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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 | |||
1078 | killagreg | 10 | //#define YAW_GYRO_DEG_FACTOR 1450L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
11 | //#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
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12 | #define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
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855 | hbuss | 13 | #define STICK_GAIN 4 |
886 | killagreg | 14 | |
15 | typedef struct |
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16 | { |
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17 | uint8_t Height_D; |
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18 | uint8_t MaxHeight; |
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19 | uint8_t Height_P; |
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20 | uint8_t Height_ACC_Effect; |
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21 | uint8_t CompassYawEffect; |
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22 | uint8_t Gyro_P; |
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23 | uint8_t Gyro_I; |
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936 | killagreg | 24 | uint8_t Yaw_P; |
886 | killagreg | 25 | uint8_t I_Factor; |
26 | uint8_t UserParam1; |
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27 | uint8_t UserParam2; |
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28 | uint8_t UserParam3; |
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29 | uint8_t UserParam4; |
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30 | uint8_t UserParam5; |
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31 | uint8_t UserParam6; |
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32 | uint8_t UserParam7; |
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33 | uint8_t UserParam8; |
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911 | killagreg | 34 | uint8_t ServoNickControl; |
35 | uint8_t LoopGasLimit; |
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886 | killagreg | 36 | uint8_t Yaw_PosFeedback; |
37 | uint8_t Yaw_NegFeedback; |
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38 | uint8_t DynamicStability; |
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936 | killagreg | 39 | uint8_t ExternalControl; |
40 | uint8_t J16Timing; |
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41 | uint8_t J17Timing; |
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1078 | killagreg | 42 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
936 | killagreg | 43 | uint8_t NaviGpsModeControl; |
44 | uint8_t NaviGpsGain; |
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45 | uint8_t NaviGpsP; |
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46 | uint8_t NaviGpsI; |
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47 | uint8_t NaviGpsD; |
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48 | uint8_t NaviGpsACC; |
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1078 | killagreg | 49 | uint8_t NaviOperationgRadius; |
50 | uint8_t NaviWindCorrection; |
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51 | uint8_t NaviSpeedCompensation; |
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52 | #endif |
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886 | killagreg | 53 | } fc_param_t; |
54 | |||
55 | extern fc_param_t FCParam; |
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56 | |||
57 | // attitude |
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936 | killagreg | 58 | extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
59 | extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
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886 | killagreg | 60 | |
61 | // offsets |
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936 | killagreg | 62 | extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
886 | killagreg | 63 | extern volatile int16_t NeutralAccX, NeutralAccY; |
1 | ingob | 64 | extern volatile float NeutralAccZ; |
886 | killagreg | 65 | |
66 | |||
67 | extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
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68 | |||
69 | // compass navigation |
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70 | extern volatile int16_t CompassHeading; |
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71 | extern volatile int16_t CompassCourse; |
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72 | extern volatile int16_t CompassOffCourse; |
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73 | extern volatile uint8_t CompassCalState; |
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74 | extern int32_t YawGyroHeading; |
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75 | extern int16_t YawGyroHeadingInDeg; |
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76 | |||
77 | // hight control |
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78 | extern int ReadingHeight; |
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79 | extern int SetPointHeight; |
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80 | |||
81 | // mean accelerations |
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936 | killagreg | 82 | extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
886 | killagreg | 83 | |
84 | // acceleration send to navi board |
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911 | killagreg | 85 | extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
886 | killagreg | 86 | |
87 | |||
88 | // looping params |
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911 | killagreg | 89 | extern long TurnOver180Nick, TurnOver180Roll; |
886 | killagreg | 90 | |
91 | // external control |
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911 | killagreg | 92 | extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
886 | killagreg | 93 | |
94 | |||
95 | void MotorControl(void); |
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1 | ingob | 96 | void SendMotorData(void); |
886 | killagreg | 97 | void CalibMean(void); |
98 | void Mean(void); |
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1 | ingob | 99 | void SetNeutral(void); |
886 | killagreg | 100 | void Beep(uint8_t numbeeps); |
1 | ingob | 101 | |
102 | |||
886 | killagreg | 103 | extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
499 | hbuss | 104 | |
886 | killagreg | 105 | // setpoints for motors |
106 | extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
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1 | ingob | 107 | |
886 | killagreg | 108 | // current stick values |
911 | killagreg | 109 | extern int16_t StickNick; |
886 | killagreg | 110 | extern int16_t StickRoll; |
111 | extern int16_t StickYaw; |
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911 | killagreg | 112 | extern int16_t GPS_Nick; |
886 | killagreg | 113 | extern int16_t GPS_Roll; |
396 | hbuss | 114 | |
886 | killagreg | 115 | // current stick elongations |
911 | killagreg | 116 | extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
936 | killagreg | 117 | |
118 | |||
886 | killagreg | 119 | extern uint16_t Model_Is_Flying; |
1 | ingob | 120 | |
121 | |||
936 | killagreg | 122 | // MKFlags |
123 | #define MKFLAG_MOTOR_RUN 0x01 |
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124 | #define MKFLAG_FLY 0x02 |
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125 | #define MKFLAG_CALIBRATE 0x04 |
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126 | #define MKFLAG_START 0x08 |
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127 | #define MKFLAG_EMERGENCY_LANDING 0x10 |
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128 | #define MKFLAG_RESERVE1 0x20 |
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129 | #define MKFLAG_RESERVE2 0x40 |
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130 | #define MKFLAG_RESERVE3 0x80 |
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131 | |||
132 | volatile extern uint8_t MKFlags; |
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133 | |||
1 | ingob | 134 | #endif //_FC_H |
135 |