WebSVN - FlightCtrl - Diff - Rev 1984 and 2013 - /branches/V0.86d_ACC-HH_HR


/*#######################################################################################
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_StatusFlags
#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_StatusFlags2
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
 
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]
 
#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
 
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 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 Parameter_HoehenSchalter;      // Wert : 0-250
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 int StickNick,StickRoll,StickGier,StickGas;
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 signed int AltitudeSetpointTrimming;
extern signed char WaypointTrimming;
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; // MartinR: deaktivieren, da unbenutzt ?
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 unsigned char Parameter_GlobalConfig;
extern unsigned char Parameter_ExtraConfig;
extern unsigned char Parameter_NaviGpsModeControl;     // MartinR: wird wiederverwendet für GPS free bei HH
extern signed char MixerTable[MAX_MOTORS][4];
//extern const signed char sintab[31]; // MartinR: so war es
extern const signed char sintab[62]; // MartinR: für feinere Auflösung
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.86d_ACC-HH_HR_MartinR/fc.h - Rev 1984 → 2013

Rev 1984		Rev 2013
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_StatusFlags	13	// FC_StatusFlags
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_StatusFlags2	23	// FC_StatusFlags2
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	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04	26	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
27		27
28	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	28	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
29	extern void ParameterZuordnung(void);	29	extern void ParameterZuordnung(void);
30		30
31	#define Poti1 Poti[0]	31	#define Poti1 Poti[0]
32	#define Poti2 Poti[1]	32	#define Poti2 Poti[1]
33	#define Poti3 Poti[2]	33	#define Poti3 Poti[2]
34	#define Poti4 Poti[3]	34	#define Poti4 Poti[3]
35	#define Poti5 Poti[4]	35	#define Poti5 Poti[4]
36	#define Poti6 Poti[5]	36	#define Poti6 Poti[5]
37	#define Poti7 Poti[6]	37	#define Poti7 Poti[6]
38	#define Poti8 Poti[7]	38	#define Poti8 Poti[7]
39		39
40	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}	40	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
41	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}	41	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
42	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}	42	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
43	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}	43	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
44		44
45	extern unsigned char Sekunde,Minute;	45	extern unsigned char Sekunde,Minute;
46	extern unsigned int BaroExpandActive;	46	extern unsigned int BaroExpandActive;
47	extern long IntegralNick,IntegralNick2;	47	extern long IntegralNick,IntegralNick2;
48	extern long IntegralRoll,IntegralRoll2;	48	extern long IntegralRoll,IntegralRoll2;
49	//extern int IntegralNick,IntegralNick2;	49	//extern int IntegralNick,IntegralNick2;
50	//extern int IntegralRoll,IntegralRoll2;	50	//extern int IntegralRoll,IntegralRoll2;
51	extern unsigned char Poti[9];	51	extern unsigned char Poti[9];
52		52
53	extern long Mess_IntegralNick,Mess_IntegralNick2;	53	extern long Mess_IntegralNick,Mess_IntegralNick2;
54	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	54	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
55	extern long IntegralAccNick,IntegralAccRoll;	55	extern long IntegralAccNick,IntegralAccRoll;
56	extern long SummeNick,SummeRoll;	56	extern long SummeNick,SummeRoll;
57	extern volatile long Mess_Integral_Hoch;	57	extern volatile long Mess_Integral_Hoch;
58	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	58	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
59	extern int KompassValue;	59	extern int KompassValue;
60	extern int KompassSollWert;	60	extern int KompassSollWert;
61	extern int KompassRichtung;	61	extern int KompassRichtung;
62	extern char CalculateCompassTimer;	62	extern char CalculateCompassTimer;
63	extern unsigned char KompassFusion;	63	extern unsigned char KompassFusion;
64	extern unsigned char ControlHeading;	64	extern unsigned char ControlHeading;
65	extern int TrimNick, TrimRoll;	65	extern int TrimNick, TrimRoll;
66	extern long ErsatzKompass;	66	extern long ErsatzKompass;
67	extern int ErsatzKompassInGrad; // Kompasswert in Grad	67	extern int ErsatzKompassInGrad; // Kompasswert in Grad
68	extern long HoehenWert;	68	extern long HoehenWert;
69	extern long SollHoehe;	69	extern long SollHoehe;
70	extern long FromNC_AltitudeSetpoint;	70	extern long FromNC_AltitudeSetpoint;
71	extern unsigned char FromNC_AltitudeSpeed;	71	extern unsigned char FromNC_AltitudeSpeed;
72	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250	72	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250
73	extern unsigned char CareFree;	73	extern unsigned char CareFree;
