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/*#######################################################################################
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Flight Control
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#######################################################################################*/
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#ifndef _FC_H
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#define _FC_H
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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1160L
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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#define STICK_GAIN 4
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#define ACC_AMPLIFY    6
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#define FCFLAG_MOTOR_RUN        0x01
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#define FCFLAG_FLY              0x02
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#define FCFLAG_CALIBRATE        0x04
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#define FCFLAG_START            0x08
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_SPI_RX_ERR       0x40
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#define FCFLAG_I2CERR           0x80
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#define DEFEKT_G_NICK           0x01
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#define DEFEKT_G_ROLL           0x02
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#define DEFEKT_G_GIER           0x04
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#define DEFEKT_A_NICK           0x08
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#define DEFEKT_A_ROLL           0x10
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#define DEFEKT_A_Z              0x20
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#define DEFEKT_PRESSURE         0x40
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#define DEFEKT_CAREFREE_ERR 0x80
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#define DEFEKT_I2C              0x01
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#define DEFEKT_BL_MISSING       0x02
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#define DEFEKT_SPI_RX_ERR       0x04
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#define DEFEKT_PPM_ERR          0x08
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#define DEFEKT_MIXER_ERR    0x10
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#define Poti1 Poti[0]
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#define Poti2 Poti[1]
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#define Poti3 Poti[2]
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#define Poti4 Poti[3]
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#define Poti5 Poti[4]
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#define Poti6 Poti[5]
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#define Poti7 Poti[6]
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#define Poti8 Poti[7]
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extern volatile unsigned char FCFlags;
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extern unsigned char Sekunde,Minute;
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extern unsigned int BaroExpandActive;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralRoll,IntegralRoll2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralRoll,IntegralRoll2;
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extern unsigned char Poti[9];
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extern long Mess_IntegralNick,Mess_IntegralNick2;
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extern long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern long IntegralAccNick,IntegralAccRoll;
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extern long SummeNick,SummeRoll;
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extern volatile long Mess_Integral_Hoch;
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extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern int  KompassValue;
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extern int  KompassStartwert;
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extern int  KompassRichtung;
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extern unsigned char ControlHeading;
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extern int  TrimNick, TrimRoll;
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extern long  ErsatzKompass;
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extern int   ErsatzKompassInGrad; // Kompasswert in Grad
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extern long HoehenWert;
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extern long SollHoehe;
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extern unsigned char CareFree;
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extern int MesswertNick,MesswertRoll,MesswertGier;
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extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern unsigned int NeutralAccX, NeutralAccY;
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extern unsigned char HoehenReglerAktiv;
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extern int NeutralAccZ;
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extern long Umschlag180Nick, Umschlag180Roll;
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extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
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extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
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extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
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extern unsigned int modell_fliegt;
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extern void MotorRegler(void);
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extern void SendMotorData(void);
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//void CalibrierMittelwert(void);
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//void Mittelwert(void);
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extern void SetNeutral(unsigned char AccAdjustment);
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extern void Piep(unsigned char Anzahl, unsigned int dauer);
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extern void CopyDebugValues(void);
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extern unsigned char h,m,s;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern int  DiffNick,DiffRoll;
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//extern int  Poti1, Poti2, Poti3, Poti4;
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extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
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extern char VarioCharacter;
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extern int HoverGas;
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extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_MaxHoehe;
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extern unsigned char Parameter_Hoehe_P;
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extern unsigned char Parameter_Hoehe_ACC_Wirkung;
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extern unsigned char Parameter_KompassWirkung;
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extern unsigned char Parameter_Gyro_P;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_ServoRollControl;
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extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsKopplung2;
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//extern unsigned char Parameter_AchsGegenKopplung1;
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extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
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extern unsigned char Parameter_J16Timing;              // for the J16 Output
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extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
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extern unsigned char Parameter_J17Timing;              // for the J17 Output
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extern signed char MixerTable[MAX_MOTORS][4];
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#endif //_FC_H
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