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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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| 886 | killagreg | 7 | |
| 8 | #include <inttypes.h> |
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| 9 | |||
| 10 | #define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
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| 855 | hbuss | 11 | #define STICK_GAIN 4 |
| 886 | killagreg | 12 | |
| 13 | typedef struct |
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| 14 | { |
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| 15 | uint8_t Height_D; |
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| 16 | uint8_t MaxHeight; |
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| 17 | uint8_t Height_P; |
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| 18 | uint8_t Height_ACC_Effect; |
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| 19 | uint8_t CompassYawEffect; |
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| 20 | uint8_t Gyro_P; |
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| 21 | uint8_t Gyro_I; |
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| 22 | uint8_t Gier_P; |
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| 23 | uint8_t I_Factor; |
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| 24 | uint8_t UserParam1; |
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| 25 | uint8_t UserParam2; |
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| 26 | uint8_t UserParam3; |
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| 27 | uint8_t UserParam4; |
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| 28 | uint8_t UserParam5; |
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| 29 | uint8_t UserParam6; |
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| 30 | uint8_t UserParam7; |
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| 31 | uint8_t UserParam8; |
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| 32 | uint8_t ServoPitchControl; |
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| 33 | uint8_t LoopThrustLimit; |
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| 34 | uint8_t Yaw_PosFeedback; |
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| 35 | uint8_t Yaw_NegFeedback; |
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| 36 | uint8_t DynamicStability; |
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| 37 | } fc_param_t; |
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| 38 | |||
| 39 | extern fc_param_t FCParam; |
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| 40 | |||
| 41 | extern volatile uint16_t I2CTimeout; |
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| 42 | |||
| 43 | // attitude |
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| 44 | extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
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| 45 | extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
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| 46 | |||
| 47 | // offsets |
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| 48 | extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
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| 49 | extern volatile int16_t NeutralAccX, NeutralAccY; |
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| 1 | ingob | 50 | extern volatile float NeutralAccZ; |
| 886 | killagreg | 51 | |
| 52 | |||
| 53 | extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
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| 54 | |||
| 55 | // compass navigation |
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| 56 | extern volatile int16_t CompassHeading; |
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| 57 | extern volatile int16_t CompassCourse; |
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| 58 | extern volatile int16_t CompassOffCourse; |
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| 59 | extern volatile uint8_t CompassCalState; |
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| 60 | extern int32_t YawGyroHeading; |
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| 61 | extern int16_t YawGyroHeadingInDeg; |
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| 62 | |||
| 63 | // hight control |
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| 64 | extern int ReadingHeight; |
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| 65 | extern int SetPointHeight; |
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| 66 | |||
| 67 | // mean accelerations |
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| 68 | extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
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| 69 | |||
| 70 | // acceleration send to navi board |
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| 71 | extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc; |
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| 72 | |||
| 73 | |||
| 74 | // looping params |
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| 75 | extern long TurnOver180Pitch, TurnOver180Roll; |
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| 76 | |||
| 77 | // external control |
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| 78 | extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
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| 79 | |||
| 80 | |||
| 81 | void MotorControl(void); |
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| 1 | ingob | 82 | void SendMotorData(void); |
| 886 | killagreg | 83 | void CalibMean(void); |
| 84 | void Mean(void); |
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| 1 | ingob | 85 | void SetNeutral(void); |
| 886 | killagreg | 86 | void Beep(uint8_t numbeeps); |
| 1 | ingob | 87 | |
| 88 | |||
| 886 | killagreg | 89 | extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| 499 | hbuss | 90 | |
| 886 | killagreg | 91 | // setpoints for motors |
| 903 | pangu | 92 | #ifdef HEXAKOPTER |
| 93 | extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; |
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| 94 | #else |
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| 886 | killagreg | 95 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
| 903 | pangu | 96 | #endif |
| 1 | ingob | 97 | |
| 886 | killagreg | 98 | // current stick values |
| 99 | extern int16_t StickPitch; |
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| 100 | extern int16_t StickRoll; |
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| 101 | extern int16_t StickYaw; |
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| 102 | extern int16_t GPS_Pitch; |
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| 103 | extern int16_t GPS_Roll; |
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| 396 | hbuss | 104 | |
| 886 | killagreg | 105 | // current stick elongations |
| 106 | extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
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| 107 | extern uint8_t MotorsOn; |
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| 108 | extern uint8_t EmergencyLanding; |
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| 109 | extern uint16_t Model_Is_Flying; |
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| 1 | ingob | 110 | |
| 111 | |||
| 112 | #endif //_FC_H |
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| 113 |