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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1263 | thjac | 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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| 7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
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| 8 | //#define GIER_GRAD_FAKTOR 1160L |
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| 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
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| 10 | #define STICK_GAIN 4 |
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| 11 | |||
| 12 | #define FLAG_MOTOR_RUN 1 |
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| 13 | #define FLAG_FLY 2 |
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| 14 | #define FLAG_CALIBRATE 4 |
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| 15 | #define FLAG_START 8 |
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| 16 | #define MAX_MOTORS 12 |
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| 17 | |||
| 18 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
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| 19 | |||
| 20 | extern volatile unsigned char MikroKopterFlags; |
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| 21 | extern volatile unsigned int I2CTimeout; |
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| 22 | extern unsigned char Sekunde,Minute; |
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| 23 | |||
| 24 | extern long IntegralNick,IntegralNick2; |
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| 25 | extern long IntegralRoll,IntegralRoll2; |
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| 26 | //extern int IntegralNick,IntegralNick2; |
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| 27 | //extern int IntegralRoll,IntegralRoll2; |
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| 28 | |||
| 29 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
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| 30 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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| 31 | extern long IntegralAccNick,IntegralAccRoll; |
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| 32 | extern volatile long Mess_Integral_Hoch; |
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| 33 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
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| 34 | extern int KompassValue; |
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| 35 | extern int KompassStartwert; |
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| 36 | extern int KompassRichtung; |
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| 37 | extern int TrimNick, TrimRoll; |
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| 38 | extern long ErsatzKompass; |
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| 39 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 40 | extern int HoehenWert; |
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| 41 | extern int SollHoehe; |
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| 42 | extern int MesswertNick,MesswertRoll,MesswertGier; |
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| 43 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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| 44 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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| 45 | extern unsigned char HoehenReglerAktiv; |
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| 46 | extern volatile float NeutralAccZ; |
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| 47 | extern long Umschlag180Nick, Umschlag180Roll; |
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| 48 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
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| 49 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
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| 50 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
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| 51 | extern unsigned int modell_fliegt; |
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| 52 | void MotorRegler(void); |
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| 53 | void SendMotorData(void); |
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| 54 | void CalibrierMittelwert(void); |
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| 55 | void Mittelwert(void); |
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| 56 | void SetNeutral(void); |
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| 57 | void Piep(unsigned char Anzahl); |
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| 58 | |||
| 59 | extern unsigned char h,m,s; |
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| 60 | extern volatile unsigned char Timeout ; |
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| 61 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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| 62 | extern int DiffNick,DiffRoll; |
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| 63 | extern int Poti1, Poti2, Poti3, Poti4; |
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| 64 | extern volatile unsigned char SenderOkay; |
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| 65 | extern unsigned char RequiredMotors; |
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| 66 | extern int StickNick,StickRoll,StickGier; |
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| 67 | extern char MotorenEin; |
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| 68 | extern void DefaultKonstanten1(void); |
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| 69 | extern void DefaultKonstanten2(void); |
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| 70 | extern void DefaultKonstanten3(void); |
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| 71 | extern void DefaultStickMapping(void); |
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| 72 | |||
| 73 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 74 | struct mk_param_struct |
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| 75 | { |
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| 76 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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| 77 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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| 78 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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| 79 | unsigned char Luftdruck_D; // Wert : 0-250 |
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| 80 | unsigned char MaxHoehe; // Wert : 0-32 |
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| 81 | unsigned char Hoehe_P; // Wert : 0-32 |
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| 82 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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| 83 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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| 84 | unsigned char Stick_P; // Wert : 1-6 |
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| 85 | unsigned char Stick_D; // Wert : 0-64 |
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| 86 | unsigned char Gier_P; // Wert : 1-20 |
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| 87 | unsigned char Gas_Min; // Wert : 0-32 |
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| 88 | unsigned char Gas_Max; // Wert : 33-250 |
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| 89 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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| 90 | unsigned char KompassWirkung; // Wert : 0-32 |
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| 91 | unsigned char Gyro_P; // Wert : 10-250 |
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| 92 | unsigned char Gyro_I; // Wert : 0-250 |
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| 93 | unsigned char Gyro_D; // Wert : 0-250 |
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| 94 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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| 95 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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| 96 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 97 | unsigned char UfoAusrichtung; // X oder + Formation |
