| 0,0 → 1,136 |
|---|
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| |
| #ifndef _FC_H |
| #define _FC_H |
| |
| #include <inttypes.h> |
| |
| #define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
| #define STICK_GAIN 4 |
| |
| 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 Yaw_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 ServoNickControl; |
| uint8_t LoopGasLimit; |
| uint8_t Yaw_PosFeedback; |
| uint8_t Yaw_NegFeedback; |
| uint8_t DynamicStability; |
| uint8_t ExternalControl; |
| uint8_t J16Timing; |
| uint8_t J17Timing; |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| uint8_t NaviGpsModeControl; |
| uint8_t NaviGpsGain; |
| uint8_t NaviGpsP; |
| uint8_t NaviGpsI; |
| uint8_t NaviGpsD; |
| uint8_t NaviGpsACC; |
| uint8_t NaviOperatingRadius; |
| uint8_t NaviWindCorrection; |
| uint8_t NaviSpeedCompensation; |
| #endif |
| int8_t Kalman_K; |
| int8_t Kalman_MaxDrift; |
| int8_t Kalman_MaxFusion; |
| } fc_param_t; |
| |
| extern fc_param_t FCParam; |
| |
| // attitude |
| extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
| extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
| |
| // offsets |
| extern int16_t AdNeutralNick, 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; |
| extern volatile uint8_t CompassCalState; |
| extern int32_t YawGyroHeading; |
| extern int16_t YawGyroHeadingInDeg; |
| |
| // hight control |
| extern int ReadingHeight; |
| extern int SetPointHeight; |
| |
| // mean accelerations |
| extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
| |
| // acceleration send to navi board |
| extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
| |
| |
| // looping params |
| extern long TurnOver180Nick, TurnOver180Roll; |
| |
| // external control |
| extern int16_t ExternStickNick, 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_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
| |
| // current stick values |
| extern int16_t StickNick; |
| extern int16_t StickRoll; |
| extern int16_t StickYaw; |
| extern int16_t GPS_Nick; |
| extern int16_t GPS_Roll; |
| |
| // current stick elongations |
| extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
| |
| |
| 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 |
| |