Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
13 user 1 
/*#######################################################################################
2 
Flight Control
3 
#######################################################################################*/
4 
 
5 
#ifndef _FC_H
6 
#define _FC_H
7 
 
8 
extern volatile unsigned char Timeout;
9 
extern unsigned char Sekunde,Minute;
10 
extern volatile long IntegralNick,IntegralNick2;
11 
extern volatile long IntegralRoll,IntegralRoll2;
12 
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
13 
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
14 
extern volatile long Mess_Integral_Hoch;
15 
extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
16 
extern volatile int  KompassValue;
17 
extern volatile int  KompassStartwert;
18 
extern volatile int  KompassRichtung;
19 
extern int HoehenWert;
20 
extern int SollHoehe;
21 
extern volatile int MesswertNick,MesswertRoll,MesswertGier;
22 
extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
23 
extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
24 
extern volatile float NeutralAccZ;
25 
 
26 
 
27 
void MotorRegler(void);
28 
void SendMotorData(void);
29 
void CalibrierMittelwert(void);
30 
void Mittelwert(void);
31 
void SetNeutral(void);
32 
 
33 
unsigned char h,m,s;
34 
volatile unsigned char Timeout ;
35 
unsigned char CosinusNickWinkel, CosinusRollWinkel;
36 
volatile long IntegralNick,IntegralNick2;
37 
volatile long IntegralRoll,IntegralRoll2;
38 
volatile long Integral_Gier;
39 
volatile long Mess_IntegralNick,Mess_IntegralNick2;
40 
volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
41 
volatile long Mess_Integral_Gier;
42 
volatile int  DiffNick,DiffRoll;
43 
extern int  Poti1, Poti2, Poti3, Poti4;
44 
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
45 
unsigned char MotorWert[5];
46 
volatile unsigned char SenderOkay;
47 
int StickNick,StickRoll,StickGier;
48 
char MotorenEin;
49 
extern void DefaultKonstanten(void);
50 
 
51 
#define  STRUCT_PARAM_LAENGE  58
52 
struct mk_param_struct
53 
 {
54 
   unsigned char Kanalbelegung[8];        // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
55 
   unsigned char GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
56 
   unsigned char Hoehe_MinGas;            // Wert : 0-100
57 
   unsigned char Luftdruck_D;             // Wert : 0-250
58 
   unsigned char MaxHoehe;                // Wert : 0-32
59 
   unsigned char Hoehe_P;                 // Wert : 0-32
60 
   unsigned char Hoehe_Verstaerkung;      // Wert : 0-50
61 
   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
62 
   unsigned char Stick_P;                // Wert : 1-6
63 
   unsigned char Stick_D;                // Wert : 0-64
64 
   unsigned char Gier_P;                 // Wert : 1-20
65 
   unsigned char Gas_Min;                // Wert : 0-32
66 
   unsigned char Gas_Max;                // Wert : 33-250
67 
   unsigned char GyroAccFaktor;          // Wert : 1-64
68 
   unsigned char KompassWirkung;         // Wert : 0-32
69 
   unsigned char Gyro_P;                 // Wert : 10-250
70 
   unsigned char Gyro_I;                 // Wert : 0-250
71 
   unsigned char UnterspannungsWarnung;  // Wert : 0-250
72 
   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
73 
   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
74 
   unsigned char UfoAusrichtung;         // X oder + Formation
75 
   unsigned char I_Faktor;               // Wert : 0-250
76 
   unsigned char UserParam1;             // Wert : 0-250
77 
   unsigned char UserParam2;             // Wert : 0-250
78 
   unsigned char UserParam3;             // Wert : 0-250
79 
   unsigned char UserParam4;             // Wert : 0-250
80 
   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
81 
   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
82 
   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
83 
   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
84 
   unsigned char ServoNickRefresh;       // Wert : 0-250     // Richtung Einfluss Gyro/Servo
85 
   unsigned char ServoNickCompInvert;    // Wert : 0-250     // Richtung Einfluss Gyro/Servo
86 
   unsigned char Reserved[7];
87 
   char Name[12];
88 
 };
89 
 
90 
 
91 
 
92 
 
93 
extern struct mk_param_struct EE_Parameter;
94 
 
95 
extern unsigned char Parameter_Luftdruck_D;
96 
extern unsigned char Parameter_MaxHoehe;
97 
extern unsigned char Parameter_Hoehe_P;
98 
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
99 
extern unsigned char Parameter_KompassWirkung;
100 
extern unsigned char Parameter_Gyro_P;
101 
extern unsigned char Parameter_Gyro_I;
102 
extern unsigned char Parameter_Gier_P;
103 
extern unsigned char Parameter_ServoNickControl;
104 
 
105 
#endif //_FC_H
106