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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 528 | salvo | 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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| 529 | salvo | 7 | |
| 528 | salvo | 8 | extern volatile unsigned int I2CTimeout; |
| 566 | salvo | 9 | //Salvo 9.12.2007 Neutralwerte fuer ACC Sensor nur verwendet wenn ACC_FIXED >0 |
| 10 | #define ACC_FIXED 0 // wenn > 0werden diese Werte beim ACC Kalbibrieren ins Eeprom geschrieben |
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| 528 | salvo | 11 | #define ACC_NICK_NEUTRAL 518 // ADC Wandler Wert in Neutrallage (0g): Vom individuellen Sensor abhaengig |
| 12 | #define ACC_ROLL_NEUTRAL 516 // ADC Wandler wert in Neutrallage (0g) |
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| 566 | salvo | 13 | #define ACC_Z_NEUTRAL 740 // ADC Wandler wert in Neutrallage (0g) |
| 528 | salvo | 14 | #define ACC_WAAGRECHT_LIMIT 100 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage |
| 15 | // Salvo End |
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| 16 | //Salvo 2.9.2007 Ersatzkompass: Gyroincrements/Grad als Defaultwert ***** |
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| 553 | salvo | 17 | // Laut Datenblatt sind di; Werte ueber Zeit und Temperatur sehr stabil. |
| 18 | #define GYROKOMP_INC_GRAD_DEFAULT 1300 // Gyroincrements/Grad als Defaultwert |
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| 528 | salvo | 19 | // Salvo End |
| 20 | |||
| 21 | extern unsigned char Sekunde,Minute; |
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| 22 | extern volatile long IntegralNick,IntegralNick2; |
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| 23 | extern volatile long IntegralRoll,IntegralRoll2; |
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| 24 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
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| 25 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 529 | salvo | 26 | extern volatile long IntegralAccNick,IntegralAccRoll; |
| 528 | salvo | 27 | extern volatile long Mess_Integral_Hoch; |
| 28 | extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
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| 29 | extern volatile int KompassValue; |
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| 30 | extern volatile int KompassStartwert; |
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| 31 | extern volatile int KompassRichtung; |
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| 32 | extern int HoehenWert; |
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| 33 | extern int SollHoehe; |
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| 34 | extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
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| 35 | extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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| 36 | extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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| 37 | extern volatile float NeutralAccZ; |
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| 529 | salvo | 38 | extern long Umschlag180Nick, Umschlag180Roll; |
| 39 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
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| 40 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
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| 528 | salvo | 41 | |
| 529 | salvo | 42 | |
| 528 | salvo | 43 | //Salvo 2.9.2007 Ersatzkompass |
| 553 | salvo | 44 | extern long GyroKomp_Int; |
| 45 | extern long int GyroGier_Comp; |
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| 46 | extern int GyroKomp_Inc_Grad; |
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| 47 | extern int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
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| 528 | salvo | 48 | // Salvo End |
| 49 | |||
| 50 | void MotorRegler(void); |
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| 51 | void SendMotorData(void); |
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| 52 | void CalibrierMittelwert(void); |
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| 53 | void Mittelwert(void); |
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| 54 | void SetNeutral(void); |
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| 529 | salvo | 55 | void Piep(unsigned char Anzahl); |
| 56 | extern void DefaultKonstanten(void); |
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| 57 | void DefaultKonstanten1(void); |
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| 58 | void DefaultKonstanten2(void); |
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| 528 | salvo | 59 | |
| 529 | salvo | 60 | extern unsigned char h,m,s; |
| 61 | extern volatile unsigned char Timeout ; |
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| 62 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 63 | extern volatile long IntegralNick,IntegralNick2; |
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| 64 | extern volatile long IntegralRoll,IntegralRoll2; |
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| 65 | extern volatile long Integral_Gier; |
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| 66 | extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
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| 67 | extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 68 | extern volatile long Mess_Integral_Gier; |
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| 69 | extern volatile int DiffNick,DiffRoll; |
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| 528 | salvo | 70 | extern int Poti1, Poti2, Poti3, Poti4; |
| 529 | salvo | 71 | extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 72 | extern unsigned char MotorWert[5]; |
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| 73 | extern volatile unsigned char SenderOkay; |
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| 74 | extern int StickNick,StickRoll,StickGier; |
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| 75 | extern char MotorenEin; |
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| 76 | extern void DefaultKonstanten1(void); |
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| 77 | extern void DefaultKonstanten2(void); |
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| 528 | salvo | 78 | |
| 529 | salvo | 79 | #define STRUCT_PARAM_LAENGE 71 |
| 528 | salvo | 80 | struct mk_param_struct |
| 81 | { |
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| 82 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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| 83 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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| 84 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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| 85 | unsigned char Luftdruck_D; // Wert : 0-250 |
