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/*#######################################################################################
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Flight Control
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#######################################################################################*/
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#ifndef _FC_H
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#define _FC_H
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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1160L
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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#define STICK_GAIN 4
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#define ACC_AMPLIFY    6
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#define HEIGHT_CONTROL_STICKTHRESHOLD 15
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// FC_StatusFlags
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#define FC_STATUS_MOTOR_RUN                             0x01
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#define FC_STATUS_FLY                                   0x02
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#define FC_STATUS_CALIBRATE                             0x04
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#define FC_STATUS_START                                 0x08
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#define FC_STATUS_EMERGENCY_LANDING             0x10
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#define FC_STATUS_LOWBAT                                0x20
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#define FC_STATUS_VARIO_TRIM_UP                 0x40
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#define FC_STATUS_VARIO_TRIM_DOWN               0x80
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// FC_StatusFlags2
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#define FC_STATUS2_CAREFREE                 0x01
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#define FC_STATUS2_ALTITUDE_CONTROL         0x02
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#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
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#define FC_STATUS2_OUT1_ACTIVE                  0x08
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#define FC_STATUS2_OUT2_ACTIVE                  0x10
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#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground
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#define FC_STATUS2_AUTO_STARTING                0x40
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#define FC_STATUS2_AUTO_LANDING                 0x80
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// FC_StatusFlags3
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#define FC_STATUS3_REDUNDANCE               0x01
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#define FC_STATUS3_BOAT                         0x02
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//NC_To_FC_Flags
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#define NC_TO_FC_FLYING_RANGE           0x01
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#define NC_TO_FC_EMERGENCY_LANDING      0x02
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#define NC_TO_FC_AUTOSTART                      0x04
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#define NC_TO_FC_AUTOLANDING            0x08 // not used
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#define NC_TO_FC_SIMULATION_ACTIVE      0x10 // don't start motors
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extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
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extern unsigned char FC_StatusFlags3;
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extern void ParameterZuordnung(void);
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extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel
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#define Poti1 Poti[0]
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#define Poti2 Poti[1]
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#define Poti3 Poti[2]
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#define Poti4 Poti[3]
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#define Poti5 Poti[4]
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#define Poti6 Poti[5]
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#define Poti7 Poti[6]
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#define Poti8 Poti[7]
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#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
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#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
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#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
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#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
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#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
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#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
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#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
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extern unsigned char Sekunde,Minute;
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extern unsigned int BaroExpandActive;
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extern long IntegralNick;//,IntegralNick2;
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extern long IntegralRoll;//,IntegralRoll2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralRoll,IntegralRoll2;
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extern unsigned char Poti[9];
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extern long Mess_IntegralNick;//,Mess_IntegralNick2;
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extern long Mess_IntegralRoll;//,Mess_IntegralRoll2;
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extern long IntegralAccNick,IntegralAccRoll;
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extern long SummeNick,SummeRoll;
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extern volatile long Mess_Integral_Hoch;
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extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern int  KompassValue;
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extern int  KompassSollWert;
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extern int  KompassRichtung;
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extern char CalculateCompassTimer;
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extern unsigned char KompassFusion;
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extern unsigned char ControlHeading;
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extern int  TrimNick, TrimRoll;
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extern long  ErsatzKompass;
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extern int   ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad
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extern long HoehenWert;
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extern long SollHoehe;
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extern long FromNC_AltitudeSetpoint;
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extern unsigned char FromNC_AltitudeSpeed;
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extern unsigned char Parameter_HoehenSchalter;      // Wert : 0-250
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extern unsigned char CareFree;
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extern int MesswertNick,MesswertRoll,MesswertGier;
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extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern unsigned int NeutralAccX, NeutralAccY;
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extern unsigned char HoehenReglerAktiv;
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extern int NeutralAccZ;
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extern signed char NeutralAccZfine;
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extern long Umschlag180Nick, Umschlag180Roll;
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extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
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extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
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extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
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extern unsigned int modell_fliegt;
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extern void MotorRegler(void);
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extern void SendMotorData(void);
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//void CalibrierMittelwert(void);
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//void Mittelwert(void);
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extern unsigned char SetNeutral(unsigned char AccAdjustment);  // retuns: "sucess"
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extern void Piep(unsigned char Anzahl, unsigned int dauer);
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extern void CopyDebugValues(void);
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extern unsigned char ACC_AltitudeControl;
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extern signed int CosAttitude;  // for projection of hoover gas
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extern unsigned char h,m,s;
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extern int StickNick,StickRoll,StickGier,StickGas;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern int  DiffNick,DiffRoll;
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//extern int  Poti1, Poti2, Poti3, Poti4;
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extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern unsigned char CalibrationDone;
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extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
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extern char VarioCharacter;
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extern signed int AltitudeSetpointTrimming;
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extern signed char WaypointTrimming;
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extern int HoverGas;
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extern unsigned char Parameter_Luftdruck_D;
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//extern unsigned char Parameter_MaxHoehe;
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extern unsigned char Parameter_Hoehe_P;
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extern unsigned char Parameter_Hoehe_ACC_Wirkung;
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extern unsigned char Parameter_KompassWirkung;
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extern unsigned char Parameter_Gyro_P;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_ServoRollControl;
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extern unsigned char Parameter_ServoNickComp;
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extern unsigned char Parameter_ServoRollComp;
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extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsKopplung2;
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//extern unsigned char Parameter_AchsGegenKopplung1;
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extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
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extern unsigned char Parameter_J16Timing;              // for the J16 Output
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extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
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extern unsigned char Parameter_J17Timing;              // for the J17 Output
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extern unsigned char Parameter_GlobalConfig;
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extern unsigned char Parameter_ExtraConfig;
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extern signed char MixerTable[MAX_MOTORS][4];
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extern const signed char sintab[31];
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extern unsigned char LowVoltageLandingActive;
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extern unsigned char LowVoltageHomeActive;
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extern unsigned char Parameter_MaximumAltitude;
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#endif //_FC_H
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