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Rev | Author | Line No. | Line |
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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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936 | killagreg | 22 | uint8_t Yaw_P; |
886 | killagreg | 23 | uint8_t I_Factor; |
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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911 | killagreg | 32 | uint8_t ServoNickControl; |
33 | uint8_t LoopGasLimit; |
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886 | killagreg | 34 | uint8_t Yaw_PosFeedback; |
35 | uint8_t Yaw_NegFeedback; |
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36 | uint8_t DynamicStability; |
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936 | killagreg | 37 | uint8_t ExternalControl; |
38 | uint8_t J16Timing; |
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39 | uint8_t J17Timing; |
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40 | uint8_t NaviGpsModeControl; |
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41 | uint8_t NaviGpsGain; |
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42 | uint8_t NaviGpsP; |
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43 | uint8_t NaviGpsI; |
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44 | uint8_t NaviGpsD; |
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45 | uint8_t NaviGpsACC; |
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46 | |||
886 | killagreg | 47 | } fc_param_t; |
48 | |||
49 | extern fc_param_t FCParam; |
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50 | |||
51 | // attitude |
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936 | killagreg | 52 | extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
53 | extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
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886 | killagreg | 54 | |
55 | // offsets |
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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 |
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62 | |||
63 | // compass navigation |
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64 | extern volatile int16_t CompassHeading; |
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65 | extern volatile int16_t CompassCourse; |
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66 | extern volatile int16_t CompassOffCourse; |
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67 | extern volatile uint8_t CompassCalState; |
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68 | extern int32_t YawGyroHeading; |
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69 | extern int16_t YawGyroHeadingInDeg; |
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70 | |||
71 | // hight control |
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72 | extern int ReadingHeight; |
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73 | extern int SetPointHeight; |
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74 | |||
75 | // mean accelerations |
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936 | killagreg | 76 | extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
886 | killagreg | 77 | |
78 | // acceleration send to navi board |
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911 | killagreg | 79 | extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
886 | killagreg | 80 | |
81 | |||
82 | // looping params |
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911 | killagreg | 83 | extern long TurnOver180Nick, TurnOver180Roll; |
886 | killagreg | 84 | |
85 | // external control |
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911 | killagreg | 86 | extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
886 | killagreg | 87 | |
88 | |||
89 | void MotorControl(void); |
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1 | ingob | 90 | void SendMotorData(void); |
886 | killagreg | 91 | void CalibMean(void); |
92 | void Mean(void); |
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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 |
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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; |
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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 |
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118 | #define MKFLAG_FLY 0x02 |
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119 | #define MKFLAG_CALIBRATE 0x04 |
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120 | #define MKFLAG_START 0x08 |
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121 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
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122 | #define MKFLAG_RESERVE1 0x20 |
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123 | #define MKFLAG_RESERVE2 0x40 |
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124 | #define MKFLAG_RESERVE3 0x80 |
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125 | |||
126 | volatile extern uint8_t MKFlags; |
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127 | |||
1 | ingob | 128 | #endif //_FC_H |
129 |