74	extern int MesswertNick,MesswertRoll,MesswertGier;	74	extern int MesswertNick,MesswertRoll,MesswertGier;
75	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	75	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
76	extern unsigned int NeutralAccX, NeutralAccY;	76	extern unsigned int NeutralAccX, NeutralAccY;
77	extern unsigned char HoehenReglerAktiv;	77	extern unsigned char HoehenReglerAktiv;
78	extern int NeutralAccZ;	78	extern int NeutralAccZ;
79	extern long Umschlag180Nick, Umschlag180Roll;	79	extern long Umschlag180Nick, Umschlag180Roll;
80	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	80	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
81	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	81	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
82	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	82	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
83	extern unsigned int modell_fliegt;	83	extern unsigned int modell_fliegt;
84	extern void MotorRegler(void);	84	extern void MotorRegler(void);
85	extern void SendMotorData(void);	85	extern void SendMotorData(void);
86	//void CalibrierMittelwert(void);	86	//void CalibrierMittelwert(void);
87	//void Mittelwert(void);	87	//void Mittelwert(void);
88	extern void SetNeutral(unsigned char AccAdjustment);	88	extern void SetNeutral(unsigned char AccAdjustment);
89	extern void Piep(unsigned char Anzahl, unsigned int dauer);	89	extern void Piep(unsigned char Anzahl, unsigned int dauer);
90	extern void CopyDebugValues(void);	90	extern void CopyDebugValues(void);
91		91
92	extern unsigned char h,m,s;	92	extern unsigned char h,m,s;
93	extern int StickNick,StickRoll,StickGier,StickGas;	93	extern int StickNick,StickRoll,StickGier,StickGas;
94	extern volatile unsigned char Timeout ;	94	extern volatile unsigned char Timeout ;
95	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	95	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
96	extern int DiffNick,DiffRoll;	96	extern int DiffNick,DiffRoll;
97	//extern int Poti1, Poti2, Poti3, Poti4;	97	//extern int Poti1, Poti2, Poti3, Poti4;
98	extern volatile unsigned char SenderOkay;	98	extern volatile unsigned char SenderOkay;
99	extern int StickNick,StickRoll,StickGier;	99	extern int StickNick,StickRoll,StickGier;
100	extern char MotorenEin;	100	extern char MotorenEin;
101	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	101	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
102	extern char VarioCharacter;	102	extern char VarioCharacter;
103	extern signed int AltitudeSetpointTrimming;	103	extern signed int AltitudeSetpointTrimming;
104	extern signed char WaypointTrimming;	104	extern signed char WaypointTrimming;
105	extern int HoverGas;	105	extern int HoverGas;
106	extern unsigned char Parameter_Luftdruck_D;	106	extern unsigned char Parameter_Luftdruck_D;
107	extern unsigned char Parameter_MaxHoehe;	107	extern unsigned char Parameter_MaxHoehe;
108	extern unsigned char Parameter_Hoehe_P;	108	extern unsigned char Parameter_Hoehe_P;
109	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	109	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
110	extern unsigned char Parameter_KompassWirkung;	110	extern unsigned char Parameter_KompassWirkung;
111	extern unsigned char Parameter_Gyro_P;	111	extern unsigned char Parameter_Gyro_P;
112	extern unsigned char Parameter_Gyro_I;	112	extern unsigned char Parameter_Gyro_I;
113	extern unsigned char Parameter_Gier_P;	113	extern unsigned char Parameter_Gier_P; // MartinR: deaktivieren, da unbenutzt ?
114	extern unsigned char Parameter_ServoNickControl;	114	extern unsigned char Parameter_ServoNickControl;
115	extern unsigned char Parameter_ServoRollControl;	115	extern unsigned char Parameter_ServoRollControl;
116	extern unsigned char Parameter_AchsKopplung1;	116	extern unsigned char Parameter_AchsKopplung1;
117	extern unsigned char Parameter_AchsKopplung2;	117	extern unsigned char Parameter_AchsKopplung2;
118	//extern unsigned char Parameter_AchsGegenKopplung1;	118	//extern unsigned char Parameter_AchsGegenKopplung1;
119	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	119	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
120	extern unsigned char Parameter_J16Timing; // for the J16 Output	120	extern unsigned char Parameter_J16Timing; // for the J16 Output
121	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	121	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
122	extern unsigned char Parameter_J17Timing; // for the J17 Output	122	extern unsigned char Parameter_J17Timing; // for the J17 Output
123	extern unsigned char Parameter_GlobalConfig;	123	extern unsigned char Parameter_GlobalConfig;
124	extern unsigned char Parameter_ExtraConfig;	124	extern unsigned char Parameter_ExtraConfig;
-		125	extern unsigned char Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH
125	extern signed char MixerTable[MAX_MOTORS][4];	126	extern signed char MixerTable[MAX_MOTORS][4];
126	extern const signed char sintab[31];	127	//extern const signed char sintab[31]; // MartinR: so war es
-		128	extern const signed char sintab[62]; // MartinR: für feinere Auflösung
127	#endif //_FC_H	129	#endif //_FC_H
128		130
129		131