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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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| 1111 | hbuss | 7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| 1243 | killagreg | 8 | //#define GIER_GRAD_FAKTOR 1160L |
| 1121 | hbuss | 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| 855 | hbuss | 10 | #define STICK_GAIN 4 |
| 921 | hbuss | 11 | |
| 1420 | killagreg | 12 | #define FCFLAG_MOTOR_RUN 0x01 |
| 13 | #define FCFLAG_FLY 0x02 |
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| 14 | #define FCFLAG_CALIBRATE 0x04 |
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| 15 | #define FCFLAG_START 0x08 |
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| 16 | #define FCFLAG_NOTLANDUNG 0x10 |
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| 17 | #define FCFLAG_LOWBAT 0x20 |
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| 18 | #define FCFLAG_SPI_RX_ERR 0x40 |
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| 1423 | hbuss | 19 | #define FCFLAG_I2CERR 0x80 |
| 1254 | killagreg | 20 | |
| 1377 | hbuss | 21 | #define Poti1 Poti[0] |
| 22 | #define Poti2 Poti[1] |
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| 23 | #define Poti3 Poti[2] |
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| 24 | #define Poti4 Poti[3] |
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| 25 | #define Poti5 Poti[4] |
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| 26 | #define Poti6 Poti[5] |
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| 27 | #define Poti7 Poti[6] |
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| 28 | #define Poti8 Poti[7] |
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| 1254 | killagreg | 29 | |
| 1155 | hbuss | 30 | |
| 1420 | killagreg | 31 | extern volatile unsigned char FCFlags; |
| 173 | holgerb | 32 | extern volatile unsigned int I2CTimeout; |
| 1 | ingob | 33 | extern unsigned char Sekunde,Minute; |
| 1352 | hbuss | 34 | extern unsigned int BaroExpandActive; |
| 693 | hbuss | 35 | extern long IntegralNick,IntegralNick2; |
| 36 | extern long IntegralRoll,IntegralRoll2; |
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| 1153 | hbuss | 37 | //extern int IntegralNick,IntegralNick2; |
| 38 | //extern int IntegralRoll,IntegralRoll2; |
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| 1420 | killagreg | 39 | extern unsigned char Poti[9]; |
| 1153 | hbuss | 40 | |
| 693 | hbuss | 41 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
| 42 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 43 | extern long IntegralAccNick,IntegralAccRoll; |
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| 1 | ingob | 44 | extern volatile long Mess_Integral_Hoch; |
| 693 | hbuss | 45 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| 1153 | hbuss | 46 | extern int KompassValue; |
| 47 | extern int KompassStartwert; |
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| 48 | extern int KompassRichtung; |
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| 1166 | hbuss | 49 | extern int TrimNick, TrimRoll; |
| 717 | hbuss | 50 | extern long ErsatzKompass; |
| 51 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 1246 | killagreg | 52 | extern long HoehenWert; |
| 53 | extern long SollHoehe; |
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| 1153 | hbuss | 54 | extern int MesswertNick,MesswertRoll,MesswertGier; |
| 927 | hbuss | 55 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| 56 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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| 1215 | hbuss | 57 | extern unsigned char HoehenReglerAktiv; |
| 1 | ingob | 58 | extern volatile float NeutralAccZ; |
| 396 | hbuss | 59 | extern long Umschlag180Nick, Umschlag180Roll; |
| 492 | hbuss | 60 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| 513 | hbuss | 61 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| 805 | hbuss | 62 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| 871 | hbuss | 63 | extern unsigned int modell_fliegt; |
| 1 | ingob | 64 | void MotorRegler(void); |
| 65 | void SendMotorData(void); |
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| 1622 | killagreg | 66 | //void CalibrierMittelwert(void); |
| 67 | //void Mittelwert(void); |
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| 68 | void SetNeutral(unsigned char AccAdjustment); |
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| 1232 | hbuss | 69 | void Piep(unsigned char Anzahl, unsigned int dauer); |
| 1 | ingob | 70 | |
| 304 | ingob | 71 | extern unsigned char h,m,s; |
| 72 | extern volatile unsigned char Timeout ; |
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| 73 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 1153 | hbuss | 74 | extern int DiffNick,DiffRoll; |
| 1377 | hbuss | 75 | //extern int Poti1, Poti2, Poti3, Poti4; |
| 304 | ingob | 76 | extern volatile unsigned char SenderOkay; |
| 77 | extern int StickNick,StickRoll,StickGier; |
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| 78 | extern char MotorenEin; |
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| 1622 | killagreg | 79 | extern unsigned char RequiredMotors; |
| 1403 | hbuss | 80 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1591 | holgerb | 81 | extern char VarioCharacter; |
| 1 | ingob | 82 | |
| 1591 | holgerb | 83 | |
| 1 | ingob | 84 | extern unsigned char Parameter_Luftdruck_D; |
| 85 | extern unsigned char Parameter_MaxHoehe; |
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| 86 | extern unsigned char Parameter_Hoehe_P; |
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| 87 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 88 | extern unsigned char Parameter_KompassWirkung; |
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| 89 | extern unsigned char Parameter_Gyro_P; |
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| 90 | extern unsigned char Parameter_Gyro_I; |
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| 91 | extern unsigned char Parameter_Gier_P; |
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| 92 | extern unsigned char Parameter_ServoNickControl; |
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| 1232 | hbuss | 93 | extern unsigned char Parameter_ServoRollControl; |
| 396 | hbuss | 94 | extern unsigned char Parameter_AchsKopplung1; |
| 1120 | hbuss | 95 | extern unsigned char Parameter_AchsKopplung2; |
| 96 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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| 921 | hbuss | 97 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 98 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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| 99 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 100 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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| 1243 | killagreg | 101 | extern signed char MixerTable[MAX_MOTORS][4]; |
| 1 | ingob | 102 | #endif //_FC_H |
| 103 |