Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1446 | rain-er | 1 | /*####################################################################################### |
| 2 | Flight Control |
||
| 3 | #######################################################################################*/ |
||
| 4 | |||
| 5 | #ifndef _FC_H |
||
| 6 | #define _FC_H |
||
| 7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
||
| 8 | //#define GIER_GRAD_FAKTOR 1160L |
||
| 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
||
| 10 | #define STICK_GAIN 4 |
||
| 11 | |||
| 12 | #define FLAG_MOTOR_RUN 1 |
||
| 13 | #define FLAG_FLY 2 |
||
| 14 | #define FLAG_CALIBRATE 4 |
||
| 15 | #define FLAG_START 8 |
||
| 16 | #define FLAG_NOTLANDUNG 16 |
||
| 17 | #define FLAG_LOWBAT 32 |
||
| 18 | |||
| 19 | |||
| 20 | #define MAX_MOTORS 12 |
||
| 21 | |||
| 22 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
||
| 23 | |||
| 24 | extern volatile unsigned char MikroKopterFlags; |
||
| 25 | extern volatile unsigned int I2CTimeout; |
||
| 26 | extern unsigned char Sekunde,Minute; |
||
| 27 | extern unsigned int BaroExpandActive; |
||
| 28 | extern long IntegralNick,IntegralNick2; |
||
| 29 | extern long IntegralRoll,IntegralRoll2; |
||
| 30 | //extern int IntegralNick,IntegralNick2; |
||
| 31 | //extern int IntegralRoll,IntegralRoll2; |
||
| 32 | |||
| 33 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
||
| 34 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
||
| 35 | extern long IntegralAccNick,IntegralAccRoll; |
||
| 36 | extern volatile long Mess_Integral_Hoch; |
||
| 37 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
||
| 38 | extern int KompassValue; |
||
| 39 | extern int KompassStartwert; |
||
| 40 | extern int KompassRichtung; |
||
| 41 | extern int TrimNick, TrimRoll; |
||
| 42 | extern long ErsatzKompass; |
||
| 43 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
||
| 44 | extern long HoehenWert; |
||
| 45 | extern long SollHoehe; |
||
| 46 | extern int MesswertNick,MesswertRoll,MesswertGier; |
||
| 47 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
||
| 48 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
||
| 49 | extern unsigned char HoehenReglerAktiv; |
||
| 50 | extern volatile float NeutralAccZ; |
||
| 51 | extern long Umschlag180Nick, Umschlag180Roll; |
||
| 52 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
||
| 53 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
||
| 54 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
||
| 55 | extern unsigned int modell_fliegt; |
||
| 56 | void MotorRegler(void); |
||
| 57 | void SendMotorData(void); |
||
| 58 | void CalibrierMittelwert(void); |
||
| 59 | void Mittelwert(void); |
||
| 60 | void SetNeutral(void); |
||
| 61 | void Piep(unsigned char Anzahl, unsigned int dauer); |
||
| 62 | |||
| 63 | extern unsigned char h,m,s; |
||
| 64 | extern volatile unsigned char Timeout ; |
||
| 65 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
||
| 66 | extern int DiffNick,DiffRoll; |
||
| 67 | extern int Poti1, Poti2, Poti3, Poti4; |
||
| 68 | extern volatile unsigned char SenderOkay; |
||
| 69 | extern volatile unsigned char SenderRSSI; |
||
| 70 | extern unsigned char RequiredMotors; |
||
| 71 | extern int StickNick,StickRoll,StickGier; |
||
| 72 | extern char MotorenEin; |
||
| 73 | extern void DefaultKonstanten1(void); |
||
| 74 | extern void DefaultKonstanten2(void); |
||
| 75 | extern void DefaultKonstanten3(void); |
||
| 76 | extern void DefaultStickMapping(void); |
||
| 77 | |||
| 78 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
||
| 79 | struct mk_param_struct |
||
| 80 | { |
||
| 81 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
||
| 82 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
||
| 83 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
||
| 84 | unsigned char Luftdruck_D; // Wert : 0-250 |
||
| 85 | unsigned char MaxHoehe; // Wert : 0-32 |
||
| 86 | unsigned char Hoehe_P; // Wert : 0-32 |
||
| 87 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
||
| 88 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
||
| 89 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
||
| 90 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
||
| 91 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
||
| 92 | unsigned char Stick_P; // Wert : 1-6 |
||
| 93 | unsigned char Stick_D; // Wert : 0-64 |
||
| 94 | unsigned char Gier_P; // Wert : 1-20 |
||
| 95 | unsigned char Gas_Min; // Wert : 0-32 |
||
| 96 | unsigned char Gas_Max; // Wert : 33-250 |
||
| 97 | unsigned char GyroAccFaktor; // Wert : 1-64 |
||
| 98 | unsigned char KompassWirkung; // Wert : 0-32 |
||
| 99 | unsigned char Gyro_P; // Wert : 10-250 |
||
| 100 | unsigned char Gyro_I; // Wert : 0-250 |
||
| 101 | unsigned char Gyro_D; // Wert : 0-250 |
||
| 102 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
||
| 103 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
||
| 104 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
