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extern unsigned char Sekunde,Minute;
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extern unsigned char Sekunde,Minute;
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extern volatile long IntegralNick,IntegralNick2;
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extern volatile long IntegralNick,IntegralNick2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long IntegralAccNick,IntegralAccRoll;
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extern volatile long Mess_Integral_Hoch;
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extern volatile long Mess_Integral_Hoch;
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extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern volatile int  KompassValue;
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extern volatile int  KompassValue;
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extern volatile int  KompassStartwert;
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extern volatile int  KompassStartwert;
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extern volatile int  KompassRichtung;
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extern volatile int  KompassRichtung;
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extern int SollHoehe;
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extern int SollHoehe;
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extern volatile int MesswertNick,MesswertRoll,MesswertGier;
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extern volatile int MesswertNick,MesswertRoll,MesswertGier;
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extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
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extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
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extern volatile float NeutralAccZ;
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extern volatile float NeutralAccZ;
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extern long Umschlag180Nick, Umschlag180Roll;
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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 CalibrierMittelwert(void);
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void CalibrierMittelwert(void);
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern unsigned char MotorWert[5];
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extern unsigned char MotorWert[5];
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extern volatile unsigned char SenderOkay;
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extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern char MotorenEin;
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extern void DefaultKonstanten1(void);
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extern void DefaultKonstanten2(void);
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#define  STRUCT_PARAM_LAENGE  58
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#define  STRUCT_PARAM_LAENGE  65
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struct mk_param_struct
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struct mk_param_struct
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 {
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 {
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   unsigned char Kanalbelegung[8];        // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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   unsigned char Kanalbelegung[8];        // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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   unsigned char GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickRefresh;       //
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   unsigned char ServoNickRefresh;       //
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   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
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   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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   unsigned char AchsGegenKopplung1;     // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)
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   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
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   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
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   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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   unsigned char Driftkomp;
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//------------------------------------------------
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//------------------------------------------------
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   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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   unsigned char Reserved[4];
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   unsigned char Reserved[4];
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   char Name[12];
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   char Name[12];
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 };
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 };
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/*
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/*
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unsigned char ServoNickMax;           // Wert : 0-250
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unsigned char ServoNickMax;           // Wert : 0-250
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    unsigned char ServoNickRefresh;       //
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    unsigned char ServoNickRefresh;       //
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    unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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    unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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extern unsigned char Parameter_KompassWirkung;
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extern unsigned char Parameter_KompassWirkung;
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extern unsigned char Parameter_Gyro_P;
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extern unsigned char Parameter_Gyro_P;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsGegenKopplung1;
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