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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | |||
| 5 | #ifndef _FC_H |
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| 6 | #define _FC_H |
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| 7 | |||
| 703 | killagreg | 8 | typedef struct |
| 9 | { |
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| 761 | killagreg | 10 | uint8_t Height_D; |
| 11 | uint8_t MaxHeight; |
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| 12 | uint8_t Height_P; |
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| 13 | uint8_t Height_ACC_Effect; |
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| 703 | killagreg | 14 | uint8_t CompassYawEffect; |
| 15 | uint8_t Gyro_P; |
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| 16 | uint8_t Gyro_I; |
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| 17 | uint8_t Gier_P; |
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| 18 | uint8_t I_Factor; |
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| 19 | uint8_t UserParam1; |
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| 20 | uint8_t UserParam2; |
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| 21 | uint8_t UserParam3; |
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| 22 | uint8_t UserParam4; |
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| 23 | uint8_t UserParam5; |
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| 24 | uint8_t UserParam6; |
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| 25 | uint8_t UserParam7; |
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| 26 | uint8_t UserParam8; |
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| 27 | uint8_t ServoPitchControl; |
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| 707 | killagreg | 28 | uint8_t LoopThrustLimit; |
| 706 | killagreg | 29 | uint8_t Yaw_PosFeedback; |
| 30 | uint8_t Yaw_NegFeedback; |
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| 703 | killagreg | 31 | uint8_t DynamicStability; |
| 32 | } fc_param_t; |
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| 33 | |||
| 34 | extern fc_param_t FCParam; |
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| 35 | |||
| 36 | extern volatile uint16_t I2CTimeout; |
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| 37 | |||
| 38 | // attitude |
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| 39 | extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
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| 711 | killagreg | 40 | extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| 703 | killagreg | 41 | |
| 42 | // offsets |
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| 43 | extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
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| 44 | extern volatile int16_t NeutralAccX, NeutralAccY; |
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| 45 | extern volatile float NeutralAccZ; |
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| 46 | |||
| 47 | |||
| 48 | extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
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| 49 | |||
| 50 | // compass navigation |
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| 51 | extern volatile int16_t CompassHeading; |
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| 52 | extern volatile int16_t CompassCourse; |
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| 53 | extern volatile int16_t CompassOffCourse; |
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| 54 | |||
| 55 | // hight control |
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| 761 | killagreg | 56 | extern int ReadingHeight; |
| 57 | extern int SetPointHeight; |
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| 703 | killagreg | 58 | |
| 59 | // mean accelarations |
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| 60 | extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
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| 61 | |||
| 62 | // looping params |
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| 701 | killagreg | 63 | extern long TurnOver180Pitch, TurnOver180Roll; |
| 1 | ingob | 64 | |
| 703 | killagreg | 65 | // external control |
| 66 | extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
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| 67 | |||
| 68 | |||
| 712 | killagreg | 69 | void MotorControl(void); |
| 1 | ingob | 70 | void SendMotorData(void); |
| 701 | killagreg | 71 | void CalibMean(void); |
| 72 | void Mean(void); |
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| 1 | ingob | 73 | void SetNeutral(void); |
| 703 | killagreg | 74 | void Beep(uint8_t numbeeps); |
| 1 | ingob | 75 | |
| 76 | |||
| 762 | killagreg | 77 | extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| 1 | ingob | 78 | |
| 703 | killagreg | 79 | // setpoints for motors |
| 80 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
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| 1 | ingob | 81 | |
| 726 | killagreg | 82 | // current stick values |
| 703 | killagreg | 83 | extern int16_t StickPitch, StickRoll, StickYaw; |
| 726 | killagreg | 84 | // current stick elongations |
| 85 | extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
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| 703 | killagreg | 86 | extern uint8_t MotorsOn; |
| 733 | killagreg | 87 | extern uint8_t EmergencyLanding; |
| 396 | hbuss | 88 | |
| 703 | killagreg | 89 | |
| 1 | ingob | 90 | #endif //_FC_H |
| 91 |