Subversion Repositories FlightCtrl

Rev

Rev 936 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
 
5
#ifndef _FC_H
6
#define _FC_H
886 killagreg 7
 
8
#include <inttypes.h>
9
 
10
#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg
855 hbuss 11
#define STICK_GAIN 4
886 killagreg 12
 
13
typedef struct
14
{
15
        uint8_t Height_D;
16
        uint8_t MaxHeight;
17
        uint8_t Height_P;
18
        uint8_t Height_ACC_Effect;
19
        uint8_t CompassYawEffect;
20
        uint8_t Gyro_P;
21
        uint8_t Gyro_I;
936 killagreg 22
        uint8_t Yaw_P;
886 killagreg 23
        uint8_t I_Factor;
24
        uint8_t UserParam1;
25
        uint8_t UserParam2;
26
        uint8_t UserParam3;
27
        uint8_t UserParam4;
28
        uint8_t UserParam5;
29
        uint8_t UserParam6;
30
        uint8_t UserParam7;
31
        uint8_t UserParam8;
911 killagreg 32
        uint8_t ServoNickControl;
33
        uint8_t LoopGasLimit;
886 killagreg 34
        uint8_t Yaw_PosFeedback;
35
        uint8_t Yaw_NegFeedback;
36
        uint8_t DynamicStability;
936 killagreg 37
        uint8_t ExternalControl;
38
        uint8_t J16Timing;
39
        uint8_t J17Timing;
40
        uint8_t NaviGpsModeControl;
41
        uint8_t NaviGpsGain;
42
        uint8_t NaviGpsP;
43
        uint8_t NaviGpsI;
44
        uint8_t NaviGpsD;
45
        uint8_t NaviGpsACC;
46
 
886 killagreg 47
} fc_param_t;
48
 
49
extern fc_param_t FCParam;
50
 
51
// attitude
936 killagreg 52
extern  int32_t IntegralNick, IntegralRoll, IntegralYaw;
53
extern  int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
886 killagreg 54
 
55
// offsets
936 killagreg 56
extern  int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
886 killagreg 57
extern volatile int16_t NeutralAccX, NeutralAccY;
1 ingob 58
extern volatile float NeutralAccZ;
886 killagreg 59
 
60
 
61
extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
62
 
63
// compass navigation
64
extern volatile int16_t CompassHeading;
65
extern volatile int16_t CompassCourse;
66
extern volatile int16_t CompassOffCourse;
67
extern volatile uint8_t CompassCalState;
68
extern int32_t YawGyroHeading;
69
extern int16_t YawGyroHeadingInDeg;
70
 
71
// hight control
72
extern int ReadingHeight;
73
extern int SetPointHeight;
74
 
75
// mean accelerations
936 killagreg 76
extern  int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
886 killagreg 77
 
78
// acceleration send to navi board
911 killagreg 79
extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
886 killagreg 80
 
81
 
82
// looping params
911 killagreg 83
extern long TurnOver180Nick, TurnOver180Roll;
886 killagreg 84
 
85
// external control
911 killagreg 86
extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
886 killagreg 87
 
88
 
89
void MotorControl(void);
1 ingob 90
void SendMotorData(void);
886 killagreg 91
void CalibMean(void);
92
void Mean(void);
1 ingob 93
void SetNeutral(void);
886 killagreg 94
void Beep(uint8_t numbeeps);
1 ingob 95
 
96
 
886 killagreg 97
extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
499 hbuss 98
 
886 killagreg 99
// setpoints for motors
100
extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
1 ingob 101
 
886 killagreg 102
// current stick values
911 killagreg 103
extern int16_t StickNick;
886 killagreg 104
extern int16_t StickRoll;
105
extern int16_t StickYaw;
911 killagreg 106
extern int16_t GPS_Nick;
886 killagreg 107
extern int16_t GPS_Roll;
396 hbuss 108
 
886 killagreg 109
// current stick elongations
911 killagreg 110
extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
936 killagreg 111
 
112
 
886 killagreg 113
extern uint16_t Model_Is_Flying;
1 ingob 114
 
115
 
936 killagreg 116
// MKFlags
117
#define MKFLAG_MOTOR_RUN                                0x01
118
#define MKFLAG_FLY                                      0x02
119
#define MKFLAG_CALIBRATE                                0x04
120
#define MKFLAG_START                                    0x08
121
#define MKFLAG_EMERGENCY_LANDING        0x10
122
#define MKFLAG_RESERVE1                         0x20
123
#define MKFLAG_RESERVE2                         0x40
124
#define MKFLAG_RESERVE3                         0x80
125
 
126
volatile extern uint8_t MKFlags;
127
 
1 ingob 128
#endif //_FC_H
129