| 29,8 → 29,8 |
|---|
| uint8_t UserParam6; |
| uint8_t UserParam7; |
| uint8_t UserParam8; |
| uint8_t ServoPitchControl; |
| uint8_t LoopThrustLimit; |
| uint8_t ServoNickControl; |
| uint8_t LoopGasLimit; |
| uint8_t Yaw_PosFeedback; |
| uint8_t Yaw_NegFeedback; |
| uint8_t DynamicStability; |
| 41,11 → 41,11 |
|---|
| extern volatile uint16_t I2CTimeout; |
| |
| // attitude |
| extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
| extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw; |
| extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
| |
| // offsets |
| extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
| extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
| extern volatile int16_t NeutralAccX, NeutralAccY; |
| extern volatile float NeutralAccZ; |
| |
| 65,17 → 65,17 |
|---|
| extern int SetPointHeight; |
| |
| // mean accelerations |
| extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
| |
| // acceleration send to navi board |
| extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc; |
| extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
| |
| |
| // looping params |
| extern long TurnOver180Pitch, TurnOver180Roll; |
| extern long TurnOver180Nick, TurnOver180Roll; |
| |
| // external control |
| extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
| extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
| |
| |
| void MotorControl(void); |
| 92,14 → 92,14 |
|---|
| extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
| |
| // current stick values |
| extern int16_t StickPitch; |
| extern int16_t StickNick; |
| extern int16_t StickRoll; |
| extern int16_t StickYaw; |
| extern int16_t GPS_Pitch; |
| extern int16_t GPS_Nick; |
| extern int16_t GPS_Roll; |
| |
| // current stick elongations |
| extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
| extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
| extern uint8_t MotorsOn; |
| extern uint8_t EmergencyLanding; |
| extern uint16_t Model_Is_Flying; |