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Rev 304 | Rev 396 | ||
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Line 9... | Line 9... | ||
9 | extern unsigned char Sekunde,Minute; |
9 | extern unsigned char Sekunde,Minute; |
10 | extern volatile long IntegralNick,IntegralNick2; |
10 | extern volatile long IntegralNick,IntegralNick2; |
11 | extern volatile long IntegralRoll,IntegralRoll2; |
11 | extern volatile long IntegralRoll,IntegralRoll2; |
12 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
12 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
13 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
13 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
- | 14 | extern volatile long IntegralAccNick,IntegralAccRoll; |
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14 | extern volatile long Mess_Integral_Hoch; |
15 | extern volatile long Mess_Integral_Hoch; |
15 | extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
16 | extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
16 | extern volatile int KompassValue; |
17 | extern volatile int KompassValue; |
17 | extern volatile int KompassStartwert; |
18 | extern volatile int KompassStartwert; |
18 | extern volatile int KompassRichtung; |
19 | extern volatile int KompassRichtung; |
Line 20... | Line 21... | ||
20 | extern int SollHoehe; |
21 | extern int SollHoehe; |
21 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
22 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
22 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
23 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
23 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
24 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
24 | extern volatile float NeutralAccZ; |
25 | extern volatile float NeutralAccZ; |
25 | - | ||
- | 26 | extern long Umschlag180Nick, Umschlag180Roll; |
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Line 26... | Line 27... | ||
26 | 27 | ||
27 | void MotorRegler(void); |
28 | void MotorRegler(void); |
28 | void SendMotorData(void); |
29 | void SendMotorData(void); |
29 | void CalibrierMittelwert(void); |
30 | void CalibrierMittelwert(void); |
Line 48... | Line 49... | ||
48 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
49 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
49 | extern unsigned char MotorWert[5]; |
50 | extern unsigned char MotorWert[5]; |
50 | extern volatile unsigned char SenderOkay; |
51 | extern volatile unsigned char SenderOkay; |
51 | extern int StickNick,StickRoll,StickGier; |
52 | extern int StickNick,StickRoll,StickGier; |
52 | extern char MotorenEin; |
53 | extern char MotorenEin; |
- | 54 | extern void DefaultKonstanten1(void); |
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- | 55 | extern void DefaultKonstanten2(void); |
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Line 53... | Line -... | ||
53 | - | ||
54 | 56 | ||
55 | #define STRUCT_PARAM_LAENGE 58 |
57 | #define STRUCT_PARAM_LAENGE 65 |
56 | struct mk_param_struct |
58 | struct mk_param_struct |
57 | { |
59 | { |
58 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
60 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
59 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
61 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
Line 86... | Line 88... | ||
86 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
88 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
87 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
89 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
88 | unsigned char ServoNickRefresh; // |
90 | unsigned char ServoNickRefresh; // |
89 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
91 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
90 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
92 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
- | 93 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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- | 94 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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- | 95 | unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
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- | 96 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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- | 97 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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- | 98 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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- | 99 | unsigned char Driftkomp; |
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- | 100 | ||
91 | //------------------------------------------------ |
101 | //------------------------------------------------ |
92 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
102 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
93 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
103 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
94 | unsigned char Reserved[4]; |
104 | unsigned char Reserved[4]; |
95 | char Name[12]; |
105 | char Name[12]; |
96 | }; |
106 | }; |
Line -... | Line 107... | ||
- | 107 | ||
97 | 108 | ||
98 | /* |
109 | /* |
99 | unsigned char ServoNickMax; // Wert : 0-250 |
110 | unsigned char ServoNickMax; // Wert : 0-250 |
100 | unsigned char ServoNickRefresh; // |
111 | unsigned char ServoNickRefresh; // |
101 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
112 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
Line 116... | Line 127... | ||
116 | extern unsigned char Parameter_KompassWirkung; |
127 | extern unsigned char Parameter_KompassWirkung; |
117 | extern unsigned char Parameter_Gyro_P; |
128 | extern unsigned char Parameter_Gyro_P; |
118 | extern unsigned char Parameter_Gyro_I; |
129 | extern unsigned char Parameter_Gyro_I; |
119 | extern unsigned char Parameter_Gier_P; |
130 | extern unsigned char Parameter_Gier_P; |
120 | extern unsigned char Parameter_ServoNickControl; |
131 | extern unsigned char Parameter_ServoNickControl; |
- | 132 | extern unsigned char Parameter_AchsKopplung1; |
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- | 133 | extern unsigned char Parameter_AchsGegenKopplung1; |
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- | 134 | ||
Line 121... | Line 135... | ||
121 | 135 |