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| 98 | unsigned char I_Faktor; // Wert : 0-250 |
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| 99 | unsigned char UserParam1; // Wert : 0-250 |
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| 100 | unsigned char UserParam2; // Wert : 0-250 |
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| 101 | unsigned char UserParam3; // Wert : 0-250 |
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| 102 | unsigned char UserParam4; // Wert : 0-250 |
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| 103 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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| 104 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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| 105 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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| 106 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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| 107 | unsigned char ServoNickRefresh; // |
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| 108 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 109 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 110 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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| 111 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 112 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 113 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 114 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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| 115 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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| 116 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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| 117 | unsigned char Driftkomp; |
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| 118 | unsigned char DynamicStability; |
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| 119 | unsigned char UserParam5; // Wert : 0-250 |
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| 120 | unsigned char UserParam6; // Wert : 0-250 |
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| 121 | unsigned char UserParam7; // Wert : 0-250 |
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| 122 | unsigned char UserParam8; // Wert : 0-250 |
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| 123 | //---Output --------------------------------------------- |
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| 124 | unsigned char J16Bitmask; // for the J16 Output |
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| 125 | unsigned char J16Timing; // for the J16 Output |
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| 126 | unsigned char J17Bitmask; // for the J17 Output |
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| 127 | unsigned char J17Timing; // for the J17 Output |
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| 128 | //---NaviCtrl--------------------------------------------- |
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| 129 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
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| 130 | unsigned char NaviGpsGain; |
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| 131 | unsigned char NaviGpsP; |
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| 132 | unsigned char NaviGpsI; |
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| 133 | unsigned char NaviGpsD; |
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| 134 | unsigned char NaviGpsPLimit; |
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| 135 | unsigned char NaviGpsILimit; |
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| 136 | unsigned char NaviGpsDLimit; |
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| 137 | unsigned char NaviGpsACC; |
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| 138 | unsigned char NaviGpsMinSat; |
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| 139 | unsigned char NaviStickThreshold; |
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| 140 | unsigned char NaviWindCorrection; |
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| 141 | unsigned char NaviSpeedCompensation; |
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| 142 | unsigned char NaviOperatingRadius; |
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| 143 | unsigned char NaviAngleLimitation; |
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| 144 | unsigned char NaviPH_LoginTime; |
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| 145 | //---Ext.Ctrl--------------------------------------------- |
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| 146 | unsigned char ExternalControl; // for serial Control |
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| 147 | //------------------------------------------------ |
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| 148 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 149 | unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 150 | unsigned char Reserved[4]; |
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| 151 | char Name[12]; |
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| 152 | }; |
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| 153 | |||
| 154 | |||
| 155 | struct |
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| 156 | { |
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| 157 | char Revision; |
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| 158 | char Name[12]; |
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| 159 | signed char Motor[16][4]; |
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| 160 | } Mixer; |
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| 161 | |||
| 162 | extern struct mk_param_struct EE_Parameter; |
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| 163 | extern unsigned char Parameter_Luftdruck_D; |
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| 164 | extern unsigned char Parameter_MaxHoehe; |
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| 165 | extern unsigned char Parameter_Hoehe_P; |
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| 166 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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| 167 | extern unsigned char Parameter_KompassWirkung; |
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| 168 | extern unsigned char Parameter_Gyro_P; |
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| 169 | extern unsigned char Parameter_Gyro_I; |
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| 170 | extern unsigned char Parameter_Gier_P; |
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| 171 | extern unsigned char Parameter_ServoNickControl; |
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| 172 | extern unsigned char Parameter_AchsKopplung1; |
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| 173 | extern unsigned char Parameter_AchsKopplung2; |
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| 174 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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| 175 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
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| 176 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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| 177 | extern unsigned char Parameter_J16Brightness; // for the J16 Output |
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| 178 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 179 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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| 180 | extern unsigned char Parameter_J17Brightness; // for the J17 Output |
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| 181 | extern signed char MixerTable[MAX_MOTORS][4]; |
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| 182 | extern unsigned char Motor[MAX_MOTORS]; |
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| 183 | #endif //_FC_H |
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| 184 |