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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | |||
| 5 | #ifndef _FC_H |
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| 6 | #define _FC_H |
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| 7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
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| 8 | //#define GIER_GRAD_FAKTOR 1160L |
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| 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
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| 10 | #define STICK_GAIN 4 |
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| 11 | |||
| 12 | #define FCFLAG_MOTOR_RUN 0x01 |
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| 13 | #define FCFLAG_FLY 0x02 |
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| 14 | #define FCFLAG_CALIBRATE 0x04 |
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| 15 | #define FCFLAG_START 0x08 |
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| 16 | #define FCFLAG_NOTLANDUNG 0x10 |
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| 17 | #define FCFLAG_LOWBAT 0x20 |
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| 18 | #define FCFLAG_SPI_RX_ERR 0x40 |
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| 19 | #define FCFLAG_I2CERR 0x80 |
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| 20 | |||
| 21 | #define Poti1 Poti[0] |
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| 22 | #define Poti2 Poti[1] |
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| 23 | #define Poti3 Poti[2] |
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| 24 | #define Poti4 Poti[3] |
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| 25 | #define Poti5 Poti[4] |
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| 26 | #define Poti6 Poti[5] |
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| 27 | #define Poti7 Poti[6] |
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| 28 | #define Poti8 Poti[7] |
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| 29 | |||
| 30 | |||
| 31 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
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| 32 | |||
| 33 | extern volatile unsigned char FCFlags; |
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| 34 | extern volatile unsigned int I2CTimeout; |
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| 35 | extern unsigned char Sekunde,Minute; |
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| 36 | extern unsigned int BaroExpandActive; |
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| 37 | extern long IntegralNick,IntegralNick2; |
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| 38 | extern long IntegralRoll,IntegralRoll2; |
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| 39 | //extern int IntegralNick,IntegralNick2; |
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| 40 | //extern int IntegralRoll,IntegralRoll2; |
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| 41 | extern unsigned char Poti[9]; |
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| 42 | |||
| 43 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
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| 44 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 45 | extern long IntegralAccNick,IntegralAccRoll; |
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| 46 | extern volatile long Mess_Integral_Hoch; |
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| 47 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
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| 48 | extern int KompassValue; |
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| 49 | extern int KompassStartwert; |
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| 50 | extern int KompassRichtung; |
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| 51 | extern int TrimNick, TrimRoll; |
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| 52 | extern long ErsatzKompass; |
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| 53 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 54 | extern long HoehenWert; |
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| 55 | extern long SollHoehe; |
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| 56 | extern int MesswertNick,MesswertRoll,MesswertGier; |
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| 57 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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| 58 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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| 59 | extern unsigned char HoehenReglerAktiv; |
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| 60 | extern volatile float NeutralAccZ; |
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| 61 | extern long Umschlag180Nick, Umschlag180Roll; |
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| 62 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
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| 63 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
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| 64 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
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| 65 | extern unsigned int modell_fliegt; |
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| 66 | void MotorRegler(void); |
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| 67 | void SendMotorData(void); |
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| 68 | void CalibrierMittelwert(void); |
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| 69 | void Mittelwert(void); |
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| 70 | void SetNeutral(void); |
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| 71 | void Piep(unsigned char Anzahl, unsigned int dauer); |
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| 72 | |||
| 73 | extern unsigned char h,m,s; |
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| 74 | extern volatile unsigned char Timeout ; |
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| 75 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 76 | extern int DiffNick,DiffRoll; |
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| 77 | //extern int Poti1, Poti2, Poti3, Poti4; |
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| 78 | extern volatile unsigned char SenderOkay; |
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| 79 | extern volatile unsigned char SenderRSSI; |
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| 80 | extern int StickNick,StickRoll,StickGier; |
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| 81 | extern char MotorenEin; |
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| 82 | extern void DefaultKonstanten1(void); |
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| 83 | extern void DefaultKonstanten2(void); |
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| 84 | extern void DefaultKonstanten3(void); |
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| 85 | extern void DefaultStickMapping(void); |
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| 86 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
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| 87 | |||
| 88 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 89 | struct mk_param_struct |
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| 90 | { |
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| 91 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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| 92 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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| 93 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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| 94 | unsigned char Luftdruck_D; // Wert : 0-250 |
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| 95 | unsigned char MaxHoehe; // Wert : 0-32 |
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| 96 | unsigned char Hoehe_P; // Wert : 0-32 |
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| 97 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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| 98 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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| 99 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
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| 100 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
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| 101 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
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| 102 | unsigned char Stick_P; // Wert : 1-6 |
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| 103 | unsigned char Stick_D; // Wert : 0-64 |
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| 104 | unsigned char Gier_P; // Wert : 1-20 |
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| 105 | unsigned char Gas_Min; // Wert : 0-32 |
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| 106 | unsigned char Gas_Max; // Wert : 33-250 |
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| 107 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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| 108 | unsigned char KompassWirkung; // Wert : 0-32 |
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| 109 | unsigned char Gyro_P; // Wert : 10-250 |
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| 110 | unsigned char Gyro_I; // Wert : 0-250 |
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| 111 | unsigned char Gyro_D; // Wert : 0-250 |