||
| 105 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
||
| 106 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
||
| 107 | unsigned char UfoAusrichtung; // X oder + Formation |
||
| 108 | unsigned char I_Faktor; // Wert : 0-250 |
||
| 109 | unsigned char UserParam1; // Wert : 0-250 |
||
| 110 | unsigned char UserParam2; // Wert : 0-250 |
||
| 111 | unsigned char UserParam3; // Wert : 0-250 |
||
| 112 | unsigned char UserParam4; // Wert : 0-250 |
||
| 113 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
||
| 114 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
||
| 115 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
||
| 116 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
||
| 117 | //--- Seit V0.75 |
||
| 118 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
||
| 119 | unsigned char ServoRollComp; // Wert : 0-250 |
||
| 120 | unsigned char ServoRollMin; // Wert : 0-250 |
||
| 121 | unsigned char ServoRollMax; // Wert : 0-250 |
||
| 122 | //--- |
||
| 123 | unsigned char ServoNickRefresh; // |
||
| 124 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
||
| 125 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
||
| 126 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
||
| 127 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
||
| 128 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
||
| 129 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
||
| 130 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
||
| 131 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
||
| 132 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
||
| 133 | unsigned char Driftkomp; |
||
| 134 | unsigned char DynamicStability; |
||
| 135 | unsigned char UserParam5; // Wert : 0-250 |
||
| 136 | unsigned char UserParam6; // Wert : 0-250 |
||
| 137 | unsigned char UserParam7; // Wert : 0-250 |
||
| 138 | unsigned char UserParam8; // Wert : 0-250 |
||
| 139 | //---Output --------------------------------------------- |
||
| 140 | unsigned char J16Bitmask; // for the J16 Output |
||
| 141 | unsigned char J16Timing; // for the J16 Output |
||
| 142 | unsigned char J17Bitmask; // for the J17 Output |
||
| 143 | unsigned char J17Timing; // for the J17 Output |
||
| 144 | // seit version V0.75c |
||
| 145 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
||
| 146 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
||
| 147 | //---NaviCtrl--------------------------------------------- |
||
| 148 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
||
| 149 | unsigned char NaviGpsGain; |
||
| 150 | unsigned char NaviGpsP; |
||
| 151 | unsigned char NaviGpsI; |
||
| 152 | unsigned char NaviGpsD; |
||
| 153 | unsigned char NaviGpsPLimit; |
||
| 154 | unsigned char NaviGpsILimit; |
||
| 155 | unsigned char NaviGpsDLimit; |
||
| 156 | unsigned char NaviGpsACC; |
||
| 157 | unsigned char NaviGpsMinSat; |
||
| 158 | unsigned char NaviStickThreshold; |
||
| 159 | unsigned char NaviWindCorrection; |
||
| 160 | unsigned char NaviSpeedCompensation; |
||
| 161 | unsigned char NaviOperatingRadius; |
||
| 162 | unsigned char NaviAngleLimitation; |
||
| 163 | unsigned char NaviPH_LoginTime; |
||
| 164 | //---Ext.Ctrl--------------------------------------------- |
||
| 165 | unsigned char ExternalControl; // for serial Control |
||
| 166 | //------------------------------------------------ |
||
| 167 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
||
| 168 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
||
| 169 | unsigned char ExtraConfig; // bitcodiert |
||
| 170 | char Name[12]; |
||
| 171 | }; |
||
| 172 | |||
| 173 | struct |
||
| 174 | { |
||
| 175 | char Revision; |
||
| 176 | char Name[12]; |
||
| 177 | signed char Motor[16][4]; |
||
| 178 | } Mixer; |
||
| 179 | |||
| 180 | extern struct mk_param_struct EE_Parameter; |
||
| 181 | extern unsigned char Parameter_Luftdruck_D; |
||
| 182 | extern unsigned char Parameter_MaxHoehe; |
||
| 183 | extern unsigned char Parameter_Hoehe_P; |
||
| 184 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
||
| 185 | extern unsigned char Parameter_KompassWirkung; |
||
| 186 | extern unsigned char Parameter_Gyro_P; |
||
| 187 | extern unsigned char Parameter_Gyro_I; |
||
| 188 | extern unsigned char Parameter_Gier_P; |
||
| 189 | extern unsigned char Parameter_ServoNickControl; |
||
| 190 | extern unsigned char Parameter_ServoRollControl; |
||
| 191 | extern unsigned char Parameter_AchsKopplung1; |
||
| 192 | extern unsigned char Parameter_AchsKopplung2; |
||
| 193 | //extern unsigned char Parameter_AchsGegenKopplung1; |
||
| 194 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
||
| 195 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
||
| 196 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
||
| 197 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
||
| 198 | extern signed char MixerTable[MAX_MOTORS][4]; |
||
| 199 | extern unsigned char Motor[MAX_MOTORS]; |
||
| 200 | #endif //_FC_H |
||
| 201 |