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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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| 744 | hbuss | 7 | //#define GIER_GRAD_FAKTOR 1450L // Abhängigkeit wzischen GyroIntegral und Winkel |
| 8 | #define GIER_GRAD_FAKTOR 1550L // Abhängigkeit wzischen GyroIntegral und Winkel |
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| 1 | ingob | 9 | |
| 173 | holgerb | 10 | extern volatile unsigned int I2CTimeout; |
| 1 | ingob | 11 | extern unsigned char Sekunde,Minute; |
| 693 | hbuss | 12 | extern long IntegralNick,IntegralNick2; |
| 13 | extern long IntegralRoll,IntegralRoll2; |
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| 14 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
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| 15 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 16 | extern long IntegralAccNick,IntegralAccRoll; |
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| 1 | ingob | 17 | extern volatile long Mess_Integral_Hoch; |
| 693 | hbuss | 18 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| 1 | ingob | 19 | extern volatile int KompassValue; |
| 20 | extern volatile int KompassStartwert; |
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| 21 | extern volatile int KompassRichtung; |
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| 717 | hbuss | 22 | extern long ErsatzKompass; |
| 23 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 1 | ingob | 24 | extern int HoehenWert; |
| 25 | extern int SollHoehe; |
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| 26 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
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| 27 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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| 28 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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| 29 | extern volatile float NeutralAccZ; |
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| 396 | hbuss | 30 | extern long Umschlag180Nick, Umschlag180Roll; |
| 492 | hbuss | 31 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| 513 | hbuss | 32 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| 805 | hbuss | 33 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| 1 | ingob | 34 | void MotorRegler(void); |
| 35 | void SendMotorData(void); |
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| 36 | void CalibrierMittelwert(void); |
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| 37 | void Mittelwert(void); |
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| 38 | void SetNeutral(void); |
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| 304 | ingob | 39 | void Piep(unsigned char Anzahl); |
| 40 | extern void DefaultKonstanten(void); |
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| 41 | void DefaultKonstanten1(void); |
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| 42 | void DefaultKonstanten2(void); |
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| 1 | ingob | 43 | |
| 304 | ingob | 44 | extern unsigned char h,m,s; |
| 45 | extern volatile unsigned char Timeout ; |
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| 46 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 47 | extern volatile int DiffNick,DiffRoll; |
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| 1 | ingob | 48 | extern int Poti1, Poti2, Poti3, Poti4; |
| 304 | ingob | 49 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 50 | extern volatile unsigned char SenderOkay; |
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| 51 | extern int StickNick,StickRoll,StickGier; |
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| 52 | extern char MotorenEin; |
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| 396 | hbuss | 53 | extern void DefaultKonstanten1(void); |
| 54 | extern void DefaultKonstanten2(void); |
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| 1 | ingob | 55 | |
| 499 | hbuss | 56 | #define STRUCT_PARAM_LAENGE 71 |
| 1 | ingob | 57 | struct mk_param_struct |
| 58 | { |
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| 59 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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| 60 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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| 61 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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| 62 | unsigned char Luftdruck_D; // Wert : 0-250 |
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| 63 | unsigned char MaxHoehe; // Wert : 0-32 |
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| 64 | unsigned char Hoehe_P; // Wert : 0-32 |
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| 65 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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| 66 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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| 67 | unsigned char Stick_P; // Wert : 1-6 |
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| 68 | unsigned char Stick_D; // Wert : 0-64 |
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| 69 | unsigned char Gier_P; // Wert : 1-20 |
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| 70 | unsigned char Gas_Min; // Wert : 0-32 |
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| 71 | unsigned char Gas_Max; // Wert : 33-250 |
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| 72 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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| 73 | unsigned char KompassWirkung; // Wert : 0-32 |
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| 74 | unsigned char Gyro_P; // Wert : 10-250 |
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| 75 | unsigned char Gyro_I; // Wert : 0-250 |
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| 76 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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| 77 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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| 78 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 79 | unsigned char UfoAusrichtung; // X oder + Formation |
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| 80 | unsigned char I_Faktor; // Wert : 0-250 |
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| 81 | unsigned char UserParam1; // Wert : 0-250 |
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| 82 | unsigned char UserParam2; // Wert : 0-250 |
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| 83 | unsigned char UserParam3; // Wert : 0-250 |
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| 84 | unsigned char UserParam4; // Wert : 0-250 |
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| 85 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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| 86 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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| 87 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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| 88 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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| 173 | holgerb | 89 | unsigned char ServoNickRefresh; // |
| 90 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 91 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 396 | hbuss | 92 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| 93 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 94 | unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
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| 95 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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| 96 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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| 97 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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| 499 | hbuss | 98 | unsigned char Driftkomp; |
| 99 | unsigned char DynamicStability; |
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| 100 | unsigned char UserParam5; // Wert : 0-250 |
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| 101 | unsigned char UserParam6; // Wert : 0-250 |
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| 102 | unsigned char UserParam7; // Wert : 0-250 |
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| 103 | unsigned char UserParam8; // Wert : 0-250 |
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| 104 | |||
| 173 | holgerb | 105 | //------------------------------------------------ |
| 106 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 107 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 108 | unsigned char Reserved[4]; |
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| 1 | ingob | 109 | char Name[12]; |
| 110 | }; |
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| 111 | |||
| 396 | hbuss | 112 | |
| 173 | holgerb | 113 | /* |
| 114 | unsigned char ServoNickMax; // Wert : 0-250 |
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| 115 | unsigned char ServoNickRefresh; // |
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| 116 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 117 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 118 | //------------------------------------------------ |
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| 119 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 120 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 121 | unsigned char Reserved[4]; |
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| 122 | char Name[12]; |
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| 123 | */ |
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| 124 | |||
| 1 | ingob | 125 | extern struct mk_param_struct EE_Parameter; |
| 126 | |||
| 127 | extern unsigned char Parameter_Luftdruck_D; |
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| 128 | extern unsigned char Parameter_MaxHoehe; |
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| 129 | extern unsigned char Parameter_Hoehe_P; |
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| 130 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 131 | extern unsigned char Parameter_KompassWirkung; |
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| 132 | extern unsigned char Parameter_Gyro_P; |
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| 133 | extern unsigned char Parameter_Gyro_I; |
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| 134 | extern unsigned char Parameter_Gier_P; |
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| 135 | extern unsigned char Parameter_ServoNickControl; |
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| 396 | hbuss | 136 | extern unsigned char Parameter_AchsKopplung1; |
| 137 | extern unsigned char Parameter_AchsGegenKopplung1; |
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| 1 | ingob | 138 | |
| 396 | hbuss | 139 | |
| 1 | ingob | 140 | #endif //_FC_H |
| 141 |