| 0,0 → 1,91 |
|---|
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| |
| #ifndef _FC_H |
| #define _FC_H |
| |
| typedef struct |
| { |
| uint8_t Height_D; |
| uint8_t MaxHeight; |
| uint8_t Height_P; |
| uint8_t Height_ACC_Effect; |
| uint8_t CompassYawEffect; |
| uint8_t Gyro_P; |
| uint8_t Gyro_I; |
| uint8_t Gier_P; |
| uint8_t I_Factor; |
| uint8_t UserParam1; |
| uint8_t UserParam2; |
| uint8_t UserParam3; |
| uint8_t UserParam4; |
| uint8_t UserParam5; |
| uint8_t UserParam6; |
| uint8_t UserParam7; |
| uint8_t UserParam8; |
| uint8_t ServoPitchControl; |
| uint8_t LoopThrustLimit; |
| uint8_t Yaw_PosFeedback; |
| uint8_t Yaw_NegFeedback; |
| uint8_t DynamicStability; |
| } fc_param_t; |
| |
| extern fc_param_t FCParam; |
| |
| extern volatile uint16_t I2CTimeout; |
| |
| // attitude |
| extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
| extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| |
| // offsets |
| extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
| extern volatile int16_t NeutralAccX, NeutralAccY; |
| extern volatile float NeutralAccZ; |
| |
| |
| extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
| |
| // compass navigation |
| extern volatile int16_t CompassHeading; |
| extern volatile int16_t CompassCourse; |
| extern volatile int16_t CompassOffCourse; |
| |
| // hight control |
| extern int ReadingHeight; |
| extern int SetPointHeight; |
| |
| // mean accelarations |
| extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| |
| // looping params |
| extern long TurnOver180Pitch, TurnOver180Roll; |
| |
| // external control |
| extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
| |
| |
| void MotorControl(void); |
| void SendMotorData(void); |
| void CalibMean(void); |
| void Mean(void); |
| void SetNeutral(void); |
| void Beep(uint8_t numbeeps); |
| |
| |
| extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| |
| // setpoints for motors |
| extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; //used by twimaster isr |
| |
| // current stick values |
| extern int16_t StickPitch, StickRoll, StickYaw; |
| // current stick elongations |
| extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
| extern uint8_t MotorsOn; |
| extern uint8_t EmergencyLanding; |
| |
| |
| #endif //_FC_H |
| |