Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

#ifndef _FC_H

#define _FC_H

#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel

#define STICK_GAIN 4

//Salvo 30.12.2007 

#define ACC_WAAGRECHT_LIMIT 200 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage

#define GIER_COMP_MAX 2 // Maximalwert der Giergyrodriftkompensation via Kompass

//Salvo End

#define FLAG_MOTOR_RUN  1

#define FLAG_FLY        2

#define FLAG_CALIBRATE  4

#define FLAG_START      8

extern unsigned char MikroKopterFlags;

extern volatile unsigned int I2CTimeout;

extern unsigned char Sekunde,Minute;

extern long IntegralNick,IntegralNick2;

extern long IntegralRoll,IntegralRoll2;

extern long Mess_IntegralNick,Mess_IntegralNick2;

extern long Mess_IntegralRoll,Mess_IntegralRoll2;

extern long IntegralAccNick,IntegralAccRoll;

extern volatile long Mess_Integral_Hoch;

extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;

extern volatile int  KompassValue;

extern volatile int  KompassStartwert;

extern volatile int  KompassRichtung;

extern long  ErsatzKompass;

extern int   ErsatzKompassInGrad; // Kompasswert in Grad

extern int HoehenWert;

extern int SollHoehe;

extern volatile int MesswertNick,MesswertRoll,MesswertGier;

extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;

extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;

extern volatile float NeutralAccZ;

extern long Umschlag180Nick, Umschlag180Roll;

extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;

extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;

extern int NaviAccNick,NaviAccRoll,NaviCntAcc;

extern unsigned int modell_fliegt;

void MotorRegler(void);

void SendMotorData(void);

void CalibrierMittelwert(void);

void Mittelwert(void);

void SetNeutral(void);

void Piep(unsigned char Anzahl);

extern void DefaultKonstanten(void);

void DefaultKonstanten1(void);

void DefaultKonstanten2(void);

extern unsigned char h,m,s;

extern volatile unsigned char Timeout ;

extern unsigned char CosinusNickWinkel, CosinusRollWinkel;

extern volatile int  DiffNick,DiffRoll;

extern int  Poti1, Poti2, Poti3, Poti4;

extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;

extern volatile unsigned char SenderOkay;

extern int StickNick,StickRoll,StickGier;

extern char MotorenEin;

extern void DefaultKonstanten1(void);

extern void DefaultKonstanten2(void);

//Salvo 2.1.2008 Debugvariablens

extern int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen

//Salvo End

//Salvo 2.9.2007 Ersatzkompass

extern long GyroKomp_Int;

extern long int GyroGier_Comp;

extern int GyroKomp_Inc_Grad;

extern int GyroKomp_Value; //  Der ermittelte Kompasswert aus Gyro und Magnetkompass

// Salvo End

#define  STRUCT_PARAM_LAENGE  86

struct mk_param_struct

 {

   unsigned char Kanalbelegung[8];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

   unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

   unsigned char Hoehe_MinGas;           // Wert : 0-100

   unsigned char Luftdruck_D;            // Wert : 0-250

   unsigned char MaxHoehe;               // Wert : 0-32

   unsigned char Hoehe_P;                // Wert : 0-32

   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50

   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

   unsigned char Stick_P;                // Wert : 1-6

   unsigned char Stick_D;                // Wert : 0-64

   unsigned char Gier_P;                 // Wert : 1-20

   unsigned char Gas_Min;                // Wert : 0-32

   unsigned char Gas_Max;                // Wert : 33-250

   unsigned char GyroAccFaktor;          // Wert : 1-64

   unsigned char KompassWirkung;         // Wert : 0-32

   unsigned char Gyro_P;                 // Wert : 10-250

   unsigned char Gyro_I;                 // Wert : 0-250

   unsigned char UnterspannungsWarnung;  // Wert : 0-250

   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust

   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

   unsigned char UfoAusrichtung;         // X oder + Formation

   unsigned char I_Faktor;               // Wert : 0-250

   unsigned char UserParam1;             // Wert : 0-250

   unsigned char UserParam2;             // Wert : 0-250

   unsigned char UserParam3;             // Wert : 0-250

   unsigned char UserParam4;             // Wert : 0-250

   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

   unsigned char ServoNickRefresh;       //

   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag

   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)

   unsigned char AchsGegenKopplung1;     // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)

   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt

   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt

   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)

   unsigned char Driftkomp;              

   unsigned char DynamicStability;

   unsigned char UserParam5;             // Wert : 0-250

   unsigned char UserParam6;             // Wert : 0-250

   unsigned char UserParam7;             // Wert : 0-250

   unsigned char UserParam8;             // Wert : 0-250

//---Output ---------------------------------------------

   unsigned char J16Bitmask;             // for the J16 Output

   unsigned char J16Timing;              // for the J16 Output

   unsigned char J17Bitmask;             // for the J17 Output

   unsigned char J17Timing;              // for the J17 Output

//---NaviCtrl---------------------------------------------

   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard

   unsigned char NaviGpsGain;    

   unsigned char NaviGpsP;        

   unsigned char NaviGpsI;        

   unsigned char NaviGpsD;        

   unsigned char NaviGpsACC;        

   unsigned char NaviGpsMinSat;        

   unsigned char NaviStickThreshold;        

   unsigned char NaviWindCorrection;        

   unsigned char NaviSpeedCompensation;        

   unsigned char NaviOperatingRadius;        

   unsigned char NaviAngleLimitation;

//---Ext.Ctrl---------------------------------------------

   unsigned char ExternalControl;        // for serial Control

//------------------------------------------------

   unsigned char BitConfig;             // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen

   unsigned char Reserved[4];

   char Name[12];

 };

extern struct mk_param_struct EE_Parameter;

extern unsigned char Parameter_Luftdruck_D;

extern unsigned char Parameter_MaxHoehe;

extern unsigned char Parameter_Hoehe_P;

extern unsigned char Parameter_Hoehe_ACC_Wirkung;

extern unsigned char Parameter_KompassWirkung;

extern unsigned char Parameter_Gyro_P;

extern unsigned char Parameter_Gyro_I;

extern unsigned char Parameter_Gier_P;

extern unsigned char Parameter_ServoNickControl;

extern unsigned char Parameter_AchsKopplung1;

extern unsigned char Parameter_AchsGegenKopplung1;

extern unsigned char Parameter_J16Bitmask;             // for the J16 Output

extern unsigned char Parameter_J16Timing;              // for the J16 Output

extern unsigned char Parameter_J17Bitmask;             // for the J17 Output

extern unsigned char Parameter_J17Timing;              // for the J17 Output

extern unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard

extern unsigned char Parameter_NaviGpsGain;    

extern unsigned char Parameter_NaviGpsP;        

extern unsigned char Parameter_NaviGpsI;        

extern unsigned char Parameter_NaviGpsD;        

extern unsigned char Parameter_NaviGpsACC;  

extern unsigned char Parameter_NaviOperatingRadius;

extern unsigned char Parameter_NaviWindCorrection;

extern unsigned char Parameter_NaviSpeedCompensation;

#endif //_FC_H