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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 | |||
| 1078 | killagreg | 10 | #define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
| 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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| 1078 | killagreg | 40 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| 936 | killagreg | 41 | uint8_t NaviGpsModeControl; |
| 42 | uint8_t NaviGpsGain; |
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| 43 | uint8_t NaviGpsP; |
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| 44 | uint8_t NaviGpsI; |
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| 45 | uint8_t NaviGpsD; |
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| 46 | uint8_t NaviGpsACC; |
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| 1080 | killagreg | 47 | uint8_t NaviOperatingRadius; |
| 1078 | killagreg | 48 | uint8_t NaviWindCorrection; |
| 49 | uint8_t NaviSpeedCompensation; |
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| 50 | #endif |
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| 1080 | killagreg | 51 | int8_t Kalman_K; |
| 52 | int8_t Kalman_MaxDrift; |
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| 53 | int8_t Kalman_MaxFusion; |
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| 886 | killagreg | 54 | } fc_param_t; |
| 55 | |||
| 56 | extern fc_param_t FCParam; |
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| 57 | |||
| 58 | // attitude |
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| 936 | killagreg | 59 | extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
| 60 | extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
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| 886 | killagreg | 61 | |
| 62 | // offsets |
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| 936 | killagreg | 63 | extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
| 886 | killagreg | 64 | extern volatile int16_t NeutralAccX, NeutralAccY; |
| 1 | ingob | 65 | extern volatile float NeutralAccZ; |
| 886 | killagreg | 66 | |
| 67 | |||
| 68 | extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
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| 69 | |||
| 70 | // compass navigation |
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| 71 | extern volatile int16_t CompassHeading; |
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| 72 | extern volatile int16_t CompassCourse; |
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| 73 | extern volatile int16_t CompassOffCourse; |
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| 74 | extern volatile uint8_t CompassCalState; |
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| 75 | extern int32_t YawGyroHeading; |
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| 76 | extern int16_t YawGyroHeadingInDeg; |
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| 77 | |||
| 78 | // hight control |
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| 79 | extern int ReadingHeight; |
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| 80 | extern int SetPointHeight; |
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| 81 | |||
| 82 | // mean accelerations |
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| 936 | killagreg | 83 | extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
| 886 | killagreg | 84 | |
| 85 | // acceleration send to navi board |
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| 911 | killagreg | 86 | extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
| 886 | killagreg | 87 | |
| 88 | |||
| 89 | // looping params |
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| 911 | killagreg | 90 | extern long TurnOver180Nick, TurnOver180Roll; |
| 886 | killagreg | 91 | |
| 92 | // external control |
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| 911 | killagreg | 93 | extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
| 886 | killagreg | 94 | |
| 95 | |||
| 96 | void MotorControl(void); |
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| 1 | ingob | 97 | void SendMotorData(void); |
| 886 | killagreg | 98 | void CalibMean(void); |
| 99 | void Mean(void); |
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| 1 | ingob | 100 | void SetNeutral(void); |
| 886 | killagreg | 101 | void Beep(uint8_t numbeeps); |
| 1 | ingob | 102 | |
| 103 | |||
| 886 | killagreg | 104 | extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| 499 | hbuss | 105 | |
| 886 | killagreg | 106 | // setpoints for motors |
| 107 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
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| 1 | ingob | 108 | |
| 886 | killagreg | 109 | // current stick values |
| 911 | killagreg | 110 | extern int16_t StickNick; |
| 886 | killagreg | 111 | extern int16_t StickRoll; |
| 112 | extern int16_t StickYaw; |
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| 911 | killagreg | 113 | extern int16_t GPS_Nick; |
| 886 | killagreg | 114 | extern int16_t GPS_Roll; |
| 396 | hbuss | 115 | |
| 886 | killagreg | 116 | // current stick elongations |
| 911 | killagreg | 117 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
| 936 | killagreg | 118 | |
| 119 | |||
| 886 | killagreg | 120 | extern uint16_t Model_Is_Flying; |
| 1 | ingob | 121 | |
| 122 | |||
| 936 | killagreg | 123 | // MKFlags |
| 124 | #define MKFLAG_MOTOR_RUN 0x01 |
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| 125 | #define MKFLAG_FLY 0x02 |
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| 126 | #define MKFLAG_CALIBRATE 0x04 |
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| 127 | #define MKFLAG_START 0x08 |
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| 128 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
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| 129 | #define MKFLAG_RESERVE1 0x20 |
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| 130 | #define MKFLAG_RESERVE2 0x40 |
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| 131 | #define MKFLAG_RESERVE3 0x80 |
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| 132 | |||
| 133 | volatile extern uint8_t MKFlags; |
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| 134 | |||
| 1 | ingob | 135 | #endif //_FC_H |
| 136 |