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Rev | Author | Line No. | Line |
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1 | ingob | 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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1111 | hbuss | 7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
8 | //#define GIER_GRAD_FAKTOR 1160L |
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1121 | hbuss | 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
855 | hbuss | 10 | #define STICK_GAIN 4 |
921 | hbuss | 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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1209 | hbuss | 16 | #define MAX_MOTORS 12 |
1155 | hbuss | 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 | |||
1209 | hbuss | 20 | extern volatile unsigned char MikroKopterFlags; |
173 | holgerb | 21 | extern volatile unsigned int I2CTimeout; |
1 | ingob | 22 | extern unsigned char Sekunde,Minute; |
1153 | hbuss | 23 | |
693 | hbuss | 24 | extern long IntegralNick,IntegralNick2; |
25 | extern long IntegralRoll,IntegralRoll2; |
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1153 | hbuss | 26 | //extern int IntegralNick,IntegralNick2; |
27 | //extern int IntegralRoll,IntegralRoll2; |
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28 | |||
693 | hbuss | 29 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
30 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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31 | extern long IntegralAccNick,IntegralAccRoll; |
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1 | ingob | 32 | extern volatile long Mess_Integral_Hoch; |
693 | hbuss | 33 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
1153 | hbuss | 34 | extern int KompassValue; |
35 | extern int KompassStartwert; |
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36 | extern int KompassRichtung; |
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1166 | hbuss | 37 | extern int TrimNick, TrimRoll; |
717 | hbuss | 38 | extern long ErsatzKompass; |
39 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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1 | ingob | 40 | extern int HoehenWert; |
41 | extern int SollHoehe; |
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1153 | hbuss | 42 | extern int MesswertNick,MesswertRoll,MesswertGier; |
927 | hbuss | 43 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
44 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
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1215 | hbuss | 45 | extern unsigned char HoehenReglerAktiv; |
1 | ingob | 46 | extern volatile float NeutralAccZ; |
396 | hbuss | 47 | extern long Umschlag180Nick, Umschlag180Roll; |
492 | hbuss | 48 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
513 | hbuss | 49 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
805 | hbuss | 50 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
871 | hbuss | 51 | extern unsigned int modell_fliegt; |
1 | ingob | 52 | void MotorRegler(void); |
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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1232 | hbuss | 57 | void Piep(unsigned char Anzahl, unsigned int dauer); |
1 | ingob | 58 | |
304 | ingob | 59 | extern unsigned char h,m,s; |
60 | extern volatile unsigned char Timeout ; |
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61 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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1153 | hbuss | 62 | extern int DiffNick,DiffRoll; |
1 | ingob | 63 | extern int Poti1, Poti2, Poti3, Poti4; |
304 | ingob | 64 | extern volatile unsigned char SenderOkay; |
1209 | hbuss | 65 | extern unsigned char RequiredMotors; |
304 | ingob | 66 | extern int StickNick,StickRoll,StickGier; |
67 | extern char MotorenEin; |
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396 | hbuss | 68 | extern void DefaultKonstanten1(void); |
69 | extern void DefaultKonstanten2(void); |
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1211 | hbuss | 70 | extern void DefaultKonstanten3(void); |
71 | extern void DefaultStickMapping(void); |
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1 | ingob | 72 | |
1209 | hbuss | 73 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
1 | ingob | 74 | struct mk_param_struct |
75 | { |
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921 | hbuss | 76 | unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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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1 | ingob | 83 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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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1120 | hbuss | 93 | unsigned char Gyro_D; // Wert : 0-250 |
1 | ingob | 94 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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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1232 | hbuss | 107 | //--- Seit V0.75 |
108 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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109 | unsigned char ServoRollComp; // Wert : 0-250 |
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110 | unsigned char ServoRollMin; // Wert : 0-250 |
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111 | unsigned char ServoRollMax; // Wert : 0-250 |
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112 | //--- |
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173 | holgerb | 113 | unsigned char ServoNickRefresh; // |
114 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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115 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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396 | hbuss | 116 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
117 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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1120 | hbuss | 118 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
119 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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396 | hbuss | 120 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
121 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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122 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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499 | hbuss | 123 | unsigned char Driftkomp; |
124 | unsigned char DynamicStability; |
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125 | unsigned char UserParam5; // Wert : 0-250 |
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126 | unsigned char UserParam6; // Wert : 0-250 |
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127 | unsigned char UserParam7; // Wert : 0-250 |
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128 | unsigned char UserParam8; // Wert : 0-250 |
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921 | hbuss | 129 | //---Output --------------------------------------------- |
130 | unsigned char J16Bitmask; // for the J16 Output |
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131 | unsigned char J16Timing; // for the J16 Output |
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132 | unsigned char J17Bitmask; // for the J17 Output |
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133 | unsigned char J17Timing; // for the J17 Output |
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134 | //---NaviCtrl--------------------------------------------- |
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135 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
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136 | unsigned char NaviGpsGain; |
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137 | unsigned char NaviGpsP; |
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138 | unsigned char NaviGpsI; |
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139 | unsigned char NaviGpsD; |
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1120 | hbuss | 140 | unsigned char NaviGpsPLimit; |
141 | unsigned char NaviGpsILimit; |
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142 | unsigned char NaviGpsDLimit; |
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921 | hbuss | 143 | unsigned char NaviGpsACC; |
144 | unsigned char NaviGpsMinSat; |
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145 | unsigned char NaviStickThreshold; |
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993 | hbuss | 146 | unsigned char NaviWindCorrection; |
147 | unsigned char NaviSpeedCompensation; |
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994 | hbuss | 148 | unsigned char NaviOperatingRadius; |
1064 | hbuss | 149 | unsigned char NaviAngleLimitation; |
1120 | hbuss | 150 | unsigned char NaviPH_LoginTime; |
921 | hbuss | 151 | //---Ext.Ctrl--------------------------------------------- |
152 | unsigned char ExternalControl; // for serial Control |
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173 | holgerb | 153 | //------------------------------------------------ |
995 | hbuss | 154 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
1232 | hbuss | 155 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
173 | holgerb | 156 | unsigned char Reserved[4]; |
1 | ingob | 157 | char Name[12]; |
158 | }; |
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159 | |||
1209 | hbuss | 160 | struct |
161 | { |
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1211 | hbuss | 162 | char Revision; |
1209 | hbuss | 163 | char Name[12]; |
164 | signed char Motor[16][4]; |
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165 | } Mixer; |
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173 | holgerb | 166 | |
1 | ingob | 167 | extern struct mk_param_struct EE_Parameter; |
168 | extern unsigned char Parameter_Luftdruck_D; |
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169 | extern unsigned char Parameter_MaxHoehe; |
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170 | extern unsigned char Parameter_Hoehe_P; |
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171 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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172 | extern unsigned char Parameter_KompassWirkung; |
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173 | extern unsigned char Parameter_Gyro_P; |
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174 | extern unsigned char Parameter_Gyro_I; |
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175 | extern unsigned char Parameter_Gier_P; |
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176 | extern unsigned char Parameter_ServoNickControl; |
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1232 | hbuss | 177 | extern unsigned char Parameter_ServoRollControl; |
396 | hbuss | 178 | extern unsigned char Parameter_AchsKopplung1; |
1120 | hbuss | 179 | extern unsigned char Parameter_AchsKopplung2; |
180 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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921 | hbuss | 181 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
182 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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183 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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184 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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1209 | hbuss | 185 | extern signed char MixerTable[MAX_MOTORS][4]; |
186 | extern unsigned char Motor[MAX_MOTORS]; |
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1 | ingob | 187 | #endif //_FC_H |
188 |