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Rev | Author | Line No. | Line |
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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 |
1703 | holgerb | 11 | #define ACC_AMPLIFY 6 |
921 | hbuss | 12 | |
1765 | killagreg | 13 | // FC STATUS FLAGS |
14 | #define FC_STATUS_MOTOR_RUN 0x01 |
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15 | #define FC_STATUS_FLY 0x02 |
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16 | #define FC_STATUS_CALIBRATE 0x04 |
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17 | #define FC_STATUS_START 0x08 |
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18 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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19 | #define FC_STATUS_LOWBAT 0x20 |
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1767 | killagreg | 20 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
21 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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1254 | killagreg | 22 | |
1861 | holgerb | 23 | // FC STATUS FLAGS2 |
24 | #define FC_STATUS2_CAREFREE 0x01 |
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25 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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1702 | holgerb | 26 | |
1861 | holgerb | 27 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
1862 | holgerb | 28 | extern void ParameterZuordnung(void); |
1861 | holgerb | 29 | |
1377 | hbuss | 30 | #define Poti1 Poti[0] |
31 | #define Poti2 Poti[1] |
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32 | #define Poti3 Poti[2] |
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33 | #define Poti4 Poti[3] |
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34 | #define Poti5 Poti[4] |
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35 | #define Poti6 Poti[5] |
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36 | #define Poti7 Poti[6] |
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37 | #define Poti8 Poti[7] |
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1254 | killagreg | 38 | |
1 | ingob | 39 | extern unsigned char Sekunde,Minute; |
1352 | hbuss | 40 | extern unsigned int BaroExpandActive; |
693 | hbuss | 41 | extern long IntegralNick,IntegralNick2; |
42 | extern long IntegralRoll,IntegralRoll2; |
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1153 | hbuss | 43 | //extern int IntegralNick,IntegralNick2; |
44 | //extern int IntegralRoll,IntegralRoll2; |
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1420 | killagreg | 45 | extern unsigned char Poti[9]; |
1153 | hbuss | 46 | |
693 | hbuss | 47 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
48 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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49 | extern long IntegralAccNick,IntegralAccRoll; |
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1685 | holgerb | 50 | extern long SummeNick,SummeRoll; |
1 | ingob | 51 | extern volatile long Mess_Integral_Hoch; |
693 | hbuss | 52 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
1153 | hbuss | 53 | extern int KompassValue; |
1837 | holgerb | 54 | extern int KompassSollWert; |
1153 | hbuss | 55 | extern int KompassRichtung; |
1839 | holgerb | 56 | extern char CalculateCompassTimer; |
57 | extern unsigned char KompassFusion; |
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1664 | holgerb | 58 | extern unsigned char ControlHeading; |
1166 | hbuss | 59 | extern int TrimNick, TrimRoll; |
717 | hbuss | 60 | extern long ErsatzKompass; |
61 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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1246 | killagreg | 62 | extern long HoehenWert; |
63 | extern long SollHoehe; |
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1855 | holgerb | 64 | extern long FromNC_AltitudeSetpoint; |
65 | extern unsigned char FromNC_AltitudeSpeed; |
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66 | |||
1690 | holgerb | 67 | extern unsigned char CareFree; |
1153 | hbuss | 68 | extern int MesswertNick,MesswertRoll,MesswertGier; |
1703 | holgerb | 69 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 70 | extern unsigned int NeutralAccX, NeutralAccY; |
1215 | hbuss | 71 | extern unsigned char HoehenReglerAktiv; |
1639 | holgerb | 72 | extern int NeutralAccZ; |
396 | hbuss | 73 | extern long Umschlag180Nick, Umschlag180Roll; |
492 | hbuss | 74 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
513 | hbuss | 75 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
805 | hbuss | 76 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
871 | hbuss | 77 | extern unsigned int modell_fliegt; |
1639 | holgerb | 78 | extern void MotorRegler(void); |
79 | extern void SendMotorData(void); |
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1622 | killagreg | 80 | //void CalibrierMittelwert(void); |
81 | //void Mittelwert(void); |
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1639 | holgerb | 82 | extern void SetNeutral(unsigned char AccAdjustment); |
83 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
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84 | extern void CopyDebugValues(void); |
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1 | ingob | 85 | |
304 | ingob | 86 | extern unsigned char h,m,s; |
87 | extern volatile unsigned char Timeout ; |
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88 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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1153 | hbuss | 89 | extern int DiffNick,DiffRoll; |
1377 | hbuss | 90 | //extern int Poti1, Poti2, Poti3, Poti4; |
304 | ingob | 91 | extern volatile unsigned char SenderOkay; |
92 | extern int StickNick,StickRoll,StickGier; |
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93 | extern char MotorenEin; |
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1403 | hbuss | 94 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1591 | holgerb | 95 | extern char VarioCharacter; |
1692 | holgerb | 96 | extern int HoverGas; |
1 | ingob | 97 | |
98 | extern unsigned char Parameter_Luftdruck_D; |
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99 | extern unsigned char Parameter_MaxHoehe; |
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100 | extern unsigned char Parameter_Hoehe_P; |
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101 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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102 | extern unsigned char Parameter_KompassWirkung; |
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103 | extern unsigned char Parameter_Gyro_P; |
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104 | extern unsigned char Parameter_Gyro_I; |
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105 | extern unsigned char Parameter_Gier_P; |
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106 | extern unsigned char Parameter_ServoNickControl; |
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1232 | hbuss | 107 | extern unsigned char Parameter_ServoRollControl; |
396 | hbuss | 108 | extern unsigned char Parameter_AchsKopplung1; |
1120 | hbuss | 109 | extern unsigned char Parameter_AchsKopplung2; |
110 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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921 | hbuss | 111 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
112 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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113 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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114 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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1243 | killagreg | 115 | extern signed char MixerTable[MAX_MOTORS][4]; |
1760 | holgerb | 116 | extern const signed char sintab[31]; |
1 | ingob | 117 | #endif //_FC_H |
118 |