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/*#######################################################################################
Flight Control
#######################################################################################*/
#ifndef _FC_H
#define _FC_H
#include <inttypes.h>
// scaling from AdAccNick, AdAccRoll -> AccNick, AccRoll
// i.e. AccNick = ACC_AMPLIFY * AdAccNick
#define ACC_AMPLIFY 6
// scaling from AccNick, AccRoll -> Attitude in deg (approx sin(x) = x),
// i.e. Nick Angle in deg = AccNick / ACC_DEG_FACTOR
// the value is derived from the datasheet of the ACC sensor where 5g are scaled to vref
// therefore 1g is 1024/5 = 205 counts. the adc isr combines 2 acc samples to AdValueAcc
// and 1g yields to AdValueAcc = 2* 205 * 410 wich is again scaled by ACC_DEG_FACTOR
// that results in 1g --> Acc = 205 * 12 = 2460. the linear approx of the arcsin and the scaling
// of Acc gives the factor below. sin(20deg) * 2460 = 841 --> 841 / 20 = 42
#define ACC_DEG_FACTOR 42
// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg
// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR
#define GYRO_DEG_FACTOR ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)
extern uint8_t RequiredMotors;
typedef struct
{
uint8_t HeightD;
uint8_t MaxHeight;
uint8_t HeightP;
uint8_t Height_ACC_Effect;
uint8_t CompassYawEffect;
uint8_t GyroD;
uint8_t GyroP;
uint8_t GyroI;
uint8_t StickYawP;
uint8_t IFactor;
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 ServoNickControl;
uint8_t LoopGasLimit;
uint8_t AxisCoupling1;
uint8_t AxisCoupling2;
uint8_t AxisCouplingYawCorrection;
uint8_t DynamicStability;
uint8_t ExternalControl;
uint8_t J16Timing;
uint8_t J17Timing;
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
uint8_t NaviGpsModeControl;
uint8_t NaviGpsGain;
uint8_t NaviGpsP;
uint8_t NaviGpsI;
uint8_t NaviGpsD;
uint8_t NaviGpsACC;
uint8_t NaviOperatingRadius;
uint8_t NaviWindCorrection;
uint8_t NaviSpeedCompensation;
#endif
int8_t KalmanK;
int8_t KalmanMaxDrift;
int8_t KalmanMaxFusion;
} fc_param_t;
extern fc_param_t FCParam;
// rotation rates
extern int16_t GyroNick, GyroRoll, GyroYaw;
// attitude calcualted by temporal integral of gyro rates
extern int32_t IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw;
// bias values
extern int16_t BiasHiResGyroNick, BiasHiResGyroRoll, AdBiasGyroYaw;
extern int16_t AdBiasAccNick, AdBiasAccRoll;
extern volatile float AdBiasAccTop;
extern volatile int32_t ReadingIntegralTop; // calculated in analog.c
// compass navigation
extern int16_t CompassHeading;
extern int16_t CompassCourse;
extern int16_t CompassOffCourse;
extern uint8_t CompassCalState;
extern int32_t YawGyroHeading;
extern int16_t YawGyroHeadingInDeg;
// hight control
extern int ReadingHeight;
extern int SetPointHeight;
// accelerations
extern int16_t AccNick, AccRoll, AccTop;
// acceleration send to navi board
extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
// looping params
extern long TurnOver180Nick, TurnOver180Roll;
// external control
extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
#define ACC_CALIB 1
#define NO_ACC_CALIB 0
void MotorControl(void);
void SendMotorData(void);
void SetNeutral(uint8_t AccAdjustment);
void Beep(uint8_t numbeeps);
extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
// current stick values
extern int16_t StickNick;
extern int16_t StickRoll;
extern int16_t StickYaw;
// current GPS-stick values
extern int16_t GPSStickNick;
extern int16_t GPSStickRoll;
// current stick elongations
extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
extern uint16_t ModelIsFlying;
// MKFlags
#define MKFLAG_MOTOR_RUN 0x01
#define MKFLAG_FLY 0x02
#define MKFLAG_CALIBRATE 0x04
#define MKFLAG_START 0x08
#define MKFLAG_EMERGENCY_LANDING 0x10
#define MKFLAG_RESERVE1 0x20
#define MKFLAG_RESERVE2 0x40
#define MKFLAG_RESERVE3 0x80
extern volatile uint8_t MKFlags;
#endif //_FC_H