Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

#ifndef _FC_H

#define _FC_H

//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel

//#define GIER_GRAD_FAKTOR 1160L

extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel

#define STICK_GAIN 4

#define ACC_AMPLIFY    6

#define FCFLAG_MOTOR_RUN        0x01

#define FCFLAG_FLY              0x02

#define FCFLAG_CALIBRATE        0x04

#define FCFLAG_START            0x08

#define FCFLAG_NOTLANDUNG       0x10

#define FCFLAG_LOWBAT           0x20

#define FCFLAG_SPI_RX_ERR       0x40

#define FCFLAG_I2CERR           0x80

#define DEFEKT_G_NICK           0x01

#define DEFEKT_G_ROLL           0x02

#define DEFEKT_G_GIER           0x04

#define DEFEKT_A_NICK           0x08

#define DEFEKT_A_ROLL           0x10

#define DEFEKT_A_Z              0x20

#define DEFEKT_PRESSURE         0x40

#define DEFEKT_CAREFREE_ERR 0x80

#define DEFEKT_I2C              0x01

#define DEFEKT_BL_MISSING       0x02

#define DEFEKT_SPI_RX_ERR       0x04

#define DEFEKT_PPM_ERR          0x08

#define DEFEKT_MIXER_ERR    0x10

#define Poti1 Poti[0]

#define Poti2 Poti[1]

#define Poti3 Poti[2]

#define Poti4 Poti[3]

#define Poti5 Poti[4]

#define Poti6 Poti[5]

#define Poti7 Poti[6]

#define Poti8 Poti[7]

extern unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;

unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;

unsigned short MotorsTmax;

extern unsigned char updatemotors;

extern unsigned char loop1, loop2, loop3;

extern unsigned char settingdest;

extern unsigned char pos1, pos2, pos3, pos4;

extern int keynumber;

extern unsigned short CurrentOffset;///

extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;

extern volatile unsigned char FCFlags;

extern unsigned char Sekunde,Minute;

extern unsigned int BaroExpandActive;

extern long IntegralNick,IntegralNick2;

extern long IntegralRoll,IntegralRoll2;

//extern int IntegralNick,IntegralNick2;

//extern int IntegralRoll,IntegralRoll2;

extern unsigned char Poti[9];

extern long Mess_IntegralNick,Mess_IntegralNick2;

extern long Mess_IntegralRoll,Mess_IntegralRoll2;

extern long IntegralAccNick,IntegralAccRoll;

extern long SummeNick,SummeRoll;

extern volatile long Mess_Integral_Hoch;

extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;

extern int  KompassValue;

extern int  KompassStartwert;

extern int  KompassRichtung;

extern unsigned char ControlHeading;

extern int  TrimNick, TrimRoll;

extern long  ErsatzKompass;

extern int   ErsatzKompassInGrad; // Kompasswert in Grad

extern long HoehenWert;

extern long SollHoehe;

extern unsigned char CareFree;

extern int MesswertNick,MesswertRoll,MesswertGier;

extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;

extern unsigned int NeutralAccX, NeutralAccY;

extern unsigned char HoehenReglerAktiv;

extern int NeutralAccZ;

extern long Umschlag180Nick, Umschlag180Roll;

extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;

extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;

extern int NaviAccNick,NaviAccRoll,NaviCntAcc;

extern unsigned int modell_fliegt;

extern void MotorRegler(void);

extern void SendMotorData(void);

//void CalibrierMittelwert(void);

//void Mittelwert(void);

extern void SetNeutral(unsigned char AccAdjustment);

extern void Piep(unsigned char Anzahl, unsigned int dauer);

extern void CopyDebugValues(void);

extern unsigned char h,m,s;

extern volatile unsigned char Timeout ;

extern unsigned char CosinusNickWinkel, CosinusRollWinkel;

extern int  DiffNick,DiffRoll;

//extern int  Poti1, Poti2, Poti3, Poti4;

extern volatile unsigned char SenderOkay;

extern int StickNick,StickRoll,StickGier;

extern char MotorenEin;

extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;

extern char VarioCharacter;

extern int HoverGas;

extern int StickGas;

extern unsigned char Parameter_Luftdruck_D;

extern unsigned char Parameter_MaxHoehe;

extern unsigned char Parameter_Hoehe_P;

extern unsigned char Parameter_Hoehe_ACC_Wirkung;

extern unsigned char Parameter_KompassWirkung;

extern unsigned char Parameter_Gyro_P;

extern unsigned char Parameter_Gyro_I;

extern unsigned char Parameter_Gier_P;

extern unsigned char Parameter_ServoNickControl;

extern unsigned char Parameter_ServoRollControl;

extern unsigned char Parameter_AchsKopplung1;

extern unsigned char Parameter_AchsKopplung2;

//extern unsigned char Parameter_AchsGegenKopplung1;

extern unsigned char Parameter_J16Bitmask;             // for the J16 Output

extern unsigned char Parameter_J16Timing;              // for the J16 Output

extern unsigned char Parameter_J17Bitmask;             // for the J17 Output

extern unsigned char Parameter_J17Timing;              // for the J17 Output

extern signed char MixerTable[MAX_MOTORS][4];

#endif //_FC_H