||
| 6 | #define _FC_H |
||
| 7 | |||
| 173 | holgerb | 8 | extern volatile unsigned int I2CTimeout; |
| 1 | ingob | 9 | extern unsigned char Sekunde,Minute; |
| 10 | extern volatile long IntegralNick,IntegralNick2; |
||
| 11 | extern volatile long IntegralRoll,IntegralRoll2; |
||
| 12 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
||
| 13 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
||
| 396 | hbuss | 14 | extern volatile long IntegralAccNick,IntegralAccRoll; |
| 1 | ingob | 15 | extern volatile long Mess_Integral_Hoch; |
| 16 | extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
||
| 17 | extern volatile int KompassValue; |
||
| 18 | extern volatile int KompassStartwert; |
||
| 19 | extern volatile int KompassRichtung; |
||
| 20 | extern int HoehenWert; |
||
| 21 | extern int SollHoehe; |
||
| 22 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
||
| 23 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
||
| 24 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
||
| 25 | extern volatile float NeutralAccZ; |
||
| 396 | hbuss | 26 | extern long Umschlag180Nick, Umschlag180Roll; |
| 492 | hbuss | 27 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| 513 | hbuss | 28 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| 1 | ingob | 29 | |
| 30 | void MotorRegler(void); |
||
| 31 | void SendMotorData(void); |
||
| 32 | void CalibrierMittelwert(void); |
||
| 33 | void Mittelwert(void); |
||
| 34 | void SetNeutral(void); |
||
| 304 | ingob | 35 | void Piep(unsigned char Anzahl); |
| 36 | extern void DefaultKonstanten(void); |
||
| 1 | ingob | 37 | |
| 304 | ingob | 38 | extern unsigned char h,m,s; |
| 39 | extern volatile unsigned char Timeout ; |
||
| 40 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
||
| 41 | extern volatile long IntegralNick,IntegralNick2; |
||
| 42 | extern volatile long IntegralRoll,IntegralRoll2; |
||
| 43 | extern volatile long Integral_Gier; |
||
| 44 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
||
| 45 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
||
| 46 | extern volatile long Mess_Integral_Gier; |
||
| 47 | extern volatile int DiffNick,DiffRoll; |
||
| 685 | killagreg | 48 | extern int Poti1, Poti2, Poti3, Poti4; |
| 304 | ingob | 49 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 50 | extern unsigned char MotorWert[5]; |
||
| 51 | extern volatile unsigned char SenderOkay; |
||
| 52 | extern int StickNick,StickRoll,StickGier; |
||
| 53 | extern char MotorenEin; |
||
| 1 | ingob | 54 | |
| 499 | hbuss | 55 | #define STRUCT_PARAM_LAENGE 71 |
| 1 | ingob | 56 | struct mk_param_struct |
| 57 | { |
||
| 58 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
||
| 59 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
||
| 60 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
||
| 61 | unsigned char Luftdruck_D; // Wert : 0-250 |
||
| 62 | unsigned char MaxHoehe; // Wert : 0-32 |
||
| 63 | unsigned char Hoehe_P; // Wert : 0-32 |
||
| 64 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
||
| 65 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
||
| 66 | unsigned char Stick_P; // Wert : 1-6 |
||
| 67 | unsigned char Stick_D; // Wert : 0-64 |
||
| 68 | unsigned char Gier_P; // Wert : 1-20 |
||
| 69 | unsigned char Gas_Min; // Wert : 0-32 |
||
| 70 | unsigned char Gas_Max; // Wert : 33-250 |
||
| 71 | unsigned char GyroAccFaktor; // Wert : 1-64 |
||
| 72 | unsigned char KompassWirkung; // Wert : 0-32 |
||
| 73 | unsigned char Gyro_P; // Wert : 10-250 |
||
| 74 | unsigned char Gyro_I; // Wert : 0-250 |
||
| 75 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
||
| 76 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
||
| 77 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
||
| 78 | unsigned char UfoAusrichtung; // X oder + Formation |
||
| 79 | unsigned char I_Faktor; // Wert : 0-250 |
||
| 80 | unsigned char UserParam1; // Wert : 0-250 |
||
| 81 | unsigned char UserParam2; // Wert : 0-250 |
||
| 82 | unsigned char UserParam3; // Wert : 0-250 |
||
| 83 | unsigned char UserParam4; // Wert : 0-250 |
||
| 84 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
||
| 85 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
||
| 86 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
||
| 87 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
||
| 173 | holgerb | 88 | unsigned char ServoNickRefresh; // |
| 89 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
||
| 90 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
||
| 396 | hbuss | 91 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| 92 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
||
| 93 | unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
||
| 94 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
||
| 95 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
||
| 96 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
||
| 685 | killagreg | 97 | unsigned char Driftkomp; |
| 499 | hbuss | 98 | unsigned char DynamicStability; |
| 99 | unsigned char UserParam5; // Wert : 0-250 |
||
| 100 | unsigned char UserParam6; // Wert : 0-250 |
||
| 101 | unsigned char UserParam7; // Wert : 0-250 |
||
| 102 | unsigned char UserParam8; // Wert : 0-250 |
||
| 103 | |||
| 173 | holgerb | 104 | //------------------------------------------------ |
| 105 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
||
| 106 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
||
| 107 | unsigned char Reserved[4]; |
||
| 1 | ingob | 108 | char Name[12]; |
| 685 | killagreg | 109 | }; |
| 1 | ingob | 110 | |
| 396 | hbuss | 111 | |
| 173 | holgerb | 112 | /* |
| 113 | unsigned char ServoNickMax; // Wert : 0-250 |
||
| 114 | unsigned char ServoNickRefresh; // |
||
| 115 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
||
| 116 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
||
| 117 | //------------------------------------------------ |
||
| 118 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
||
| 119 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
||
| 120 | unsigned char Reserved[4]; |
||
| 121 | char Name[12]; |
||
| 122 | */ |
||
| 685 | killagreg | 123 | |
| 1 | ingob | 124 | extern struct mk_param_struct EE_Parameter; |
| 125 | |||
| 126 | extern unsigned char Parameter_Luftdruck_D; |
||
| 127 | extern unsigned char Parameter_MaxHoehe; |
||
| 128 | extern unsigned char Parameter_Hoehe_P; |
||
| 129 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
||
| 130 | extern unsigned char Parameter_KompassWirkung; |
||
| 131 | extern unsigned char Parameter_Gyro_P; |
||
| 132 | extern unsigned char Parameter_Gyro_I; |
||
| 133 | extern unsigned char Parameter_Gier_P; |
||
| 134 | extern unsigned char Parameter_ServoNickControl; |
||
| 396 | hbuss | 135 | extern unsigned char Parameter_AchsKopplung1; |
| 136 | extern unsigned char Parameter_AchsGegenKopplung1; |
||
| 1 | ingob | 137 | |
| 396 | hbuss | 138 | |
| 1 | ingob | 139 | #endif //_FC_H |
| 140 |