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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | 4 | ||
5 | #ifndef _FC_H |
5 | #ifndef _FC_H |
6 | #define _FC_H |
6 | #define _FC_H |
7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
8 | //#define GIER_GRAD_FAKTOR 1160L |
8 | //#define GIER_GRAD_FAKTOR 1160L |
9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
10 | #define STICK_GAIN 4 |
10 | #define STICK_GAIN 4 |
11 | #define ACC_AMPLIFY 6 |
11 | #define ACC_AMPLIFY 6 |
12 | 12 | ||
13 | // FC_StatusFlags |
13 | // FC_StatusFlags |
14 | #define FC_STATUS_MOTOR_RUN 0x01 |
14 | #define FC_STATUS_MOTOR_RUN 0x01 |
15 | #define FC_STATUS_FLY 0x02 |
15 | #define FC_STATUS_FLY 0x02 |
16 | #define FC_STATUS_CALIBRATE 0x04 |
16 | #define FC_STATUS_CALIBRATE 0x04 |
17 | #define FC_STATUS_START 0x08 |
17 | #define FC_STATUS_START 0x08 |
18 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
18 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
19 | #define FC_STATUS_LOWBAT 0x20 |
19 | #define FC_STATUS_LOWBAT 0x20 |
20 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
20 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
21 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
21 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
22 | 22 | ||
23 | // FC_StatusFlags2 |
23 | // FC_StatusFlags2 |
24 | #define FC_STATUS2_CAREFREE 0x01 |
24 | #define FC_STATUS2_CAREFREE 0x01 |
25 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
25 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
26 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
26 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
27 | 27 | ||
28 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
28 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
29 | extern void ParameterZuordnung(void); |
29 | extern void ParameterZuordnung(void); |
30 | 30 | ||
31 | #define Poti1 Poti[0] |
31 | #define Poti1 Poti[0] |
32 | #define Poti2 Poti[1] |
32 | #define Poti2 Poti[1] |
33 | #define Poti3 Poti[2] |
33 | #define Poti3 Poti[2] |
34 | #define Poti4 Poti[3] |
34 | #define Poti4 Poti[3] |
35 | #define Poti5 Poti[4] |
35 | #define Poti5 Poti[4] |
36 | #define Poti6 Poti[5] |
36 | #define Poti6 Poti[5] |
37 | #define Poti7 Poti[6] |
37 | #define Poti7 Poti[6] |
38 | #define Poti8 Poti[7] |
38 | #define Poti8 Poti[7] |
39 | 39 | ||
40 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
40 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
41 | #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
41 | #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
42 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
42 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
43 | #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
43 | #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
- | 44 | ||
- | 45 | /// MartinW; added vars |
|
- | 46 | extern unsigned char Motors[8]; |
|
- | 47 | unsigned char Motorsmax[8]; |
|
- | 48 | unsigned short MotorsTmax; |
|
- | 49 | extern unsigned char updatemotors; |
|
- | 50 | extern unsigned char loop1, loop2, loop3; |
|
- | 51 | extern unsigned char settingdest; |
|
- | 52 | extern unsigned char pos1, pos2, pos3, pos4; |
|
- | 53 | extern int keynumber; |
|
- | 54 | extern unsigned short CurrentOffset;/// |
|
- | 55 | extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4; |
|
- | 56 | ||
- | 57 | extern int degreeold; |
|
- | 58 | extern int degreedivold; |
|
- | 59 | extern int degreediv; |
|
- | 60 | extern unsigned int panograd; |
|
- | 61 | extern unsigned char panotrigger; |
|
- | 62 | extern int StickGas; |
|
- | 63 | extern unsigned char calibration_done; |
|
- | 64 | /// MartinW; added vars |
|
- | 65 | ||
44 | 66 | ||
45 | extern unsigned char Sekunde,Minute; |
67 | extern unsigned char Sekunde,Minute; |
46 | extern unsigned int BaroExpandActive; |
68 | extern unsigned int BaroExpandActive; |
47 | extern long IntegralNick,IntegralNick2; |
69 | extern long IntegralNick,IntegralNick2; |
48 | extern long IntegralRoll,IntegralRoll2; |
70 | extern long IntegralRoll,IntegralRoll2; |
49 | //extern int IntegralNick,IntegralNick2; |
71 | //extern int IntegralNick,IntegralNick2; |
50 | //extern int IntegralRoll,IntegralRoll2; |
72 | //extern int IntegralRoll,IntegralRoll2; |
51 | extern unsigned char Poti[9]; |
73 | extern unsigned char Poti[9]; |
52 | 74 | ||
53 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
75 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
54 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
76 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
55 | extern long IntegralAccNick,IntegralAccRoll; |
77 | extern long IntegralAccNick,IntegralAccRoll; |
56 | extern long SummeNick,SummeRoll; |
78 | extern long SummeNick,SummeRoll; |
57 | extern volatile long Mess_Integral_Hoch; |
79 | extern volatile long Mess_Integral_Hoch; |
58 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
80 | //extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
- | 81 | extern long Integral_Gier,Mess_Integral_Gier;/// |
|
59 | extern int KompassValue; |
82 | extern int KompassValue; |
60 | extern int KompassSollWert; |
83 | extern int KompassSollWert; |
61 | extern int KompassRichtung; |
84 | extern int KompassRichtung; |
62 | extern char CalculateCompassTimer; |
85 | extern char CalculateCompassTimer; |
63 | extern unsigned char KompassFusion; |
86 | extern unsigned char KompassFusion; |
64 | extern unsigned char ControlHeading; |
87 | extern unsigned char ControlHeading; |
65 | extern int TrimNick, TrimRoll; |
88 | extern int TrimNick, TrimRoll; |
66 | extern long ErsatzKompass; |
89 | extern long ErsatzKompass; |
67 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
90 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
