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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1754 | - | 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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| 7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
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| 8 | //#define GIER_GRAD_FAKTOR 1160L |
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| 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
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| 10 | #define STICK_GAIN 4 |
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| 11 | #define ACC_AMPLIFY 6 |
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| 12 | |||
| 13 | #define FCFLAG_MOTOR_RUN 0x01 |
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| 14 | #define FCFLAG_FLY 0x02 |
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| 15 | #define FCFLAG_CALIBRATE 0x04 |
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| 16 | #define FCFLAG_START 0x08 |
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| 17 | #define FCFLAG_NOTLANDUNG 0x10 |
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| 18 | #define FCFLAG_LOWBAT 0x20 |
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| 19 | #define FCFLAG_SPI_RX_ERR 0x40 |
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| 20 | #define FCFLAG_I2CERR 0x80 |
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| 21 | |||
| 22 | #define DEFEKT_G_NICK 0x01 |
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| 23 | #define DEFEKT_G_ROLL 0x02 |
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| 24 | #define DEFEKT_G_GIER 0x04 |
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| 25 | #define DEFEKT_A_NICK 0x08 |
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| 26 | #define DEFEKT_A_ROLL 0x10 |
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| 27 | #define DEFEKT_A_Z 0x20 |
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| 28 | #define DEFEKT_PRESSURE 0x40 |
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| 29 | #define DEFEKT_CAREFREE_ERR 0x80 |
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| 30 | |||
| 31 | #define DEFEKT_I2C 0x01 |
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| 32 | #define DEFEKT_BL_MISSING 0x02 |
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| 33 | #define DEFEKT_SPI_RX_ERR 0x04 |
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| 34 | #define DEFEKT_PPM_ERR 0x08 |
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| 35 | #define DEFEKT_MIXER_ERR 0x10 |
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| 36 | |||
| 37 | #define Poti1 Poti[0] |
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| 38 | #define Poti2 Poti[1] |
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| 39 | #define Poti3 Poti[2] |
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| 40 | #define Poti4 Poti[3] |
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| 41 | #define Poti5 Poti[4] |
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| 42 | #define Poti6 Poti[5] |
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| 43 | #define Poti7 Poti[6] |
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| 44 | #define Poti8 Poti[7] |
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| 45 | |||
| 46 | extern volatile unsigned char FCFlags; |
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| 47 | extern unsigned char Sekunde,Minute; |
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| 48 | extern unsigned int BaroExpandActive; |
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| 49 | extern long IntegralNick,IntegralNick2; |
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| 50 | extern long IntegralRoll,IntegralRoll2; |
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| 51 | //extern int IntegralNick,IntegralNick2; |
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| 52 | //extern int IntegralRoll,IntegralRoll2; |
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| 53 | extern unsigned char Poti[9]; |
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| 54 | |||
| 55 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
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| 56 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 57 | extern long IntegralAccNick,IntegralAccRoll; |
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| 58 | extern long SummeNick,SummeRoll; |
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| 59 | extern volatile long Mess_Integral_Hoch; |
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| 60 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
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| 61 | extern int KompassValue; |
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| 62 | extern int KompassStartwert; |
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| 63 | extern int KompassRichtung; |
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| 64 | extern unsigned char ControlHeading; |
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| 65 | extern int TrimNick, TrimRoll; |
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| 66 | extern long ErsatzKompass; |
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| 67 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 68 | extern long HoehenWert; |
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| 69 | extern long SollHoehe; |
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| 70 | extern unsigned char CareFree; |
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| 71 | extern int MesswertNick,MesswertRoll,MesswertGier; |
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| 72 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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| 73 | extern unsigned int NeutralAccX, NeutralAccY; |
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| 74 | extern unsigned char HoehenReglerAktiv; |
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| 75 | extern int NeutralAccZ; |
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| 76 | extern long Umschlag180Nick, Umschlag180Roll; |
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| 77 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
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| 78 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
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| 79 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
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| 80 | extern unsigned int modell_fliegt; |
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| 81 | extern void MotorRegler(void); |
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| 82 | extern void SendMotorData(void); |
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| 83 | //void CalibrierMittelwert(void); |
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| 84 | //void Mittelwert(void); |
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| 85 | extern void SetNeutral(unsigned char AccAdjustment); |
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| 86 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
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| 87 | extern void CopyDebugValues(void); |
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| 88 | |||
| 89 | extern unsigned char h,m,s; |
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| 90 | extern volatile unsigned char Timeout ; |
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| 91 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 92 | extern int DiffNick,DiffRoll; |
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| 93 | //extern int Poti1, Poti2, Poti3, Poti4; |
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| 94 | extern volatile unsigned char SenderOkay; |
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| 95 | extern int StickNick,StickRoll,StickGier; |
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| 96 | extern char MotorenEin; |
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| 97 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
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| 98 | extern char VarioCharacter; |
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| 99 | extern int HoverGas; |
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| 100 | |||
| 101 | extern unsigned char Parameter_Luftdruck_D; |
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| 102 | extern unsigned char Parameter_MaxHoehe; |
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| 103 | extern unsigned char Parameter_Hoehe_P; |
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| 104 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 105 | extern unsigned char Parameter_KompassWirkung; |
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| 106 | extern unsigned char Parameter_Gyro_P; |
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| 107 | extern unsigned char Parameter_Gyro_I; |
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| 108 | extern unsigned char Parameter_Gier_P; |
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| 109 | extern unsigned char Parameter_ServoNickControl; |
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| 110 | extern unsigned char Parameter_ServoRollControl; |
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| 111 | extern unsigned char Parameter_AchsKopplung1; |
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| 112 | extern unsigned char Parameter_AchsKopplung2; |
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| 113 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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| 114 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
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| 115 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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| 116 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 117 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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| 118 | extern signed char MixerTable[MAX_MOTORS][4]; |
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| 119 | #endif //_FC_H |
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| 120 |