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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 51 | osiair | 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 | |||
| 8 | extern volatile unsigned char Timeout; |
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| 9 | extern unsigned char Sekunde,Minute; |
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| 10 | extern volatile long IntegralNick,IntegralNick2; |
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| 11 | extern volatile long IntegralRoll,IntegralRoll2; |
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| 12 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
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| 13 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 14 | extern volatile long Mess_Integral_Hoch; |
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| 15 | extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
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| 16 | extern volatile int KompassValue; |
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| 17 | extern volatile int KompassStartwert; |
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| 18 | extern volatile int KompassRichtung; |
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| 19 | extern int HoehenWert; |
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| 20 | extern int SollHoehe; |
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| 21 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
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| 22 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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| 23 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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| 24 | extern volatile float NeutralAccZ; |
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| 25 | |||
| 26 | |||
| 27 | void MotorRegler(void); |
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| 28 | void SendMotorData(void); |
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| 29 | void CalibrierMittelwert(void); |
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| 30 | void Mittelwert(void); |
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| 31 | void SetNeutral(void); |
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| 32 | |||
| 33 | unsigned char h,m,s; |
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| 34 | volatile unsigned char Timeout ; |
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| 35 | unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 36 | volatile long IntegralNick,IntegralNick2; |
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| 37 | volatile long IntegralRoll,IntegralRoll2; |
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| 38 | volatile long Integral_Gier; |
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| 39 | volatile long Mess_IntegralNick,Mess_IntegralNick2; |
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| 40 | volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 41 | volatile long Mess_Integral_Gier; |
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| 42 | volatile int DiffNick,DiffRoll; |
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| 43 | extern int Poti1, Poti2, Poti3, Poti4; |
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| 44 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
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| 45 | unsigned char MotorWert[5]; |
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| 46 | volatile unsigned char SenderOkay; |
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| 47 | int StickNick,StickRoll,StickGier; |
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| 48 | char MotorenEin; |
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| 49 | extern void DefaultKonstanten(void); |
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| 50 | |||
| 51 | #define STRUCT_PARAM_LAENGE 58 |
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| 52 | struct mk_param_struct |
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| 53 | { |
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| 54 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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| 55 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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| 56 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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| 57 | unsigned char Luftdruck_D; // Wert : 0-250 |
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| 58 | unsigned char MaxHoehe; // Wert : 0-32 |
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| 59 | unsigned char Hoehe_P; // Wert : 0-32 |
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| 60 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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| 61 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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| 62 | unsigned char Stick_P; // Wert : 1-6 |
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| 63 | unsigned char Stick_D; // Wert : 0-64 |
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| 64 | unsigned char Gier_P; // Wert : 1-20 |
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| 65 | unsigned char Gas_Min; // Wert : 0-32 |
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| 66 | unsigned char Gas_Max; // Wert : 33-250 |
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| 67 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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| 68 | unsigned char KompassWirkung; // Wert : 0-32 |
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| 69 | unsigned char Gyro_P; // Wert : 10-250 |
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| 70 | unsigned char Gyro_I; // Wert : 0-250 |
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| 71 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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| 72 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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| 73 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 74 | unsigned char UfoAusrichtung; // X oder + Formation |
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| 75 | unsigned char I_Faktor; // Wert : 0-250 |
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| 76 | unsigned char UserParam1; // Wert : 0-250 |
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| 77 | unsigned char UserParam2; // Wert : 0-250 |
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| 78 | unsigned char UserParam3; // Wert : 0-250 |
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| 79 | unsigned char UserParam4; // Wert : 0-250 |
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| 80 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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| 81 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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| 82 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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| 83 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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| 84 | unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
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| 85 | unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
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| 86 | unsigned char Reserved[7]; |
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| 87 | char Name[12]; |
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| 88 | }; |
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| 89 | |||
| 90 | |||
| 91 | |||
| 92 | |||
| 93 | extern struct mk_param_struct EE_Parameter; |
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| 94 | |||
| 95 | extern unsigned char Parameter_Luftdruck_D; |
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| 96 | extern unsigned char Parameter_MaxHoehe; |
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| 97 | extern unsigned char Parameter_Hoehe_P; |
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| 98 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 99 | extern unsigned char Parameter_KompassWirkung; |
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| 100 | extern unsigned char Parameter_Gyro_P; |
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| 101 | extern unsigned char Parameter_Gyro_I; |
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| 102 | extern unsigned char Parameter_Gier_P; |
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| 103 | extern unsigned char Parameter_ServoNickControl; |
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| 104 | |||
| 105 | #endif //_FC_H |
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| 106 |