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2286 | - | 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 | #define ACC_AMPLIFY 6 |
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12 | |||
13 | // FC_StatusFlags |
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14 | #define FC_STATUS_MOTOR_RUN 0x01 |
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15 | #define FC_STATUS_FLY 0x02 |
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16 | #define FC_STATUS_CALIBRATE 0x04 |
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17 | #define FC_STATUS_START 0x08 |
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18 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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19 | #define FC_STATUS_LOWBAT 0x20 |
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20 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
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21 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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22 | |||
23 | // FC_StatusFlags2 |
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24 | #define FC_STATUS2_CAREFREE 0x01 |
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25 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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26 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
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27 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
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28 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
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29 | |||
30 | //NC_To_FC_Flags |
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31 | #define NC_TO_FC_FLYING_RANGE 0x01 |
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32 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
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33 | |||
34 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
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35 | extern void ParameterZuordnung(void); |
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36 | |||
37 | #define Poti1 Poti[0] |
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38 | #define Poti2 Poti[1] |
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39 | #define Poti3 Poti[2] |
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40 | #define Poti4 Poti[3] |
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41 | #define Poti5 Poti[4] |
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42 | #define Poti6 Poti[5] |
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43 | #define Poti7 Poti[6] |
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44 | #define Poti8 Poti[7] |
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45 | |||
46 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
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47 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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48 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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49 | |||
50 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
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51 | #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
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52 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
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53 | #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
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54 | |||
55 | extern unsigned char Sekunde,Minute; |
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56 | extern unsigned int BaroExpandActive; |
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57 | extern long IntegralNick,IntegralNick2; |
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58 | extern long IntegralRoll,IntegralRoll2; |
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59 | //extern int IntegralNick,IntegralNick2; |
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60 | //extern int IntegralRoll,IntegralRoll2; |
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61 | extern unsigned char Poti[9]; |
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62 | |||
63 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
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64 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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65 | extern long IntegralAccNick,IntegralAccRoll; |
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66 | extern long SummeNick,SummeRoll; |
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67 | extern volatile long Mess_Integral_Hoch; |
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68 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
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69 | extern int KompassValue; |
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70 | extern int KompassSollWert; |
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71 | extern int KompassRichtung; |
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72 | extern char CalculateCompassTimer; |
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73 | extern unsigned char KompassFusion; |
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74 | extern unsigned char ControlHeading; |
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75 | extern int TrimNick, TrimRoll; |
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76 | extern long ErsatzKompass; |
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77 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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78 | extern long HoehenWert; |
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79 | extern long SollHoehe; |
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80 | extern long FromNC_AltitudeSetpoint; |
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81 | extern unsigned char FromNC_AltitudeSpeed; |
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82 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
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83 | extern unsigned char CareFree; |
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84 | extern int MesswertNick,MesswertRoll,MesswertGier; |
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85 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
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86 | extern unsigned int NeutralAccX, NeutralAccY; |
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87 | extern unsigned char HoehenReglerAktiv; |
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88 | extern int NeutralAccZ; |
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89 | extern long Umschlag180Nick, Umschlag180Roll; |
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90 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
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91 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
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92 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
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93 | extern unsigned int modell_fliegt; |
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94 | extern void MotorRegler(void); |
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95 | extern void SendMotorData(void); |
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96 | //void CalibrierMittelwert(void); |
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97 | //void Mittelwert(void); |
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98 | extern void SetNeutral(unsigned char AccAdjustment); |
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99 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
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100 | extern void CopyDebugValues(void); |
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101 | |||
102 | extern unsigned char h,m,s; |
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103 | extern int StickNick,StickRoll,StickGier,StickGas; |
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104 | extern volatile unsigned char Timeout ; |
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105 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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106 | extern int DiffNick,DiffRoll; |
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107 | //extern int Poti1, Poti2, Poti3, Poti4; |
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108 | extern volatile unsigned char SenderOkay; |
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109 | extern int StickNick,StickRoll,StickGier; |
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110 | extern char MotorenEin; |
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111 | extern unsigned char CalibrationDone; |
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112 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
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113 | extern char VarioCharacter; |
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114 | extern signed int AltitudeSetpointTrimming; |
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115 | extern signed char WaypointTrimming; |
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116 | extern int HoverGas; |
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117 | extern unsigned char Parameter_Luftdruck_D; |
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118 | extern unsigned char Parameter_MaxHoehe; |
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119 | extern unsigned char Parameter_Hoehe_P; |
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120 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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121 | extern unsigned char Parameter_KompassWirkung; |
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122 | extern unsigned char Parameter_Gyro_P; |
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123 | extern unsigned char Parameter_Gyro_I; |
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124 | extern unsigned char Parameter_Gier_P; |
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125 | extern unsigned char Parameter_ServoNickControl; |
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126 | extern unsigned char Parameter_ServoRollControl; |
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127 | extern unsigned char Parameter_AchsKopplung1; |
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128 | extern unsigned char Parameter_AchsKopplung2; |
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129 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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130 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
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131 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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132 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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133 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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134 | extern unsigned char Parameter_GlobalConfig; |
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135 | extern unsigned char Parameter_ExtraConfig; |
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136 | extern signed char MixerTable[MAX_MOTORS][4]; |
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137 | extern const signed char sintab[31]; |
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138 | #endif //_FC_H |
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139 |