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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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#include <inttypes.h>
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// scaling from AdAccNick, AdAccRoll -> AccNick, AccRoll
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// i.e. AccNick = ACC_AMPLIFY * AdAccNick
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#define ACC_AMPLIFY             6
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// scaling from AccNick, AccRoll -> Attitude in deg (approx sin(x) = x),
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// i.e. Nick Angle in deg = AccNick / ACC_DEG_FACTOR
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// the value is derived from the datasheet of the ACC sensor where 5g are scaled to vref
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// therefore 1g is 1024/5 = 205 counts. the adc isr combines 2 acc samples to AdValueAcc
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// and 1g yields to AdValueAcc = 2* 205 * 410 wich is again scaled by ACC_DEG_FACTOR
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// that results in 1g --> Acc = 205 * 12 = 2460. the linear approx of the arcsin and the scaling
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// of Acc gives the factor below. sin(20deg) * 2460 = 841 --> 841 / 20 = 42
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#define ACC_DEG_FACTOR     42
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// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg
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// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR
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#define GYRO_DEG_FACTOR    ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)
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extern uint8_t RequiredMotors;
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typedef struct
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{
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        uint8_t HeightD;
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        uint8_t MaxHeight;
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        uint8_t HeightP;
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        uint8_t Height_ACC_Effect;
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        uint8_t CompassYawEffect;
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        uint8_t GyroD;
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        uint8_t GyroP;
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        uint8_t GyroI;
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        uint8_t StickYawP;
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        uint8_t IFactor;
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        uint8_t UserParam1;
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        uint8_t UserParam2;
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        uint8_t UserParam3;
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        uint8_t UserParam4;
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        uint8_t UserParam5;
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        uint8_t UserParam6;
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        uint8_t UserParam7;
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        uint8_t UserParam8;
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        uint8_t ServoNickControl;
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        uint8_t LoopGasLimit;
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        uint8_t AxisCoupling1;
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        uint8_t AxisCoupling2;
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        uint8_t AxisCouplingYawCorrection;
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        uint8_t DynamicStability;
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        uint8_t ExternalControl;
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        uint8_t J16Timing;
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        uint8_t J17Timing;
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        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
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        uint8_t NaviGpsModeControl;
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        uint8_t NaviGpsGain;
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        uint8_t NaviGpsP;
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        uint8_t NaviGpsI;
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        uint8_t NaviGpsD;
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        uint8_t NaviGpsPLimit;                  // P limit for GPS-PID controller
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        uint8_t NaviAngleLimitation;    // limitation of attitude angle controlled by the gps algorithm
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        #endif
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        int8_t KalmanK;
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        int8_t KalmanMaxDrift;
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        int8_t KalmanMaxFusion;
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} fc_param_t;
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extern fc_param_t FCParam;
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// rotation rates
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extern  int16_t GyroNick, GyroRoll, GyroYaw;
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// attitude calcualted by temporal integral of gyro rates
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extern  int32_t IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw;
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// bias values
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extern int16_t BiasHiResGyroNick, BiasHiResGyroRoll, AdBiasGyroYaw;
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extern int16_t AdBiasAccNick, AdBiasAccRoll;
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extern volatile float AdBiasAccTop;
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extern volatile int32_t ReadingIntegralTop; // calculated in analog.c
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// compass navigation
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extern int16_t CompassHeading;
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extern int16_t CompassCourse;
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extern int16_t CompassOffCourse;
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extern uint8_t CompassCalState;
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extern int32_t YawGyroHeading;
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extern int16_t YawGyroHeadingInDeg;
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// hight control
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extern int ReadingHeight;
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extern int SetPointHeight;
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// accelerations
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extern  int16_t AccNick, AccRoll, AccTop;
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// acceleration send to navi board
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extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
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// looping params
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extern long TurnOver180Nick, TurnOver180Roll;
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// external control
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extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
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#define ACC_CALIB 1
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#define NO_ACC_CALIB 0
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void MotorControl(void);
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void SendMotorData(void);
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void SetNeutral(uint8_t AccAdjustment);
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void Beep(uint8_t numbeeps);
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extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
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// current stick values
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extern int16_t StickNick;
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extern int16_t StickRoll;
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extern int16_t StickYaw;
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// current GPS-stick values
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extern int16_t GPSStickNick;
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extern int16_t GPSStickRoll;
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// current stick elongations
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extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
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extern uint16_t ModelIsFlying;
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// MKFlags
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#define MKFLAG_MOTOR_RUN                                0x01
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#define MKFLAG_FLY                                      0x02
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#define MKFLAG_CALIBRATE                                0x04
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#define MKFLAG_START                                    0x08
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#define MKFLAG_EMERGENCY_LANDING        0x10
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#define MKFLAG_RESERVE1                         0x20
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#define MKFLAG_RESERVE2                         0x40
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#define MKFLAG_RESERVE3                         0x80
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extern volatile uint8_t MKFlags;
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#endif //_FC_H
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