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/*#######################################################################################
Flight Control
#######################################################################################*/
#ifndef _FC_H
#define _FC_H
typedef struct
{
uint8_t Height_D;
uint8_t MaxHeight;
uint8_t Height_P;
uint8_t Height_ACC_Effect;
uint8_t CompassYawEffect;
uint8_t Gyro_P;
uint8_t Gyro_I;
uint8_t Gier_P;
uint8_t I_Factor;
uint8_t UserParam1;
uint8_t UserParam2;
uint8_t UserParam3;
uint8_t UserParam4;
uint8_t UserParam5;
uint8_t UserParam6;
uint8_t UserParam7;
uint8_t UserParam8;
uint8_t ServoPitchControl;
uint8_t LoopThrustLimit;
uint8_t Yaw_PosFeedback;
uint8_t Yaw_NegFeedback;
uint8_t DynamicStability;
} fc_param_t;
extern fc_param_t FCParam;
extern volatile uint16_t I2CTimeout;
// attitude
extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;
extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
// offsets
extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw;
extern volatile int16_t NeutralAccX, NeutralAccY;
extern volatile float NeutralAccZ;
extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
// compass navigation
extern volatile int16_t CompassHeading;
extern volatile int16_t CompassCourse;
extern volatile int16_t CompassOffCourse;
// hight control
extern int ReadingHeight;
extern int SetPointHeight;
// mean accelarations
extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
// looping params
extern long TurnOver180Pitch, TurnOver180Roll;
// external control
extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw;
void MotorControl(void);
void SendMotorData(void);
void CalibMean(void);
void Mean(void);
void SetNeutral(void);
void Beep(uint8_t numbeeps);
extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
// setpoints for motors
extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
// current stick values
extern int16_t StickPitch, StickRoll, StickYaw;
// current stick elongations
extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;
extern uint8_t MotorsOn;
extern uint8_t EmergencyLanding;
#endif //_FC_H