Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

#ifndef _FC_H

#define _FC_H

//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel

//#define GIER_GRAD_FAKTOR 1160L 

extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel

#define STICK_GAIN 4

#define FLAG_MOTOR_RUN  1

#define FLAG_FLY        2

#define FLAG_CALIBRATE  4

#define FLAG_START      8

#define MAX_MOTORS      12

#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}

extern volatile unsigned char MikroKopterFlags;

extern volatile unsigned int I2CTimeout;

extern unsigned char Sekunde,Minute;

extern long IntegralNick,IntegralNick2;

extern long IntegralRoll,IntegralRoll2;

//extern int IntegralNick,IntegralNick2;

//extern int IntegralRoll,IntegralRoll2;

extern long Mess_IntegralNick,Mess_IntegralNick2;

extern long Mess_IntegralRoll,Mess_IntegralRoll2;

extern long IntegralAccNick,IntegralAccRoll;

extern volatile long Mess_Integral_Hoch;

extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;

extern int  KompassValue;

extern int  KompassStartwert;

extern int  KompassRichtung;

extern int  TrimNick, TrimRoll;

extern long  ErsatzKompass;

extern int   ErsatzKompassInGrad; // Kompasswert in Grad

extern long HoehenWert; // MartinR: war int

extern long SollHoehe; // MartinR: war int

extern int MesswertNick,MesswertRoll,MesswertGier;

extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;

extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;

extern unsigned char HoehenReglerAktiv;

// extern volatile float NeutralAccZ; // MartinR : so war es  

extern volatile int NeutralAccZ; // MartinR : geändert

extern long Umschlag180Nick, Umschlag180Roll;

extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;

extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;

extern int NaviAccNick,NaviAccRoll,NaviCntAcc;

extern unsigned int modell_fliegt;

void MotorRegler(void);

void SendMotorData(void);

void CalibrierMittelwert(void);

void Mittelwert(void);

void SetNeutral(void);

void Piep(unsigned char Anzahl);

extern unsigned char h,m,s;

extern volatile unsigned char Timeout ;

extern unsigned char CosinusNickWinkel, CosinusRollWinkel;

extern int  DiffNick,DiffRoll;

extern int  Poti1, Poti2, Poti3, Poti4;

extern volatile unsigned char SenderOkay;

extern unsigned char RequiredMotors;

extern int StickNick,StickRoll,StickGier;

extern char MotorenEin;

extern void DefaultKonstanten1(void);

extern void DefaultKonstanten2(void);

extern void DefaultKonstanten3(void);

extern void DefaultStickMapping(void);

#define  STRUCT_PARAM_LAENGE  sizeof(EE_Parameter) 

struct mk_param_struct

 {

   unsigned char Kanalbelegung[8];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

   unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

   unsigned char Hoehe_MinGas;           // Wert : 0-100

   unsigned char Luftdruck_D;            // Wert : 0-250

   unsigned char MaxHoehe;               // Wert : 0-32

   unsigned char Hoehe_P;                // Wert : 0-32

   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50

   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

   unsigned char Stick_P;                // Wert : 1-6

   unsigned char Stick_D;                // Wert : 0-64

   unsigned char Gier_P;                 // Wert : 1-20

   unsigned char Gas_Min;                // Wert : 0-32

   unsigned char Gas_Max;                // Wert : 33-250

   unsigned char GyroAccFaktor;          // Wert : 1-64

   unsigned char KompassWirkung;         // Wert : 0-32

   unsigned char Gyro_P;                 // Wert : 10-250

   unsigned char Gyro_I;                 // Wert : 0-250

   unsigned char Gyro_D;                 // Wert : 0-250

   unsigned char UnterspannungsWarnung;  // Wert : 0-250

   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust

   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

   unsigned char UfoAusrichtung;         // X oder + Formation

   unsigned char I_Faktor;               // Wert : 0-250

   unsigned char UserParam1;             // Wert : 0-250

   unsigned char UserParam2;             // Wert : 0-250

   unsigned char UserParam3;             // Wert : 0-250

   unsigned char UserParam4;             // Wert : 0-250

   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickRefresh;       //

   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag

   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)

   unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

   unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt

   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt

   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)

   unsigned char Driftkomp;              

   unsigned char DynamicStability;

   unsigned char UserParam5;             // Wert : 0-250

   unsigned char UserParam6;             // Wert : 0-250

   unsigned char UserParam7;             // Wert : 0-250

   unsigned char UserParam8;             // Wert : 0-250

//---Output ---------------------------------------------

   unsigned char J16Bitmask;             // for the J16 Output

   unsigned char J16Timing;              // for the J16 Output

   unsigned char J17Bitmask;             // for the J17 Output

   unsigned char J17Timing;              // for the J17 Output

//---NaviCtrl---------------------------------------------

   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard

   unsigned char NaviGpsGain;    

   unsigned char NaviGpsP;        

   unsigned char NaviGpsI;        

   unsigned char NaviGpsD;        

   unsigned char NaviGpsPLimit;        

   unsigned char NaviGpsILimit;        

   unsigned char NaviGpsDLimit;        

   unsigned char NaviGpsACC;        

   unsigned char NaviGpsMinSat;        

   unsigned char NaviStickThreshold;        

   unsigned char NaviWindCorrection;        

   unsigned char NaviSpeedCompensation;        

   unsigned char NaviOperatingRadius;        

   unsigned char NaviAngleLimitation;

   unsigned char NaviPH_LoginTime;

//---Ext.Ctrl---------------------------------------------

   unsigned char ExternalControl;        // for serial Control

//------------------------------------------------

   unsigned char BitConfig;             // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen

   unsigned char Reserved[4];

   char Name[12];

 };

struct

  {

    char Revision;

    char Name[12];

    signed char Motor[16][4];

  } Mixer;

extern struct mk_param_struct EE_Parameter;

extern unsigned char Parameter_Luftdruck_D;

extern unsigned char Parameter_MaxHoehe;

extern unsigned char Parameter_Hoehe_P;

extern unsigned char Parameter_Hoehe_ACC_Wirkung;

extern unsigned char Parameter_KompassWirkung;

extern unsigned char Parameter_Gyro_P;

extern unsigned char Parameter_Gyro_I;

extern unsigned char Parameter_Gier_P;

extern unsigned char Parameter_ServoNickControl;

extern unsigned char Parameter_AchsKopplung1;

extern unsigned char Parameter_AchsKopplung2;

//extern unsigned char Parameter_AchsGegenKopplung1;

extern unsigned char Parameter_J16Bitmask;             // for the J16 Output

extern unsigned char Parameter_J16Timing;              // for the J16 Output

extern unsigned char Parameter_J17Bitmask;             // for the J17 Output

extern unsigned char Parameter_J17Timing;              // for the J17 Output

extern unsigned char Parameter_NaviGpsModeControl;     // MartinR: wird wiederverwendet für GPS free bei HH

extern signed char MixerTable[MAX_MOTORS][4];

extern unsigned char Motor[MAX_MOTORS];

#endif //_FC_H