68 | extern long HoehenWert; |
91 | extern long HoehenWert; |
69 | extern long SollHoehe; |
92 | extern long SollHoehe; |
70 | extern long FromNC_AltitudeSetpoint; |
93 | extern long FromNC_AltitudeSetpoint; |
71 | extern unsigned char FromNC_AltitudeSpeed; |
94 | extern unsigned char FromNC_AltitudeSpeed; |
72 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
95 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
73 | extern unsigned char CareFree; |
96 | extern unsigned char CareFree; |
74 | extern int MesswertNick,MesswertRoll,MesswertGier; |
97 | extern int MesswertNick,MesswertRoll,MesswertGier; |
75 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
98 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
76 | extern unsigned int NeutralAccX, NeutralAccY; |
99 | extern unsigned int NeutralAccX, NeutralAccY; |
77 | extern unsigned char HoehenReglerAktiv; |
100 | extern unsigned char HoehenReglerAktiv; |
78 | extern int NeutralAccZ; |
101 | extern int NeutralAccZ; |
79 | extern long Umschlag180Nick, Umschlag180Roll; |
102 | extern long Umschlag180Nick, Umschlag180Roll; |
80 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
103 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
81 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
104 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
82 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
105 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
83 | extern unsigned int modell_fliegt; |
106 | extern unsigned int modell_fliegt; |
84 | extern void MotorRegler(void); |
107 | extern void MotorRegler(void); |
85 | extern void SendMotorData(void); |
108 | extern void SendMotorData(void); |
86 | //void CalibrierMittelwert(void); |
109 | //void CalibrierMittelwert(void); |
87 | //void Mittelwert(void); |
110 | //void Mittelwert(void); |
88 | extern void SetNeutral(unsigned char AccAdjustment); |
111 | extern void SetNeutral(unsigned char AccAdjustment); |
89 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
112 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
90 | extern void CopyDebugValues(void); |
113 | extern void CopyDebugValues(void); |
91 | 114 | ||
92 | extern unsigned char h,m,s; |
115 | extern unsigned char h,m,s; |
93 | extern int StickNick,StickRoll,StickGier,StickGas; |
116 | extern int StickNick,StickRoll,StickGier,StickGas; |
94 | extern volatile unsigned char Timeout ; |
117 | extern volatile unsigned char Timeout ; |
95 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
118 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
96 | extern int DiffNick,DiffRoll; |
119 | extern int DiffNick,DiffRoll; |
97 | //extern int Poti1, Poti2, Poti3, Poti4; |
120 | //extern int Poti1, Poti2, Poti3, Poti4; |
98 | extern volatile unsigned char SenderOkay; |
121 | extern volatile unsigned char SenderOkay; |
99 | extern int StickNick,StickRoll,StickGier; |
122 | extern int StickNick,StickRoll,StickGier; |
100 | extern char MotorenEin; |
123 | extern char MotorenEin; |
101 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
124 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
102 | extern char VarioCharacter; |
125 | extern char VarioCharacter; |
103 | extern signed int AltitudeSetpointTrimming; |
126 | extern signed int AltitudeSetpointTrimming; |
104 | extern signed char WaypointTrimming; |
127 | extern signed char WaypointTrimming; |
105 | extern int HoverGas; |
128 | extern int HoverGas; |
106 | extern unsigned char Parameter_Luftdruck_D; |
129 | extern unsigned char Parameter_Luftdruck_D; |
107 | extern unsigned char Parameter_MaxHoehe; |
130 | extern unsigned char Parameter_MaxHoehe; |
108 | extern unsigned char Parameter_Hoehe_P; |
131 | extern unsigned char Parameter_Hoehe_P; |
109 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
132 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
110 | extern unsigned char Parameter_KompassWirkung; |
133 | extern unsigned char Parameter_KompassWirkung; |
111 | extern unsigned char Parameter_Gyro_P; |
134 | extern unsigned char Parameter_Gyro_P; |
112 | extern unsigned char Parameter_Gyro_I; |
135 | extern unsigned char Parameter_Gyro_I; |
113 | extern unsigned char Parameter_Gier_P; |
136 | extern unsigned char Parameter_Gier_P; |
114 | extern unsigned char Parameter_ServoNickControl; |
137 | extern unsigned char Parameter_ServoNickControl; |
115 | extern unsigned char Parameter_ServoRollControl; |
138 | extern unsigned char Parameter_ServoRollControl; |
116 | extern unsigned char Parameter_AchsKopplung1; |
139 | extern unsigned char Parameter_AchsKopplung1; |
117 | extern unsigned char Parameter_AchsKopplung2; |
140 | extern unsigned char Parameter_AchsKopplung2; |
118 | //extern unsigned char Parameter_AchsGegenKopplung1; |
141 | //extern unsigned char Parameter_AchsGegenKopplung1; |
119 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
142 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
120 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
143 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
121 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
144 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
122 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
145 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
123 | extern unsigned char Parameter_GlobalConfig; |
146 | extern unsigned char Parameter_GlobalConfig; |
124 | extern unsigned char Parameter_ExtraConfig; |
147 | extern unsigned char Parameter_ExtraConfig; |
125 | extern signed char MixerTable[MAX_MOTORS][4]; |
148 | extern signed char MixerTable[MAX_MOTORS][4]; |
126 | extern const signed char sintab[31]; |
149 | extern const signed char sintab[31]; |
127 | #endif //_FC_H |
150 | #endif //_FC_H |
128 | 151 | ||
129 | 152 |