Rev 972 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 972 | Rev 973 | ||
|---|---|---|---|
| 1 | /* |
1 | /* |
| 2 | Copyright 2008, by Michael Walter |
2 | Copyright 2008, by Michael Walter |
| 3 | 3 | ||
| 4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
| 5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
| 6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
| 7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
| 8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 9 | 9 | ||
| 10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
| 11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
| 12 | unless it is stated otherwise. |
12 | unless it is stated otherwise. |
| 13 | */ |
13 | */ |
| 14 | 14 | ||
| 15 | /***************************************************************************** |
15 | /***************************************************************************** |
| 16 | Additional Defines |
16 | Additional Defines |
| 17 | **************************************************************************** */ |
17 | **************************************************************************** */ |
| 18 | //#define USE_COMPASS |
18 | //#define USE_COMPASS |
| 19 | //#define INTERNAL_REFERENCE |
19 | //#define INTERNAL_REFERENCE |
| 20 | //#define MELEXIS_GYRO |
20 | //#define MELEXIS_GYRO |
| 21 | //#define USE_OSD |
21 | //#define USE_OSD |
| 22 | //#define USE_GPS |
22 | //#define USE_GPS |
| 23 | //#define X_FORMATION |
23 | //#define X_FORMATION |
| 24 | 24 | ||
| 25 | extern int MesswertNick,MesswertRoll,MesswertGier; |
25 | extern int MesswertNick,MesswertRoll,MesswertGier; |
| 26 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier; |
26 | extern float AdNeutralNick, AdNeutralRoll, AdNeutralGier; |
| 27 | extern int NeutralAccX, NeutralAccY, NeutralAccZ; |
27 | extern int NeutralAccX, NeutralAccY, NeutralAccZ; |
| 28 | extern int GierMischanteil,GasMischanteil; |
28 | extern int GierMischanteil,GasMischanteil; |
| 29 | 29 | ||
| 30 | extern int AverageRoll_X, AverageRoll_Y, AverageRoll_Z; |
30 | extern int AverageRoll, AverageNick, AverageGier; |
| 31 | extern int AveragerACC_X, AveragerACC_Y, AveragerACC_Z; |
31 | extern int AveragerACC_X, AveragerACC_Y, AveragerACC_Z; |
| 32 | 32 | ||
| 33 | extern int DiffNick,DiffRoll; |
33 | extern int DiffNick,DiffRoll; |
| 34 | extern unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
34 | extern unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 35 | extern unsigned char MotorWert[5]; |
35 | extern unsigned char MotorWert[5]; |
| 36 | extern unsigned char SenderOkay; |
36 | extern unsigned char SenderOkay; |
| 37 | extern int StickNick,StickRoll,StickGier; |
37 | extern int StickNick,StickRoll,StickGier; |
| 38 | 38 | ||
| 39 | void GetMeasurements(void); |
39 | void GetMeasurements(void); |
| 40 | void GetRadioValues(void); |
40 | void GetRadioValues(void); |
| 41 | void SendMotorData(void); |
41 | void SendMotorData(void); |
| 42 | void PID_Regler(void); |
42 | void PID_Regler(void); |
| 43 | void SetNeutral(void); |
43 | void SetNeutral(void); |
| 44 | 44 | ||
| 45 | 45 | ||
| 46 | 46 | ||