Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

#ifndef _FC_H

#define _FC_H

extern volatile unsigned int I2CTimeout;

extern unsigned char Sekunde,Minute;

extern volatile long IntegralNick,IntegralNick2;

extern volatile long IntegralRoll,IntegralRoll2;

extern volatile long Mess_IntegralNick,Mess_IntegralNick2;

extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;

extern volatile long Mess_Integral_Hoch;

extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;

extern volatile int  KompassValue;

extern volatile int  KompassStartwert;

extern volatile int  KompassRichtung;

extern int HoehenWert;

extern int SollHoehe;

extern volatile int MesswertNick,MesswertRoll,MesswertGier;

extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;

extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;

extern volatile float NeutralAccZ;

extern unsigned int modell_fliegt_gps;//(030907Kr)

extern unsigned char Limit_D_Anteil;//(210907Kr)

void MotorRegler(void);

void SendMotorData(void);

void CalibrierMittelwert(void);

void Mittelwert(void);

void SetNeutral(void);

unsigned char h,m,s;

volatile unsigned char Timeout ;

unsigned char CosinusNickWinkel, CosinusRollWinkel;

volatile long IntegralNick,IntegralNick2;

volatile long IntegralRoll,IntegralRoll2;

volatile long Integral_Gier;

volatile long Mess_IntegralNick,Mess_IntegralNick2;

volatile long Mess_IntegralRoll,Mess_IntegralRoll2;

volatile long Mess_Integral_Gier;

volatile int  DiffNick,DiffRoll;

extern int  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; //PPM24-Erweiterung (121007Kr) 

volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;

unsigned char MotorWert[5];

volatile unsigned char SenderOkay;

int StickNick,StickRoll,StickGier;

char MotorenEin;

extern void DefaultKonstanten(void);

#define  STRUCT_PARAM_LAENGE  58

struct mk_param_struct

 {

   unsigned char Kanalbelegung[8];        // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

   unsigned char GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

   unsigned char Hoehe_MinGas;            // Wert : 0-100

   unsigned char Luftdruck_D;             // Wert : 0-250

   unsigned char MaxHoehe;                // Wert : 0-32

   unsigned char Hoehe_P;                 // Wert : 0-32

   unsigned char Hoehe_Verstaerkung;      // Wert : 0-50

   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

   unsigned char Stick_P;                // Wert : 1-6

   unsigned char Stick_D;                // Wert : 0-64

   unsigned char Gier_P;                 // Wert : 1-20

   unsigned char Gas_Min;                // Wert : 0-32

   unsigned char Gas_Max;                // Wert : 33-250

   unsigned char GyroAccFaktor;          // Wert : 1-64

   unsigned char KompassWirkung;         // Wert : 0-32

   unsigned char Gyro_P;                 // Wert : 10-250

   unsigned char Gyro_I;                 // Wert : 0-250

   unsigned char UnterspannungsWarnung;  // Wert : 0-250

   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust

   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

   unsigned char UfoAusrichtung;         // X oder + Formation

   unsigned char I_Faktor;               // Wert : 0-250

   unsigned char UserParam1;             // Wert : 0-250

   unsigned char UserParam2;             // Wert : 0-250

   unsigned char UserParam3;             // Wert : 0-250

   unsigned char UserParam4;             // Wert : 0-250

   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickRefresh;       //

   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

//------------------------------------------------

   unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen

   unsigned char Reserved[4];

   char Name[12];

 };

/*

unsigned char ServoNickMax;           // Wert : 0-250

    unsigned char ServoNickRefresh;       //

    unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

    unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

//------------------------------------------------

    unsigned char LoopConfig;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

    unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen

    unsigned char Reserved[4];

    char Name[12];

*/

extern struct mk_param_struct EE_Parameter;

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;

extern unsigned char Parameter_ServoNickControl;

#endif //_FC_H