| 6,47 → 6,47 |
|---|
| #define _FC_H |
| |
| extern volatile unsigned int I2CTimeout; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralPitch,IntegralPitch2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2; |
| extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2; |
| extern volatile long IntegralAccPitch,IntegralAccRoll; |
| extern volatile long Reading_Integral_Top; |
| extern volatile long Integral_Yaw,Reading_Integral_Yaw,Reading_Integral_Yaw2; |
| extern volatile int CompassHeading; |
| extern volatile int CompassCourse; |
| extern volatile int CompassOffCourse; |
| extern int ReadingHight; |
| extern int SetPointHight; |
| extern volatile int16_t ReadingPitch,ReadingRoll,ReadingYaw; |
| extern volatile int AdNeutralPitch,AdNeutralRoll,AdNeutralYaw, Mean_AccPitch, Mean_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mean_AccTop; |
| extern volatile float NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern long TurnOver180Pitch, TurnOver180Roll; |
| extern signed int ExternStickPitch,ExternStickRoll,ExternStickYaw; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void CalibMean(void); |
| void Mean(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralPitch,IntegralPitch2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Gier; |
| extern volatile int DiffNick,DiffRoll; |
| extern volatile long Integral_Yaw; |
| extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2; |
| extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2; |
| extern volatile long Reading_Integral_Yaw; |
| extern volatile int DiffPitch,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern volatile unsigned char Motor_Front,Motor_Rear,Motor_Right,Motor_Left, Count; |
| extern unsigned char MotorValue[5]; |
| extern int StickPitch,StickRoll,StickYaw; |
| extern char MotorsOn; |
| |
| |
| |
| 54,11 → 54,11 |
|---|
| 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_CompassYawEffect; |
| 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_ServoPitchControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| |