WebSVN - FlightCtrl - Diff - Rev 1880 and 1897 - /branches/V0.84a_MartinW


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
//#define GIER_GRAD_FAKTOR 1160L
extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
#define STICK_GAIN 4
#define ACC_AMPLIFY    6
 
// FC STATUS FLAGS
#define FC_STATUS_MOTOR_RUN                             0x01
#define FC_STATUS_FLY                                   0x02
#define FC_STATUS_CALIBRATE                             0x04
#define FC_STATUS_START                                 0x08
#define FC_STATUS_EMERGENCY_LANDING             0x10
#define FC_STATUS_LOWBAT                                0x20
#define FC_STATUS_VARIO_TRIM_UP                 0x40
#define FC_STATUS_VARIO_TRIM_DOWN               0x80
 
// FC STATUS FLAGS2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
 
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern void ParameterZuordnung(void);
 
#define Poti1 Poti[0]
#define Poti2 Poti[1]
#define Poti3 Poti[2]
#define Poti4 Poti[3]
#define Poti5 Poti[4]
#define Poti6 Poti[5]
#define Poti7 Poti[6]
#define Poti8 Poti[7]
 
/// MartinW; added vars
extern unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;
unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;
unsigned short MotorsTmax;
extern unsigned char updatemotors;
extern unsigned char loop1, loop2, loop3;
extern unsigned char settingdest;
extern unsigned char pos1, pos2, pos3, pos4;
extern int keynumber;
extern unsigned short CurrentOffset;///
extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
 
extern int degreeold;
extern int degreedivold;
extern int degreediv;
extern unsigned int panograd;
extern unsigned char panotrigger;
extern int StickGas;
extern unsigned char calibration_done;
/// MartinW; added vars
 
 
extern unsigned char Sekunde,Minute;
extern unsigned int BaroExpandActive;
extern long IntegralNick,IntegralNick2;
extern long IntegralRoll,IntegralRoll2;
//extern int IntegralNick,IntegralNick2;
//extern int IntegralRoll,IntegralRoll2;
extern unsigned char Poti[9];
 
extern long Mess_IntegralNick,Mess_IntegralNick2;
extern long Mess_IntegralRoll,Mess_IntegralRoll2;
extern long IntegralAccNick,IntegralAccRoll;
extern long SummeNick,SummeRoll;
extern volatile long Mess_Integral_Hoch;
//extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
extern long Integral_Gier,Mess_Integral_Gier;///
extern int  KompassValue;
extern int  KompassSollWert;
extern int  KompassRichtung;
extern char CalculateCompassTimer;
extern unsigned char KompassFusion;
extern unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern long FromNC_AltitudeSetpoint;
extern unsigned char FromNC_AltitudeSpeed;
 
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern unsigned int NeutralAccX, NeutralAccY;
extern unsigned char HoehenReglerAktiv;
extern int NeutralAccZ;
extern long Umschlag180Nick, Umschlag180Roll;
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
extern unsigned int modell_fliegt;
extern void MotorRegler(void);
extern void SendMotorData(void);
//void CalibrierMittelwert(void);
//void Mittelwert(void);
extern void SetNeutral(unsigned char AccAdjustment);
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
 
extern unsigned char h,m,s;
extern volatile unsigned char Timeout ;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern int  DiffNick,DiffRoll;
//extern int  Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char SenderOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern int HoverGas;
 
extern unsigned char Parameter_Luftdruck_D;
extern unsigned char Parameter_MaxHoehe;
extern unsigned char Parameter_Hoehe_P;
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
extern unsigned char Parameter_KompassWirkung;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoNickControl;
extern unsigned char Parameter_ServoRollControl;
extern unsigned char Parameter_AchsKopplung1;
extern unsigned char Parameter_AchsKopplung2;
//extern unsigned char Parameter_AchsGegenKopplung1;
extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
extern unsigned char Parameter_J16Timing;              // for the J16 Output
extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
extern unsigned char Parameter_J17Timing;              // for the J17 Output
extern signed char MixerTable[MAX_MOTORS][4];
extern const signed char sintab[31];
#endif //_FC_H
 
 