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| 86 | unsigned char MaxHoehe; // Wert : 0-32 |
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| 87 | unsigned char Hoehe_P; // Wert : 0-32 |
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| 88 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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| 89 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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| 90 | unsigned char Stick_P; // Wert : 1-6 |
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| 91 | unsigned char Stick_D; // Wert : 0-64 |
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| 92 | unsigned char Gier_P; // Wert : 1-20 |
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| 93 | unsigned char Gas_Min; // Wert : 0-32 |
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| 94 | unsigned char Gas_Max; // Wert : 33-250 |
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| 95 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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| 96 | unsigned char KompassWirkung; // Wert : 0-32 |
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| 97 | unsigned char Gyro_P; // Wert : 10-250 |
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| 98 | unsigned char Gyro_I; // Wert : 0-250 |
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| 99 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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| 100 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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| 101 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 102 | unsigned char UfoAusrichtung; // X oder + Formation |
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| 103 | unsigned char I_Faktor; // Wert : 0-250 |
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| 104 | unsigned char UserParam1; // Wert : 0-250 |
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| 105 | unsigned char UserParam2; // Wert : 0-250 |
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| 106 | unsigned char UserParam3; // Wert : 0-250 |
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| 107 | unsigned char UserParam4; // Wert : 0-250 |
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| 108 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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| 109 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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| 110 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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| 111 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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| 112 | unsigned char ServoNickRefresh; // |
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| 113 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 114 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 529 | salvo | 115 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| 116 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 117 | unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
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| 118 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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| 119 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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| 120 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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| 121 | unsigned char Driftkomp; |
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| 122 | unsigned char DynamicStability; |
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| 123 | unsigned char UserParam5; // Wert : 0-250 |
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| 124 | unsigned char UserParam6; // Wert : 0-250 |
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| 125 | unsigned char UserParam7; // Wert : 0-250 |
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| 126 | unsigned char UserParam8; // Wert : 0-250 |
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| 127 | |||
| 528 | salvo | 128 | //------------------------------------------------ |
| 129 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 130 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 131 | unsigned char Reserved[4]; |
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| 132 | char Name[12]; |
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| 133 | }; |
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| 134 | |||
| 529 | salvo | 135 | |
| 528 | salvo | 136 | /* |
| 137 | unsigned char ServoNickMax; // Wert : 0-250 |
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| 138 | unsigned char ServoNickRefresh; // |
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| 139 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 140 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 141 | //------------------------------------------------ |
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| 142 | unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 143 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 144 | unsigned char Reserved[4]; |
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| 145 | char Name[12]; |
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| 146 | */ |
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| 147 | |||
| 148 | extern struct mk_param_struct EE_Parameter; |
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| 149 | |||
| 150 | extern unsigned char Parameter_Luftdruck_D; |
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| 151 | extern unsigned char Parameter_MaxHoehe; |
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| 152 | extern unsigned char Parameter_Hoehe_P; |
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| 153 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 154 | extern unsigned char Parameter_KompassWirkung; |
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| 155 | extern unsigned char Parameter_Gyro_P; |
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| 156 | extern unsigned char Parameter_Gyro_I; |
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| 157 | extern unsigned char Parameter_Gier_P; |
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| 158 | extern unsigned char Parameter_ServoNickControl; |
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| 529 | salvo | 159 | extern unsigned char Parameter_AchsKopplung1; |
| 160 | extern unsigned char Parameter_AchsGegenKopplung1; |
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| 528 | salvo | 161 | |
| 529 | salvo | 162 | |
| 528 | salvo | 163 | #endif //_FC_H |
| 164 |