Subversion Repositories FlightCtrl

Rev

Rev 1112 | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1112 thjac 1 
/*#######################################################################################
2 
Flight Control
3 
#######################################################################################*/
4 
 
5 
#ifndef _FC_H
6 
#define _FC_H
7 
//#define GIER_GRAD_FAKTOR 1450L // Abhängigkeit zwischen GyroIntegral und Winkel
8 
//#define GIER_GRAD_FAKTOR 1550L // Abhängigkeit zwischen GyroIntegral und Winkel
9 
#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
10 
#define STICK_GAIN 4
11 
 
12 
#define FLAG_MOTOR_RUN  1
13 
#define FLAG_FLY        2
14 
#define FLAG_CALIBRATE  4
15 
#define FLAG_START      8
16 
extern unsigned char MikroKopterFlags;
17 
 
18 
extern volatile unsigned int I2CTimeout;
19 
extern unsigned char Sekunde,Minute;
20 
extern long IntegralNick,IntegralNick2;
21 
extern long IntegralRoll,IntegralRoll2;
22 
extern long Mess_IntegralNick,Mess_IntegralNick2;
23 
extern long Mess_IntegralRoll,Mess_IntegralRoll2;
24 
extern long IntegralAccNick,IntegralAccRoll;
25 
extern volatile long Mess_Integral_Hoch;
26 
extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
27 
extern volatile int  KompassValue;
28 
extern volatile int  KompassStartwert;
29 
extern volatile int  KompassRichtung;
30 
extern long  ErsatzKompass;
31 
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
32 
extern int HoehenWert;
33 
extern int SollHoehe;
34 
extern volatile int MesswertNick,MesswertRoll,MesswertGier;
35 
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
36 
extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
37 
extern volatile float NeutralAccZ;
38 
extern long Umschlag180Nick, Umschlag180Roll;
39 
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
40 
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
41 
extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
42 
extern unsigned int modell_fliegt;
43 
void MotorRegler(void);
44 
void SendMotorData(void);
45 
void CalibrierMittelwert(void);
46 
void Mittelwert(void);
47 
void SetNeutral(void);
48 
void Piep(unsigned char Anzahl);
49 
extern void DefaultKonstanten(void);
1118 krheinwald 50 
void DefaultStickMapping(void);
1112 thjac 51 
void DefaultKonstanten1(void);
52 
void DefaultKonstanten2(void);
1118 krheinwald 53 
void DefaultKonstanten3(void);
1112 thjac 54 
 
55 
extern unsigned char h,m,s;
56 
extern volatile unsigned char Timeout ;
57 
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
58 
extern volatile int  DiffNick,DiffRoll;
59 
extern int  Poti1, Poti2, Poti3, Poti4;
60 
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
61 
extern volatile unsigned char SenderOkay;
62 
extern int StickNick,StickRoll,StickGier;
63 
extern char MotorenEin;
64 
extern void DefaultKonstanten1(void);
65 
extern void DefaultKonstanten2(void);
66 
 
