WebSVN - FlightCtrl - Diff - Rev 761 and 762 - /branches/V0.68d Code Redesign killagreg/fc.h


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
 
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 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 LoopThrustLimit;
        uint8_t Yaw_PosFeedback;
        uint8_t Yaw_NegFeedback;
        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 Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
 
// 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 ReadingHeight;
extern int SetPointHeight;
 
// mean accelarations
extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
 
// looping params
extern long TurnOver180Pitch, TurnOver180Roll;
 
// external control
extern int16_t ExternStickPitch, 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 StickPitch, StickRoll, StickYaw;
// current stick elongations
extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;
extern uint8_t MotorsOn;
extern uint8_t EmergencyLanding;
 
 
#endif //_FC_H
 
 

Rev 761	Rev 762
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		7
8	typedef struct	8	typedef struct
9	{	9	{
10	uint8_t Height_D;	10	uint8_t Height_D;
11	uint8_t MaxHeight;	11	uint8_t MaxHeight;
12	uint8_t Height_P;	12	uint8_t Height_P;
13	uint8_t Height_ACC_Effect;	13	uint8_t Height_ACC_Effect;
14	uint8_t CompassYawEffect;	14	uint8_t CompassYawEffect;
15	uint8_t Gyro_P;	15	uint8_t Gyro_P;
16	uint8_t Gyro_I;	16	uint8_t Gyro_I;
17	uint8_t Gier_P;	17	uint8_t Gier_P;
18	uint8_t I_Factor;	18	uint8_t I_Factor;
19	uint8_t UserParam1;	19	uint8_t UserParam1;
20	uint8_t UserParam2;	20	uint8_t UserParam2;
21	uint8_t UserParam3;	21	uint8_t UserParam3;
22	uint8_t UserParam4;	22	uint8_t UserParam4;
23	uint8_t UserParam5;	23	uint8_t UserParam5;
24	uint8_t UserParam6;	24	uint8_t UserParam6;
25	uint8_t UserParam7;	25	uint8_t UserParam7;
26	uint8_t UserParam8;	26	uint8_t UserParam8;
27	uint8_t ServoPitchControl;	27	uint8_t ServoPitchControl;
28	uint8_t LoopThrustLimit;	28	uint8_t LoopThrustLimit;
29	uint8_t Yaw_PosFeedback;	29	uint8_t Yaw_PosFeedback;
30	uint8_t Yaw_NegFeedback;	30	uint8_t Yaw_NegFeedback;
31	uint8_t DynamicStability;	31	uint8_t DynamicStability;
32	} fc_param_t;	32	} fc_param_t;
33		33
34	extern fc_param_t FCParam;	34	extern fc_param_t FCParam;
35		35
36	extern volatile uint16_t I2CTimeout;	36	extern volatile uint16_t I2CTimeout;
37		37
38	// attitude	38	// attitude
39	extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;	39	extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;
40	extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;	40	extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
41		41
42	// offsets	42	// offsets
43	extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw;	43	extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw;
44	extern volatile int16_t NeutralAccX, NeutralAccY;	44	extern volatile int16_t NeutralAccX, NeutralAccY;
45	extern volatile float NeutralAccZ;	45	extern volatile float NeutralAccZ;
46		46
47		47
48	extern volatile int32_t Reading_Integral_Top; // calculated in analog.c	48	extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
49		49
50	// compass navigation	50	// compass navigation
51	extern volatile int16_t CompassHeading;	51	extern volatile int16_t CompassHeading;
52	extern volatile int16_t CompassCourse;	52	extern volatile int16_t CompassCourse;
53	extern volatile int16_t CompassOffCourse;	53	extern volatile int16_t CompassOffCourse;
54		54
55	// hight control	55	// hight control
56	extern int ReadingHeight;	56	extern int ReadingHeight;
57	extern int SetPointHeight;	57	extern int SetPointHeight;
58		58
59	// mean accelarations	59	// mean accelarations
60	extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;	60	extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
61		61
62	// looping params	62	// looping params
63	extern long TurnOver180Pitch, TurnOver180Roll;	63	extern long TurnOver180Pitch, TurnOver180Roll;
64		64
65	// external control	65	// external control
66	extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw;	66	extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw;
67		67
68		68
69	void MotorControl(void);	69	void MotorControl(void);
70	void SendMotorData(void);	70	void SendMotorData(void);
71	void CalibMean(void);	71	void CalibMean(void);
72	void Mean(void);	72	void Mean(void);
73	void SetNeutral(void);	73	void SetNeutral(void);
74	void Beep(uint8_t numbeeps);	74	void Beep(uint8_t numbeeps);
75		75
76		76
77	extern int16_t Poti1, Poti2, Poti3, Poti4;	77	extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
78		78
79	// setpoints for motors	79	// setpoints for motors
80	extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr	80	extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
81		81
82	// current stick values	82	// current stick values
83	extern int16_t StickPitch, StickRoll, StickYaw;	83	extern int16_t StickPitch, StickRoll, StickYaw;
84	// current stick elongations	84	// current stick elongations
85	extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;	85	extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;
86	extern uint8_t MotorsOn;	86	extern uint8_t MotorsOn;
87	extern uint8_t EmergencyLanding;	87	extern uint8_t EmergencyLanding;
88		88
89		89
90	#endif //_FC_H	90	#endif //_FC_H
91		91
92		92

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