Rev 1880	Rev 1897
1	/*#######################################################################################	1	/*#######################################################################################
2	Flight Control	2	Flight Control
3	#######################################################################################*/	3	#######################################################################################*/
4		4
5	#ifndef _FC_H	5	#ifndef _FC_H
6	#define _FC_H	6	#define _FC_H
7	//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel	7	//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
8	//#define GIER_GRAD_FAKTOR 1160L	8	//#define GIER_GRAD_FAKTOR 1160L
9	extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel	9	extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
10	#define STICK_GAIN 4	10	#define STICK_GAIN 4
11	#define ACC_AMPLIFY 6	11	#define ACC_AMPLIFY 6
12		12
13	// FC STATUS FLAGS	13	// FC STATUS FLAGS
14	#define FC_STATUS_MOTOR_RUN 0x01	14	#define FC_STATUS_MOTOR_RUN 0x01
15	#define FC_STATUS_FLY 0x02	15	#define FC_STATUS_FLY 0x02
16	#define FC_STATUS_CALIBRATE 0x04	16	#define FC_STATUS_CALIBRATE 0x04
17	#define FC_STATUS_START 0x08	17	#define FC_STATUS_START 0x08
18	#define FC_STATUS_EMERGENCY_LANDING 0x10	18	#define FC_STATUS_EMERGENCY_LANDING 0x10
19	#define FC_STATUS_LOWBAT 0x20	19	#define FC_STATUS_LOWBAT 0x20
20	#define FC_STATUS_VARIO_TRIM_UP 0x40	20	#define FC_STATUS_VARIO_TRIM_UP 0x40
21	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	21	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
22		22
23	// FC STATUS FLAGS2	23	// FC STATUS FLAGS2
24	#define FC_STATUS2_CAREFREE 0x01	24	#define FC_STATUS2_CAREFREE 0x01
25	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	25	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
26		26
27	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	27	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
28	extern void ParameterZuordnung(void);	28	extern void ParameterZuordnung(void);
29		29
30	#define Poti1 Poti[0]	30	#define Poti1 Poti[0]
31	#define Poti2 Poti[1]	31	#define Poti2 Poti[1]
32	#define Poti3 Poti[2]	32	#define Poti3 Poti[2]
33	#define Poti4 Poti[3]	33	#define Poti4 Poti[3]
34	#define Poti5 Poti[4]	34	#define Poti5 Poti[4]
35	#define Poti6 Poti[5]	35	#define Poti6 Poti[5]
36	#define Poti7 Poti[6]	36	#define Poti7 Poti[6]
37	#define Poti8 Poti[7]	37	#define Poti8 Poti[7]
-		38
-		39	/// MartinW; added vars
-		40	extern unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;
-		41	unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;
-		42	unsigned short MotorsTmax;
-		43	extern unsigned char updatemotors;
-		44	extern unsigned char loop1, loop2, loop3;
-		45	extern unsigned char settingdest;
-		46	extern unsigned char pos1, pos2, pos3, pos4;
-		47	extern int keynumber;
-		48	extern unsigned short CurrentOffset;///
-		49	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
-		50
-		51	extern int degreeold;
-		52	extern int degreedivold;
-		53	extern int degreediv;
-		54	extern unsigned int panograd;
-		55	extern unsigned char panotrigger;
-		56	extern int StickGas;
-		57	extern unsigned char calibration_done;
-		58	/// MartinW; added vars
-		59
38		60
39	extern unsigned char Sekunde,Minute;	61	extern unsigned char Sekunde,Minute;
40	extern unsigned int BaroExpandActive;	62	extern unsigned int BaroExpandActive;
41	extern long IntegralNick,IntegralNick2;	63	extern long IntegralNick,IntegralNick2;
42	extern long IntegralRoll,IntegralRoll2;	64	extern long IntegralRoll,IntegralRoll2;
43	//extern int IntegralNick,IntegralNick2;	65	//extern int IntegralNick,IntegralNick2;
44	//extern int IntegralRoll,IntegralRoll2;	66	//extern int IntegralRoll,IntegralRoll2;
45	extern unsigned char Poti[9];	67	extern unsigned char Poti[9];
46		68
47	extern long Mess_IntegralNick,Mess_IntegralNick2;	69	extern long Mess_IntegralNick,Mess_IntegralNick2;
48	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	70	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
49	extern long IntegralAccNick,IntegralAccRoll;	71	extern long IntegralAccNick,IntegralAccRoll;
50	extern long SummeNick,SummeRoll;	72	extern long SummeNick,SummeRoll;
51	extern volatile long Mess_Integral_Hoch;	73	extern volatile long Mess_Integral_Hoch;
52	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	74	//extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
-		75	extern long Integral_Gier,Mess_Integral_Gier;///
53	extern int KompassValue;	76	extern int KompassValue;
54	extern int KompassSollWert;	77	extern int KompassSollWert;
55	extern int KompassRichtung;	78	extern int KompassRichtung;
56	extern char CalculateCompassTimer;	79	extern char CalculateCompassTimer;
57	extern unsigned char KompassFusion;	80	extern unsigned char KompassFusion;
58	extern unsigned char ControlHeading;	81	extern unsigned char ControlHeading;
59	extern int TrimNick, TrimRoll;	82	extern int TrimNick, TrimRoll;
60	extern long ErsatzKompass;	83	extern long ErsatzKompass;