67 
#define  STRUCT_PARAM_LAENGE  86
68 
struct mk_param_struct
69 
 {
70 
   unsigned char Kanalbelegung[8];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
71 
   unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
72 
   unsigned char Hoehe_MinGas;           // Wert : 0-100
73 
   unsigned char Luftdruck_D;            // Wert : 0-250
74 
   unsigned char MaxHoehe;               // Wert : 0-32
75 
   unsigned char Hoehe_P;                // Wert : 0-32
76 
   unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
77 
   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
78 
   unsigned char Stick_P;                // Wert : 1-6
79 
   unsigned char Stick_D;                // Wert : 0-64
80 
   unsigned char Gier_P;                 // Wert : 1-20
81 
   unsigned char Gas_Min;                // Wert : 0-32
82 
   unsigned char Gas_Max;                // Wert : 33-250
83 
   unsigned char GyroAccFaktor;          // Wert : 1-64
84 
   unsigned char KompassWirkung;         // Wert : 0-32
85 
   unsigned char Gyro_P;                 // Wert : 10-250
86 
   unsigned char Gyro_I;                 // Wert : 0-250
87 
   unsigned char UnterspannungsWarnung;  // Wert : 0-250
88 
   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
89 
   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
90 
   unsigned char UfoAusrichtung;         // X oder + Formation
91 
   unsigned char I_Faktor;               // Wert : 0-250
92 
   unsigned char UserParam1;             // Wert : 0-250
93 
   unsigned char UserParam2;             // Wert : 0-250
94 
   unsigned char UserParam3;             // Wert : 0-250
95 
   unsigned char UserParam4;             // Wert : 0-250
96 
   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
97 
   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
98 
   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
99 
   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
100 
   unsigned char ServoNickRefresh;       //
101 
   unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
102 
   unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
103 
   unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
104 
   unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
105 
   unsigned char AchsGegenKopplung1;     // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung)
106 
   unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
107 
   unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
108 
   unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
109 
   unsigned char Driftkomp;              
110 
   unsigned char DynamicStability;
111 
   unsigned char UserParam5;             // Wert : 0-250
112 
   unsigned char UserParam6;             // Wert : 0-250
113 
   unsigned char UserParam7;             // Wert : 0-250
114 
   unsigned char UserParam8;             // Wert : 0-250
115 
//---Output ---------------------------------------------
116 
   unsigned char J16Bitmask;             // for the J16 Output
117 
   unsigned char J16Timing;              // for the J16 Output
118 
   unsigned char J17Bitmask;             // for the J17 Output
119 
   unsigned char J17Timing;              // for the J17 Output
120 
//---NaviCtrl---------------------------------------------
121 
   unsigned char NaviGpsModeControl;     // Parameters for the Naviboard
122 
   unsigned char NaviGpsGain;    
123 
   unsigned char NaviGpsP;        
124 
   unsigned char NaviGpsI;        
125 
   unsigned char NaviGpsD;        
126 
   unsigned char NaviGpsACC;        
127 
   unsigned char NaviGpsMinSat;        
128 
   unsigned char NaviStickThreshold;        
129 
   unsigned char NaviWindCorrection;        
130 
   unsigned char NaviSpeedCompensation;        
131 
   unsigned char NaviOperatingRadius;        
132 
   unsigned char NaviAngleLimitation;
133 
//---Ext.Ctrl---------------------------------------------
134 
   unsigned char ExternalControl;        // for serial Control
135 
//------------------------------------------------
136 
   unsigned char BitConfig;             // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
137 
   unsigned char ServoNickCompInvert;    // Wert : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
138 
   unsigned char Reserved[4];
139 
   char Name[12];
140 
 };
141 
 
142 
 
143 
extern struct mk_param_struct EE_Parameter;
144 
 
145 
extern unsigned char Parameter_Luftdruck_D;
146 
extern unsigned char Parameter_MaxHoehe;
147 
extern unsigned char Parameter_Hoehe_P;
148 
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
149 
extern unsigned char Parameter_KompassWirkung;
150 
extern unsigned char Parameter_Gyro_P;
151 
extern unsigned char Parameter_Gyro_I;
152 
extern unsigned char Parameter_Gier_P;
153 
extern unsigned char Parameter_ServoNickControl;
154 
extern unsigned char Parameter_AchsKopplung1;
155 
extern unsigned char Parameter_AchsGegenKopplung1;
156 
extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
157 
extern unsigned char Parameter_J16Timing;              // for the J16 Output
1118 krheinwald 158 
extern unsigned char Parameter_J16Brightness;          // for the J16 Output
1112 thjac 159 
extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
160 
extern unsigned char Parameter_J17Timing;              // for the J17 Output
1118 krheinwald 161 
extern unsigned char Parameter_J17Brightness;          // for the J17 Output
1112 thjac 162 
/*
163 
extern unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
164 
extern unsigned char Parameter_NaviGpsGain;    
165 
extern unsigned char Parameter_NaviGpsP;        
166 
extern unsigned char Parameter_NaviGpsI;        
167 
extern unsigned char Parameter_NaviGpsD;        
168 
extern unsigned char Parameter_NaviGpsACC;  
169 
extern unsigned char Parameter_NaviOperatingRadius;
170 
extern unsigned char Parameter_NaviWindCorrection;
171 
extern unsigned char Parameter_NaviSpeedCompensation;
172 
*/      
173 
#endif //_FC_H
174