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Rev 701 Rev 703
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#######################################################################################*/
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#######################################################################################*/
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#ifndef _FC_H
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#ifndef _FC_H
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#define _FC_H
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typedef struct
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{
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        uint8_t AirPressure_D;
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        uint8_t MaxHight;
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        uint8_t Hight_P;
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        uint8_t Hight_ACC_Effect;
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        uint8_t CompassYawEffect;
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        uint8_t Gyro_P;
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        uint8_t Gyro_I;
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        uint8_t Gier_P;
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        uint8_t I_Factor;
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        uint8_t UserParam1;
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        uint8_t UserParam2;
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        uint8_t UserParam3;
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        uint8_t UserParam4;
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        uint8_t UserParam5;
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        uint8_t UserParam6;
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        uint8_t UserParam7;
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        uint8_t UserParam8;
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        uint8_t ServoPitchControl;
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        uint8_t LoopGasLimit;
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        uint8_t AchsKopplung1;
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        uint8_t AchsGegenKopplung1;
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        uint8_t DynamicStability;
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#define _FC_H
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} fc_param_t;
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extern fc_param_t FCParam;
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extern volatile uint16_t I2CTimeout;
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extern volatile unsigned int I2CTimeout;
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extern volatile long IntegralPitch,IntegralPitch2;
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// attitude
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extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;
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extern volatile int16_t ReadingPitch, ReadingRoll, ReadingYaw;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2;
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// offsets
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extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2;
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extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw;
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extern volatile int16_t NeutralAccX, NeutralAccY;
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extern volatile float NeutralAccZ;
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extern volatile long IntegralAccPitch,IntegralAccRoll;
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extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
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extern volatile long Reading_Integral_Top;
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extern volatile long Integral_Yaw,Reading_Integral_Yaw,Reading_Integral_Yaw2;
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// compass navigation
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extern volatile int  CompassHeading;
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extern volatile int16_t  CompassHeading;
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extern volatile int16_t  CompassCourse;
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extern volatile int16_t  CompassOffCourse;
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extern volatile int  CompassCourse;
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extern volatile int  CompassOffCourse;
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// hight control
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extern int ReadingHight;
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extern int ReadingHight;
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extern int SetPointHight;
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extern int SetPointHight;
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extern volatile int16_t ReadingPitch,ReadingRoll,ReadingYaw;
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// mean accelarations
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extern volatile int AdNeutralPitch,AdNeutralRoll,AdNeutralYaw, Mean_AccPitch, Mean_AccRoll;
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extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
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extern volatile int NeutralAccX, NeutralAccY,Mean_AccTop;
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// looping params
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extern long TurnOver180Pitch, TurnOver180Roll;
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extern volatile float NeutralAccZ;
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extern long TurnOver180Pitch, TurnOver180Roll;
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// external control
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extern signed int ExternStickPitch,ExternStickRoll,ExternStickYaw;
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extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw;
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extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
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void MotorRegler(void);
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void MotorRegler(void);
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void SendMotorData(void);
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void SendMotorData(void);
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void CalibMean(void);
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void Mean(void);
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void SetNeutral(void);
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void CalibMean(void);
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void Beep(uint8_t numbeeps);
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//extern unsigned char h,m,s;
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extern int16_t  Poti1, Poti2, Poti3, Poti4;
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void Mean(void);
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void SetNeutral(void);
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void Piep(unsigned char Anzahl);
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extern unsigned char h,m,s;
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extern volatile unsigned char Timeout;
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extern volatile long IntegralPitch,IntegralPitch2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long Integral_Yaw;
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extern volatile long Reading_IntegralPitch,Reading_IntegralPitch2;
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extern volatile long Reading_IntegralRoll,Reading_IntegralRoll2;
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extern volatile long Reading_Integral_Yaw;
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extern volatile int  DiffPitch,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
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// setpoints for motors
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extern volatile unsigned char Motor_Front,Motor_Rear,Motor_Right,Motor_Left, Count;
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extern unsigned char MotorValue[5];
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extern int StickPitch,StickRoll,StickYaw;
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extern char MotorsOn;
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extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_MaxHoehe;
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extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
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extern unsigned char Parameter_Hoehe_P;
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extern unsigned char Parameter_Hoehe_ACC_Wirkung;
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extern unsigned char Parameter_CompassYawEffect;
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