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1 ingob 1
/*#######################################################################################
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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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173 holgerb 8
extern volatile unsigned int I2CTimeout;
1 ingob 9
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;
396 hbuss 14
extern volatile long IntegralAccNick,IntegralAccRoll;
1 ingob 15
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;
396 hbuss 26
extern long Umschlag180Nick, Umschlag180Roll;
492 hbuss 27
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
513 hbuss 28
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
1 ingob 29
 
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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);
304 ingob 35
void Piep(unsigned char Anzahl);
1 ingob 36
 
304 ingob 37
extern unsigned char h,m,s;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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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 Integral_Gier;
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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_Gier;
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extern volatile int  DiffNick,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
304 ingob 48
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern unsigned char MotorWert[5];
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extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
1 ingob 53
 
499 hbuss 54
 
1 ingob 55
 
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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;
396 hbuss 65
extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsGegenKopplung1;
1 ingob 67
 
396 hbuss 68
 
1 ingob 69
#endif //_FC_H
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