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| 112 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
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| 113 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
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| 114 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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| 115 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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| 116 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 117 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
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| 118 | unsigned char I_Faktor; // Wert : 0-250 |
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| 119 | unsigned char UserParam1; // Wert : 0-250 |
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| 120 | unsigned char UserParam2; // Wert : 0-250 |
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| 121 | unsigned char UserParam3; // Wert : 0-250 |
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| 122 | unsigned char UserParam4; // Wert : 0-250 |
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| 123 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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| 124 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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| 125 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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| 126 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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| 127 | //--- Seit V0.75 |
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| 128 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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| 129 | unsigned char ServoRollComp; // Wert : 0-250 |
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| 130 | unsigned char ServoRollMin; // Wert : 0-250 |
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| 131 | unsigned char ServoRollMax; // Wert : 0-250 |
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| 132 | //--- |
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| 133 | unsigned char ServoNickRefresh; // Speed of the Servo |
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| 134 | unsigned char Servo3; // Value or mapping of the Servo Output |
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| 135 | unsigned char Servo4; // Value or mapping of the Servo Output |
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| 136 | unsigned char Servo5; // Value or mapping of the Servo Output |
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| 137 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 138 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 139 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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| 140 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 141 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 142 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 143 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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| 144 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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| 145 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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| 146 | unsigned char Driftkomp; |
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| 147 | unsigned char DynamicStability; |
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| 148 | unsigned char UserParam5; // Wert : 0-250 |
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| 149 | unsigned char UserParam6; // Wert : 0-250 |
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| 150 | unsigned char UserParam7; // Wert : 0-250 |
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| 151 | unsigned char UserParam8; // Wert : 0-250 |
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| 152 | //---Output --------------------------------------------- |
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| 153 | unsigned char J16Bitmask; // for the J16 Output |
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| 154 | unsigned char J16Timing; // for the J16 Output |
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| 155 | unsigned char J17Bitmask; // for the J17 Output |
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| 156 | unsigned char J17Timing; // for the J17 Output |
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| 157 | // seit version V0.75c |
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| 158 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
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| 159 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
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| 160 | //---NaviCtrl--------------------------------------------- |
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| 161 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
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| 162 | unsigned char NaviGpsGain; |
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| 163 | unsigned char NaviGpsP; |
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| 164 | unsigned char NaviGpsI; |
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| 165 | unsigned char NaviGpsD; |
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| 166 | unsigned char NaviGpsPLimit; |
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| 167 | unsigned char NaviGpsILimit; |
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| 168 | unsigned char NaviGpsDLimit; |
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| 169 | unsigned char NaviGpsACC; |
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| 170 | unsigned char NaviGpsMinSat; |
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| 171 | unsigned char NaviStickThreshold; |
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| 172 | unsigned char NaviWindCorrection; |
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| 173 | unsigned char NaviSpeedCompensation; |
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| 174 | unsigned char NaviOperatingRadius; |
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| 175 | unsigned char NaviAngleLimitation; |
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| 176 | unsigned char NaviPH_LoginTime; |
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| 177 | //---Ext.Ctrl--------------------------------------------- |
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| 178 | unsigned char ExternalControl; // for serial Control |
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| 179 | //------------------------------------------------ |
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| 180 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 181 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 182 | unsigned char ExtraConfig; // bitcodiert |
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| 183 | char Name[12]; |
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| 184 | }; |
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| 185 | |||
| 186 | struct |
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| 187 | { |
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| 188 | char Revision; |
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| 189 | char Name[12]; |
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| 190 | signed char Motor[16][4]; |
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| 191 | } Mixer; |
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| 192 | |||
| 193 | extern struct mk_param_struct EE_Parameter; |
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| 194 | extern unsigned char Parameter_Luftdruck_D; |
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| 195 | extern unsigned char Parameter_MaxHoehe; |
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| 196 | extern unsigned char Parameter_Hoehe_P; |
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| 197 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 198 | extern unsigned char Parameter_KompassWirkung; |
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| 199 | extern unsigned char Parameter_Gyro_P; |
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| 200 | extern unsigned char Parameter_Gyro_I; |
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| 201 | extern unsigned char Parameter_Gier_P; |
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| 202 | extern unsigned char Parameter_ServoNickControl; |
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| 203 | extern unsigned char Parameter_ServoRollControl; |
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| 204 | extern unsigned char Parameter_AchsKopplung1; |
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| 205 | extern unsigned char Parameter_AchsKopplung2; |
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| 206 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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| 207 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
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| 208 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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| 209 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 210 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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| 211 | extern signed char MixerTable[MAX_MOTORS][4]; |
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| 212 | #endif //_FC_H |
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| 213 |