| 5,63 → 5,89 |
|---|
| #ifndef _FC_H |
| #define _FC_H |
| |
| extern volatile unsigned int I2CTimeout; |
| extern volatile long IntegralPitch,IntegralPitch2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| 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; |
| typedef struct |
| { |
| uint8_t AirPressure_D; |
| uint8_t MaxHight; |
| uint8_t Hight_P; |
| uint8_t Hight_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 LoopGasLimit; |
| uint8_t AchsKopplung1; |
| uint8_t AchsGegenKopplung1; |
| 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 ReadingPitch, ReadingRoll, ReadingYaw; |
| |
| // 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 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; |
| |
| // mean accelarations |
| extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| |
| // looping params |
| 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; |
| |
| // external control |
| extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
| |
| |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibMean(void); |
| void Mean(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| void Beep(uint8_t numbeeps); |
| |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout; |
| extern volatile long IntegralPitch,IntegralPitch2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| 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_Front,Motor_Rear,Motor_Right,Motor_Left, Count; |
| extern unsigned char MotorValue[5]; |
| extern int StickPitch,StickRoll,StickYaw; |
| extern char MotorsOn; |
| |
| //extern unsigned char h,m,s; |
| |
| extern int16_t Poti1, Poti2, Poti3, Poti4; |
| |
| 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_CompassYawEffect; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoPitchControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| // setpoints for motors |
| extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
| |
| extern int16_t StickPitch, StickRoll, StickYaw; |
| extern uint8_t MotorsOn; |
| |
| |
| |
| extern uint8_t Parameter_ServoPitchControl; |
| |
| |
| #endif //_FC_H |
| |