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1 ingob 1
/*#######################################################################################
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Flight Control
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#######################################################################################*/
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#ifndef _FC_H
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#define _FC_H
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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
1243 killagreg 8
//#define GIER_GRAD_FAKTOR 1160L
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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#define STICK_GAIN 4
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#define ACC_AMPLIFY    6
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1765 killagreg 13
// FC STATUS FLAGS
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#define FC_STATUS_MOTOR_RUN                             0x01
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#define FC_STATUS_FLY                                   0x02
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#define FC_STATUS_CALIBRATE                             0x04
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#define FC_STATUS_START                                 0x08
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#define FC_STATUS_EMERGENCY_LANDING             0x10
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#define FC_STATUS_LOWBAT                                0x20
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#define FC_STATUS_VARIO_TRIM_UP                 0x40
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#define FC_STATUS_VARIO_TRIM_DOWN               0x80
1254 killagreg 22
 
1765 killagreg 23
extern volatile unsigned char FC_StatusFlags;
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#define Poti1 Poti[0]
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#define Poti2 Poti[1]
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#define Poti3 Poti[2]
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#define Poti4 Poti[3]
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#define Poti5 Poti[4]
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#define Poti6 Poti[5]
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#define Poti7 Poti[6]
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#define Poti8 Poti[7]
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// MartinW; added vals
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extern unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;
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unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;
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unsigned short MotorsTmax;
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extern unsigned char updatemotors;
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extern unsigned char loop1, loop2, loop3;
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extern unsigned char settingdest;
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extern unsigned char pos1, pos2, pos3, pos4;
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extern int keynumber;
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extern unsigned short CurrentOffset;///
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extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
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// MartinW; added vals
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1 ingob 48
extern unsigned char Sekunde,Minute;
1352 hbuss 49
extern unsigned int BaroExpandActive;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralRoll,IntegralRoll2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralRoll,IntegralRoll2;
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extern unsigned char Poti[9];
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693 hbuss 56
extern long Mess_IntegralNick,Mess_IntegralNick2;
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extern long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern long IntegralAccNick,IntegralAccRoll;
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extern long SummeNick,SummeRoll;
1 ingob 60
extern volatile long Mess_Integral_Hoch;
693 hbuss 61
extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern int  KompassValue;
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extern int  KompassStartwert;
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extern int  KompassRichtung;
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extern unsigned char ControlHeading;
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extern int  TrimNick, TrimRoll;
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extern long  ErsatzKompass;
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extern int   ErsatzKompassInGrad; // Kompasswert in Grad
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extern long HoehenWert;
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extern long SollHoehe;
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extern unsigned char CareFree;
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extern int MesswertNick,MesswertRoll,MesswertGier;
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extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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extern unsigned int NeutralAccX, NeutralAccY;
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extern unsigned char HoehenReglerAktiv;
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extern int NeutralAccZ;
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extern long Umschlag180Nick, Umschlag180Roll;
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extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
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extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
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extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
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extern unsigned int modell_fliegt;
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extern void MotorRegler(void);
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extern void SendMotorData(void);
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//void CalibrierMittelwert(void);
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//void Mittelwert(void);
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extern void SetNeutral(unsigned char AccAdjustment);
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extern void Piep(unsigned char Anzahl, unsigned int dauer);
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extern void CopyDebugValues(void);
1 ingob 89
 
304 ingob 90
extern unsigned char h,m,s;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern int  DiffNick,DiffRoll;
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//extern int  Poti1, Poti2, Poti3, Poti4;
304 ingob 95
extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
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extern char VarioCharacter;
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extern int HoverGas;
1 ingob 101
 
1799 - 102
extern int StickGas;// Martinw; for Jetimenu
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1 ingob 104
extern unsigned char Parameter_Luftdruck_D;
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extern unsigned char Parameter_MaxHoehe;
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extern unsigned char Parameter_Hoehe_P;
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extern unsigned char Parameter_Hoehe_ACC_Wirkung;
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extern unsigned char Parameter_KompassWirkung;
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extern unsigned char Parameter_Gyro_P;
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extern unsigned char Parameter_Gyro_I;
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extern unsigned char Parameter_Gier_P;
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extern unsigned char Parameter_ServoNickControl;
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extern unsigned char Parameter_ServoRollControl;
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extern unsigned char Parameter_AchsKopplung1;
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extern unsigned char Parameter_AchsKopplung2;
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//extern unsigned char Parameter_AchsGegenKopplung1;
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extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
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extern unsigned char Parameter_J16Timing;              // for the J16 Output
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extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
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extern unsigned char Parameter_J17Timing;              // for the J17 Output
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extern signed char MixerTable[MAX_MOTORS][4];
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extern const signed char sintab[31];
1 ingob 123
#endif //_FC_H
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