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| Rev 935 | Rev 936 | ||
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| Line 17... | Line 17... | ||
| 17 | uint8_t Height_P; |
17 | uint8_t Height_P; |
| 18 | uint8_t Height_ACC_Effect; |
18 | uint8_t Height_ACC_Effect; |
| 19 | uint8_t CompassYawEffect; |
19 | uint8_t CompassYawEffect; |
| 20 | uint8_t Gyro_P; |
20 | uint8_t Gyro_P; |
| 21 | uint8_t Gyro_I; |
21 | uint8_t Gyro_I; |
| 22 | uint8_t Gier_P; |
22 | uint8_t Yaw_P; |
| 23 | uint8_t I_Factor; |
23 | uint8_t I_Factor; |
| 24 | uint8_t UserParam1; |
24 | uint8_t UserParam1; |
| 25 | uint8_t UserParam2; |
25 | uint8_t UserParam2; |
| 26 | uint8_t UserParam3; |
26 | uint8_t UserParam3; |
| 27 | uint8_t UserParam4; |
27 | uint8_t UserParam4; |
| Line 32... | Line 32... | ||
| 32 | uint8_t ServoNickControl; |
32 | uint8_t ServoNickControl; |
| 33 | uint8_t LoopGasLimit; |
33 | uint8_t LoopGasLimit; |
| 34 | uint8_t Yaw_PosFeedback; |
34 | uint8_t Yaw_PosFeedback; |
| 35 | uint8_t Yaw_NegFeedback; |
35 | uint8_t Yaw_NegFeedback; |
| 36 | uint8_t DynamicStability; |
36 | uint8_t DynamicStability; |
| - | 37 | uint8_t ExternalControl; |
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| - | 38 | uint8_t J16Timing; |
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| - | 39 | uint8_t J17Timing; |
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| - | 40 | uint8_t NaviGpsModeControl; |
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| - | 41 | uint8_t NaviGpsGain; |
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| - | 42 | uint8_t NaviGpsP; |
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| - | 43 | uint8_t NaviGpsI; |
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| - | 44 | uint8_t NaviGpsD; |
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| - | 45 | uint8_t NaviGpsACC; |
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| - | 46 | ||
| 37 | } fc_param_t; |
47 | } fc_param_t; |
| Line 38... | Line 48... | ||
| 38 | 48 | ||
| Line 39... | Line -... | ||
| 39 | extern fc_param_t FCParam; |
- | |
| 40 | - | ||
| 41 | extern volatile uint16_t I2CTimeout; |
49 | extern fc_param_t FCParam; |
| 42 | 50 | ||
| 43 | // attitude |
51 | // attitude |
| Line 44... | Line 52... | ||
| 44 | extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw; |
52 | extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
| 45 | extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
53 | extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
| 46 | 54 | ||
| 47 | // offsets |
55 | // offsets |
| Line 48... | Line 56... | ||
| 48 | extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
56 | extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
| Line 63... | Line 71... | ||
| 63 | // hight control |
71 | // hight control |
| 64 | extern int ReadingHeight; |
72 | extern int ReadingHeight; |
| 65 | extern int SetPointHeight; |
73 | extern int SetPointHeight; |
| Line 66... | Line 74... | ||
| 66 | 74 | ||
| 67 | // mean accelerations |
75 | // mean accelerations |
| Line 68... | Line 76... | ||
| 68 | extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
76 | extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
| 69 | 77 | ||
| Line 98... | Line 106... | ||
| 98 | extern int16_t GPS_Nick; |
106 | extern int16_t GPS_Nick; |
| 99 | extern int16_t GPS_Roll; |
107 | extern int16_t GPS_Roll; |
| Line 100... | Line 108... | ||
| 100 | 108 | ||
| 101 | // current stick elongations |
109 | // current stick elongations |
| 102 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
- | |
| 103 | extern uint8_t MotorsOn; |
- | |
| - | 110 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
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| - | 111 | ||
| 104 | extern uint8_t EmergencyLanding; |
112 | |
| Line -... | Line 113... | ||
| - | 113 | extern uint16_t Model_Is_Flying; |
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| - | 114 | ||
| - | 115 | ||
| - | 116 | // MKFlags |
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| - | 117 | #define MKFLAG_MOTOR_RUN 0x01 |
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| - | 118 | #define MKFLAG_FLY 0x02 |
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| - | 119 | #define MKFLAG_CALIBRATE 0x04 |
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| - | 120 | #define MKFLAG_START 0x08 |
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| - | 121 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
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| - | 122 | #define MKFLAG_RESERVE1 0x20 |
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| - | 123 | #define MKFLAG_RESERVE2 0x40 |
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| - | 124 | #define MKFLAG_RESERVE3 0x80 |
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| 105 | extern uint16_t Model_Is_Flying; |
125 | |