61	extern int ErsatzKompassInGrad; // Kompasswert in Grad	84	extern int ErsatzKompassInGrad; // Kompasswert in Grad
62	extern long HoehenWert;	85	extern long HoehenWert;
63	extern long SollHoehe;	86	extern long SollHoehe;
64	extern long FromNC_AltitudeSetpoint;	87	extern long FromNC_AltitudeSetpoint;
65	extern unsigned char FromNC_AltitudeSpeed;	88	extern unsigned char FromNC_AltitudeSpeed;
66		89
67	extern unsigned char CareFree;	90	extern unsigned char CareFree;
68	extern int MesswertNick,MesswertRoll,MesswertGier;	91	extern int MesswertNick,MesswertRoll,MesswertGier;
69	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	92	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
70	extern unsigned int NeutralAccX, NeutralAccY;	93	extern unsigned int NeutralAccX, NeutralAccY;
71	extern unsigned char HoehenReglerAktiv;	94	extern unsigned char HoehenReglerAktiv;
72	extern int NeutralAccZ;	95	extern int NeutralAccZ;
73	extern long Umschlag180Nick, Umschlag180Roll;	96	extern long Umschlag180Nick, Umschlag180Roll;
74	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	97	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
75	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	98	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
76	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	99	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
77	extern unsigned int modell_fliegt;	100	extern unsigned int modell_fliegt;
78	extern void MotorRegler(void);	101	extern void MotorRegler(void);
79	extern void SendMotorData(void);	102	extern void SendMotorData(void);
80	//void CalibrierMittelwert(void);	103	//void CalibrierMittelwert(void);
81	//void Mittelwert(void);	104	//void Mittelwert(void);
82	extern void SetNeutral(unsigned char AccAdjustment);	105	extern void SetNeutral(unsigned char AccAdjustment);
83	extern void Piep(unsigned char Anzahl, unsigned int dauer);	106	extern void Piep(unsigned char Anzahl, unsigned int dauer);
84	extern void CopyDebugValues(void);	107	extern void CopyDebugValues(void);
85		108
86	extern unsigned char h,m,s;	109	extern unsigned char h,m,s;
87	extern volatile unsigned char Timeout ;	110	extern volatile unsigned char Timeout ;
88	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	111	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
89	extern int DiffNick,DiffRoll;	112	extern int DiffNick,DiffRoll;
90	//extern int Poti1, Poti2, Poti3, Poti4;	113	//extern int Poti1, Poti2, Poti3, Poti4;
91	extern volatile unsigned char SenderOkay;	114	extern volatile unsigned char SenderOkay;
92	extern int StickNick,StickRoll,StickGier;	115	extern int StickNick,StickRoll,StickGier;
93	extern char MotorenEin;	116	extern char MotorenEin;
94	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	117	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
95	extern char VarioCharacter;	118	extern char VarioCharacter;
96	extern int HoverGas;	119	extern int HoverGas;
97		120
98	extern unsigned char Parameter_Luftdruck_D;	121	extern unsigned char Parameter_Luftdruck_D;
99	extern unsigned char Parameter_MaxHoehe;	122	extern unsigned char Parameter_MaxHoehe;
100	extern unsigned char Parameter_Hoehe_P;	123	extern unsigned char Parameter_Hoehe_P;
101	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	124	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
102	extern unsigned char Parameter_KompassWirkung;	125	extern unsigned char Parameter_KompassWirkung;
103	extern unsigned char Parameter_Gyro_P;	126	extern unsigned char Parameter_Gyro_P;
104	extern unsigned char Parameter_Gyro_I;	127	extern unsigned char Parameter_Gyro_I;
105	extern unsigned char Parameter_Gier_P;	128	extern unsigned char Parameter_Gier_P;
106	extern unsigned char Parameter_ServoNickControl;	129	extern unsigned char Parameter_ServoNickControl;
107	extern unsigned char Parameter_ServoRollControl;	130	extern unsigned char Parameter_ServoRollControl;
108	extern unsigned char Parameter_AchsKopplung1;	131	extern unsigned char Parameter_AchsKopplung1;
109	extern unsigned char Parameter_AchsKopplung2;	132	extern unsigned char Parameter_AchsKopplung2;
110	//extern unsigned char Parameter_AchsGegenKopplung1;	133	//extern unsigned char Parameter_AchsGegenKopplung1;
111	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	134	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
112	extern unsigned char Parameter_J16Timing; // for the J16 Output	135	extern unsigned char Parameter_J16Timing; // for the J16 Output
113	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	136	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
114	extern unsigned char Parameter_J17Timing; // for the J17 Output	137	extern unsigned char Parameter_J17Timing; // for the J17 Output
115	extern signed char MixerTable[MAX_MOTORS][4];	138	extern signed char MixerTable[MAX_MOTORS][4];
116	extern const signed char sintab[31];	139	extern const signed char sintab[31];
117	#endif //_FC_H	140	#endif //_FC_H
118		141
119		142

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