Rev 942 | 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 |
943 | pangu | 100 | #ifdef HEXAKOPTER |
101 | extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; |
||
102 | #else |
||
886 | killagreg | 103 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
943 | pangu | 104 | #endif |
1 | ingob | 105 | |
886 | killagreg | 106 | // current stick values |
911 | killagreg | 107 | extern int16_t StickNick; |
886 | killagreg | 108 | extern int16_t StickRoll; |
109 | extern int16_t StickYaw; |
||
911 | killagreg | 110 | extern int16_t GPS_Nick; |
886 | killagreg | 111 | extern int16_t GPS_Roll; |
396 | hbuss | 112 | |
886 | killagreg | 113 | // current stick elongations |
911 | killagreg | 114 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
936 | killagreg | 115 | |
116 | |||
886 | killagreg | 117 | extern uint16_t Model_Is_Flying; |
1 | ingob | 118 | |
119 | |||
936 | killagreg | 120 | // MKFlags |
121 | #define MKFLAG_MOTOR_RUN 0x01 |
||
122 | #define MKFLAG_FLY 0x02 |
||
123 | #define MKFLAG_CALIBRATE 0x04 |
||
124 | #define MKFLAG_START 0x08 |
||
125 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
||
126 | #define MKFLAG_RESERVE1 0x20 |
||
127 | #define MKFLAG_RESERVE2 0x40 |
||
128 | #define MKFLAG_RESERVE3 0x80 |
||
129 | |||
130 | volatile extern uint8_t MKFlags; |
||
131 | |||
1 | ingob | 132 | #endif //_FC_H |
133 |