| 19,7 → 19,7 |
|---|
| uint8_t CompassYawEffect; |
| uint8_t Gyro_P; |
| uint8_t Gyro_I; |
| uint8_t Gier_P; |
| uint8_t Yaw_P; |
| uint8_t I_Factor; |
| uint8_t UserParam1; |
| uint8_t UserParam2; |
| 34,18 → 34,26 |
|---|
| uint8_t Yaw_PosFeedback; |
| uint8_t Yaw_NegFeedback; |
| uint8_t DynamicStability; |
| uint8_t ExternalControl; |
| uint8_t J16Timing; |
| uint8_t J17Timing; |
| uint8_t NaviGpsModeControl; |
| uint8_t NaviGpsGain; |
| uint8_t NaviGpsP; |
| uint8_t NaviGpsI; |
| uint8_t NaviGpsD; |
| uint8_t NaviGpsACC; |
| |
| } fc_param_t; |
| |
| extern fc_param_t FCParam; |
| |
| extern volatile uint16_t I2CTimeout; |
| |
| // attitude |
| extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw; |
| extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
| extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
| extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
| |
| // offsets |
| extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
| extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
| extern volatile int16_t NeutralAccX, NeutralAccY; |
| extern volatile float NeutralAccZ; |
| |
| 65,7 → 73,7 |
|---|
| extern int SetPointHeight; |
| |
| // mean accelerations |
| extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
| extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
| |
| // acceleration send to navi board |
| extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
| 100,10 → 108,22 |
|---|
| |
| // current stick elongations |
| extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
| extern uint8_t MotorsOn; |
| extern uint8_t EmergencyLanding; |
| |
| |
| extern uint16_t Model_Is_Flying; |
| |
| |
| // MKFlags |
| #define MKFLAG_MOTOR_RUN 0x01 |
| #define MKFLAG_FLY 0x02 |
| #define MKFLAG_CALIBRATE 0x04 |
| #define MKFLAG_START 0x08 |
| #define MKFLAG_EMERGENCY_LANDING 0x10 |
| #define MKFLAG_RESERVE1 0x20 |
| #define MKFLAG_RESERVE2 0x40 |
| #define MKFLAG_RESERVE3 0x80 |
| |
| volatile extern uint8_t MKFlags; |
| |
| #endif //_FC_H |
| |