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/*#######################################################################################
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Flight Control
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#######################################################################################*/
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#ifndef _FC_H
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#define _FC_H
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extern volatile unsigned char Timeout;
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extern unsigned char Sekunde,Minute;
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extern volatile long IntegralNick,IntegralNick2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_Integral_Hoch;
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extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern volatile int  KompassValue;
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extern volatile int  KompassStartwert;
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extern volatile int  KompassRichtung;
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extern int HoehenWert;
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extern int SollHoehe;
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extern volatile int MesswertNick,MesswertRoll,MesswertGier;
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extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
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extern volatile float NeutralAccZ;
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void MotorRegler(void);
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void SendMotorData(void);
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void CalibrierMittelwert(void);
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void Mittelwert(void);
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void SetNeutral(void);
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unsigned char h,m,s;
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volatile unsigned char Timeout ;
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unsigned char CosinusNickWinkel, CosinusRollWinkel;
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volatile long IntegralNick,IntegralNick2;
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volatile long IntegralRoll,IntegralRoll2;
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volatile long Integral_Gier;
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volatile long Mess_IntegralNick,Mess_IntegralNick2;
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volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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volatile long Mess_Integral_Gier;
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volatile int  DiffNick,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
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volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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unsigned char MotorWert[5];
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volatile unsigned char SenderOkay;
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int StickNick,StickRoll,StickGier;
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char MotorenEin;
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extern void DefaultKonstanten(void);
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#define  STRUCT_PARAM_LAENGE  58
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struct mk_param_struct
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 {
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   unsigned char Kanalbelegung[8];        // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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   unsigned char GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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   unsigned char Hoehe_MinGas;            // Wert : 0-100
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   unsigned char Luftdruck_D;             // Wert : 0-250
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   unsigned char MaxHoehe;                // Wert : 0-32
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   unsigned char Hoehe_P;                 // Wert : 0-32
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   unsigned char Hoehe_Verstaerkung;      // Wert : 0-50
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   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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   unsigned char Stick_P;                // Wert : 1-6
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   unsigned char Stick_D;                // Wert : 0-64
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   unsigned char Gier_P;                 // Wert : 1-20
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   unsigned char Gas_Min;                // Wert : 0-32
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   unsigned char Gas_Max;                // Wert : 33-250
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   unsigned char GyroAccFaktor;          // Wert : 1-64
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   unsigned char KompassWirkung;         // Wert : 0-32
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   unsigned char Gyro_P;                 // Wert : 10-250
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   unsigned char Gyro_I;                 // Wert : 0-250
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   unsigned char UnterspannungsWarnung;  // Wert : 0-250
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   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
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   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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   unsigned char UfoAusrichtung;         // X oder + Formation
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   unsigned char I_Faktor;               // Wert : 0-250
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   unsigned char UserParam1;             // Wert : 0-250
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   unsigned char UserParam2;             // Wert : 0-250
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   unsigned char UserParam3;             // Wert : 0-250
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   unsigned char UserParam4;             // Wert : 0-250
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   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
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   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
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   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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   unsigned char ServoNickRefresh;       // Wert : 0-250     // Richtung Einfluss Gyro/Servo
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   unsigned char ServoNickCompInvert;    // Wert : 0-250     // Richtung Einfluss Gyro/Servo
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   unsigned char Reserved[7];
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   char Name[12];
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 };
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extern struct mk_param_struct EE_Parameter;
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extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_MaxHoehe;
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extern unsigned char Parameter_Hoehe_P;
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extern unsigned char Parameter_Hoehe_ACC_Wirkung;
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extern unsigned char Parameter_KompassWirkung;
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extern unsigned char Parameter_Gyro_P;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_ServoNickControl;
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#endif //_FC_H
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