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Rev 885 Rev 886
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Flight Control
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Flight Control
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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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#define _FC_H
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#include <inttypes.h>
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//#define GIER_GRAD_FAKTOR 1450L // Abhängigkeit wzischen GyroIntegral und Winkel
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#define GIER_GRAD_FAKTOR 1550L // Abhängigkeit wzischen GyroIntegral und Winkel
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#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg
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#define STICK_GAIN 4
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typedef struct
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{
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        uint8_t Height_D;
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        uint8_t MaxHeight;
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#define STICK_GAIN 4
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        uint8_t Height_P;
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extern volatile unsigned int I2CTimeout;
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        uint8_t Height_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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extern unsigned char Sekunde,Minute;
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        uint8_t UserParam1;
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extern long IntegralNick,IntegralNick2;
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        uint8_t UserParam2;
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extern long IntegralRoll,IntegralRoll2;
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        uint8_t UserParam3;
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extern long Mess_IntegralNick,Mess_IntegralNick2;
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        uint8_t UserParam4;
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extern long Mess_IntegralRoll,Mess_IntegralRoll2;
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        uint8_t UserParam5;
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extern long IntegralAccNick,IntegralAccRoll;
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        uint8_t UserParam6;
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extern volatile long Mess_Integral_Hoch;
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        uint8_t UserParam7;
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extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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        uint8_t UserParam8;
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extern volatile int  KompassValue;
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        uint8_t ServoPitchControl;
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extern volatile int  KompassStartwert;
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        uint8_t LoopThrustLimit;
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extern volatile int  KompassRichtung;
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        uint8_t Yaw_PosFeedback;
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extern long  ErsatzKompass;
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        uint8_t Yaw_NegFeedback;
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        uint8_t DynamicStability;
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} fc_param_t;
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extern int   ErsatzKompassInGrad; // Kompasswert in Grad
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extern fc_param_t FCParam;
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extern int HoehenWert;
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extern volatile uint16_t I2CTimeout;
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extern int SollHoehe;
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// attitude
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extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;
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extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
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extern volatile int MesswertNick,MesswertRoll,MesswertGier;
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// offsets
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extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw;
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extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
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extern volatile int16_t NeutralAccX, NeutralAccY;
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extern volatile float NeutralAccZ;
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extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
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// compass navigation
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extern volatile int16_t CompassHeading;
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extern volatile int16_t CompassCourse;
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extern volatile float NeutralAccZ;
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extern volatile int16_t CompassOffCourse;
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extern volatile uint8_t CompassCalState;
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extern int32_t YawGyroHeading;
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extern int16_t YawGyroHeadingInDeg;
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// hight control
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extern int ReadingHeight;
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extern int SetPointHeight;
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extern long Umschlag180Nick, Umschlag180Roll;
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// mean accelerations
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extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
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extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
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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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// acceleration send to navi board
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extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc;
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extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
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// looping params
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extern long TurnOver180Pitch, TurnOver180Roll;
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// external control
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extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw;
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extern unsigned int modell_fliegt;
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void MotorRegler(void);
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void MotorControl(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 CalibMean(void);
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void Mittelwert(void);
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void Mean(void);
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void SetNeutral(void);
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void SetNeutral(void);
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void Piep(unsigned char Anzahl);
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extern void DefaultKonstanten(void);
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void DefaultKonstanten1(void);
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void DefaultKonstanten2(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 volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern volatile int  DiffNick,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
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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 SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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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  71
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struct mk_param_struct
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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 GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char Hoehe_MinGas;            // Wert : 0-100
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   unsigned char Luftdruck_D;             // Wert : 0-250
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   unsigned char MaxHoehe;                // Wert : 0-32
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   unsigned char Hoehe_P;                 // Wert : 0-32
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   unsigned char Hoehe_Verstaerkung;      // Wert : 0-50
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   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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   unsigned char Stick_P;                // Wert : 1-6
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   unsigned char Stick_D;                // Wert : 0-64
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   unsigned char Gier_P;                 // Wert : 1-20
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   unsigned char Gas_Min;                // Wert : 0-32
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   unsigned char Gas_Max;                // Wert : 33-250
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   unsigned char GyroAccFaktor;          // Wert : 1-64
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   unsigned char KompassWirkung;         // Wert : 0-32
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   unsigned char Gyro_P;                 // Wert : 10-250
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   unsigned char Gyro_I;                 // Wert : 0-250
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   unsigned char UnterspannungsWarnung;  // Wert : 0-250
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   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
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   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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   unsigned char UfoAusrichtung;         // X oder + Formation
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   unsigned char I_Faktor;               // Wert : 0-250
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   unsigned char UserParam1;             // Wert : 0-250
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   unsigned char UserParam2;             // Wert : 0-250
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   unsigned char UserParam3;             // Wert : 0-250
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   unsigned char UserParam4;             // Wert : 0-250
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   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
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   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
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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 ServoNickRefresh;       //
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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 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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   unsigned char DynamicStability;
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   unsigned char UserParam5;             // Wert : 0-250
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   unsigned char UserParam6;             // Wert : 0-250
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   unsigned char UserParam7;             // Wert : 0-250
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   unsigned char UserParam8;             // Wert : 0-250
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extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
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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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// setpoints for motors
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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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   char Name[12];
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 };
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extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
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/*
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unsigned char ServoNickMax;           // Wert : 0-250
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// current stick values
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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 LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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extern int16_t StickPitch;
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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 ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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extern int16_t StickRoll;
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    unsigned char Reserved[4];
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extern int16_t StickYaw;
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    char Name[12];
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*/
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extern int16_t GPS_Pitch;
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extern struct mk_param_struct EE_Parameter;
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extern int16_t GPS_Roll;
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extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_MaxHoehe;
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extern unsigned char Parameter_Hoehe_P;
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// current stick elongations
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extern unsigned char Parameter_Hoehe_ACC_Wirkung;
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extern unsigned char Parameter_KompassWirkung;
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extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;
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extern unsigned char Parameter_Gyro_P;
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extern uint8_t MotorsOn;
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extern unsigned char Parameter_Gyro_I;
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extern uint8_t EmergencyLanding;
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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_AchsKopplung1;
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extern unsigned char Parameter_AchsGegenKopplung1;
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extern uint16_t Model_Is_Flying;