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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 |
1243 | killagreg | 8 | //#define GIER_GRAD_FAKTOR 1160L |
1121 | hbuss | 9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
855 | hbuss | 10 | #define STICK_GAIN 4 |
1703 | holgerb | 11 | #define ACC_AMPLIFY 6 |
921 | hbuss | 12 | |
1916 | holgerb | 13 | // FC_StatusFlags |
1765 | killagreg | 14 | #define FC_STATUS_MOTOR_RUN 0x01 |
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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1767 | killagreg | 20 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
21 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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1254 | killagreg | 22 | |
1916 | holgerb | 23 | // FC_StatusFlags2 |
1861 | holgerb | 24 | #define FC_STATUS2_CAREFREE 0x01 |
25 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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1916 | holgerb | 26 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
1702 | holgerb | 27 | |
1861 | holgerb | 28 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
1862 | holgerb | 29 | extern void ParameterZuordnung(void); |
1861 | holgerb | 30 | |
1377 | hbuss | 31 | #define Poti1 Poti[0] |
32 | #define Poti2 Poti[1] |
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33 | #define Poti3 Poti[2] |
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34 | #define Poti4 Poti[3] |
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35 | #define Poti5 Poti[4] |
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36 | #define Poti6 Poti[5] |
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37 | #define Poti7 Poti[6] |
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38 | #define Poti8 Poti[7] |
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1254 | killagreg | 39 | |
1921 | holgerb | 40 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
41 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
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42 | |||
1 | ingob | 43 | extern unsigned char Sekunde,Minute; |
1352 | hbuss | 44 | extern unsigned int BaroExpandActive; |
693 | hbuss | 45 | extern long IntegralNick,IntegralNick2; |
46 | extern long IntegralRoll,IntegralRoll2; |
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1153 | hbuss | 47 | //extern int IntegralNick,IntegralNick2; |
48 | //extern int IntegralRoll,IntegralRoll2; |
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1420 | killagreg | 49 | extern unsigned char Poti[9]; |
1153 | hbuss | 50 | |
693 | hbuss | 51 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
52 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
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53 | extern long IntegralAccNick,IntegralAccRoll; |
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1685 | holgerb | 54 | extern long SummeNick,SummeRoll; |
1 | ingob | 55 | extern volatile long Mess_Integral_Hoch; |
693 | hbuss | 56 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
1153 | hbuss | 57 | extern int KompassValue; |
1837 | holgerb | 58 | extern int KompassSollWert; |
1153 | hbuss | 59 | extern int KompassRichtung; |
1839 | holgerb | 60 | extern char CalculateCompassTimer; |
61 | extern unsigned char KompassFusion; |
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1664 | holgerb | 62 | extern unsigned char ControlHeading; |
1166 | hbuss | 63 | extern int TrimNick, TrimRoll; |
717 | hbuss | 64 | extern long ErsatzKompass; |
65 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
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1246 | killagreg | 66 | extern long HoehenWert; |
67 | extern long SollHoehe; |
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1855 | holgerb | 68 | extern long FromNC_AltitudeSetpoint; |
69 | extern unsigned char FromNC_AltitudeSpeed; |
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1921 | holgerb | 70 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
1690 | holgerb | 71 | extern unsigned char CareFree; |
1153 | hbuss | 72 | extern int MesswertNick,MesswertRoll,MesswertGier; |
1703 | holgerb | 73 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
1643 | holgerb | 74 | extern unsigned int NeutralAccX, NeutralAccY; |
1215 | hbuss | 75 | extern unsigned char HoehenReglerAktiv; |
1639 | holgerb | 76 | extern int NeutralAccZ; |
396 | hbuss | 77 | extern long Umschlag180Nick, Umschlag180Roll; |
492 | hbuss | 78 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
513 | hbuss | 79 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
805 | hbuss | 80 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
871 | hbuss | 81 | extern unsigned int modell_fliegt; |
1639 | holgerb | 82 | extern void MotorRegler(void); |
83 | extern void SendMotorData(void); |
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1622 | killagreg | 84 | //void CalibrierMittelwert(void); |
85 | //void Mittelwert(void); |
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1639 | holgerb | 86 | extern void SetNeutral(unsigned char AccAdjustment); |
87 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
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88 | extern void CopyDebugValues(void); |
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1 | ingob | 89 | |
304 | ingob | 90 | extern unsigned char h,m,s; |
91 | extern volatile unsigned char Timeout ; |
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92 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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1153 | hbuss | 93 | extern int DiffNick,DiffRoll; |
1377 | hbuss | 94 | //extern int Poti1, Poti2, Poti3, Poti4; |
304 | ingob | 95 | extern volatile unsigned char SenderOkay; |
96 | extern int StickNick,StickRoll,StickGier; |
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97 | extern char MotorenEin; |
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1403 | hbuss | 98 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1591 | holgerb | 99 | extern char VarioCharacter; |
1692 | holgerb | 100 | extern int HoverGas; |
1 | ingob | 101 | extern unsigned char Parameter_Luftdruck_D; |
102 | extern unsigned char Parameter_MaxHoehe; |
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103 | extern unsigned char Parameter_Hoehe_P; |
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104 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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105 | extern unsigned char Parameter_KompassWirkung; |
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106 | extern unsigned char Parameter_Gyro_P; |
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107 | extern unsigned char Parameter_Gyro_I; |
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108 | extern unsigned char Parameter_Gier_P; |
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109 | extern unsigned char Parameter_ServoNickControl; |
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1232 | hbuss | 110 | extern unsigned char Parameter_ServoRollControl; |
396 | hbuss | 111 | extern unsigned char Parameter_AchsKopplung1; |
1120 | hbuss | 112 | extern unsigned char Parameter_AchsKopplung2; |
113 | //extern unsigned char Parameter_AchsGegenKopplung1; |
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921 | hbuss | 114 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
115 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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116 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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117 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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1916 | holgerb | 118 | extern unsigned char Parameter_GlobalConfig; |
119 | extern unsigned char Parameter_ExtraConfig; |
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1243 | killagreg | 120 | extern signed char MixerTable[MAX_MOTORS][4]; |
1760 | holgerb | 121 | extern const signed char sintab[31]; |
1 | ingob | 122 | #endif //_FC_H |
123 |