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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 |
2390 | holgerb | 12 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
2541 | holgerb | 13 | #define SERVO_FS_TIME 10 // in Seconds |
921 | hbuss | 14 | |
1916 | holgerb | 15 | // FC_StatusFlags |
1765 | killagreg | 16 | #define FC_STATUS_MOTOR_RUN 0x01 |
17 | #define FC_STATUS_FLY 0x02 |
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18 | #define FC_STATUS_CALIBRATE 0x04 |
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19 | #define FC_STATUS_START 0x08 |
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20 | #define FC_STATUS_EMERGENCY_LANDING 0x10 |
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21 | #define FC_STATUS_LOWBAT 0x20 |
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1767 | killagreg | 22 | #define FC_STATUS_VARIO_TRIM_UP 0x40 |
23 | #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
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1254 | killagreg | 24 | |
2040 | holgerb | 25 | // FC_StatusFlags2 |
1861 | holgerb | 26 | #define FC_STATUS2_CAREFREE 0x01 |
27 | #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
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1916 | holgerb | 28 | #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
2040 | holgerb | 29 | #define FC_STATUS2_OUT1_ACTIVE 0x08 |
30 | #define FC_STATUS2_OUT2_ACTIVE 0x10 |
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2309 | holgerb | 31 | #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
2340 | holgerb | 32 | #define FC_STATUS2_AUTO_STARTING 0x40 |
33 | #define FC_STATUS2_AUTO_LANDING 0x80 |
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1702 | holgerb | 34 | |
2482 | holgerb | 35 | // FC_StatusFlags3 |
2530 | holgerb | 36 | #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
2482 | holgerb | 37 | #define FC_STATUS3_BOAT 0x02 |
2530 | holgerb | 38 | #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
39 | #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
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2607 | holgerb | 40 | #define FC_STATUS3_NOT_CALIBRATED 0x10 |
41 | #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
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2482 | holgerb | 42 | |
2009 | holgerb | 43 | //NC_To_FC_Flags |
2680 | holgerb | 44 | #define NC_TO_FC_FLYING_RANGE 0x01 |
45 | #define NC_TO_FC_EMERGENCY_LANDING 0x02 // Forces a landing |
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46 | #define NC_TO_FC_AUTOSTART 0x04 |
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47 | #define NC_TO_FC_FAILSAFE_LANDING 0x08 // moves Servos into FS-Position |
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48 | #define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors |
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49 | #define NC_TO_FC_SWITCHOFF_IF_LANDED 0x20 // switch off if MK is on the ground and doesn't further sink |
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2695 | holgerb | 50 | #define NC_TO_FC_OUTSIDE_FLYZONE 0x40 // for the Beep-Signal |
2009 | holgerb | 51 | |
1861 | holgerb | 52 | extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
2482 | holgerb | 53 | extern unsigned char FC_StatusFlags3; |
2616 | holgerb | 54 | extern unsigned char Partner_StatusFlags, Partner_StatusFlags2,Partner_StatusFlags3; |
1862 | holgerb | 55 | extern void ParameterZuordnung(void); |
2342 | holgerb | 56 | extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel |
2499 | holgerb | 57 | extern void ChannelAssingment(void); |
2537 | holgerb | 58 | extern void StoreNeutralToEeprom(void); |
1861 | holgerb | 59 | |
1377 | hbuss | 60 | #define Poti1 Poti[0] |
61 | #define Poti2 Poti[1] |
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62 | #define Poti3 Poti[2] |
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63 | #define Poti4 Poti[3] |
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64 | #define Poti5 Poti[4] |
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65 | #define Poti6 Poti[5] |
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66 | #define Poti7 Poti[6] |
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67 | #define Poti8 Poti[7] |
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1254 | killagreg | 68 | |
2191 | holgerb | 69 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
70 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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71 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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72 | |||
1921 | holgerb | 73 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
1933 | holgerb | 74 | #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
1921 | holgerb | 75 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
1933 | holgerb | 76 | #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
1921 | holgerb | 77 | |
1 | ingob | 78 | extern unsigned char Sekunde,Minute; |
1352 | hbuss | 79 | extern unsigned int BaroExpandActive; |
2482 | holgerb | 80 | extern long IntegralNick;//,IntegralNick2; |
81 | extern long IntegralRoll;//,IntegralRoll2; |
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1153 | hbuss | 82 | //extern int IntegralNick,IntegralNick2; |
83 | //extern int IntegralRoll,IntegralRoll2; |
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1420 | killagreg | 84 | extern unsigned char Poti[9]; |
1153 | hbuss | 85 | |
2482 | holgerb | 86 | extern long Mess_IntegralNick;//,Mess_IntegralNick2; |
87 | extern long Mess_IntegralRoll;//,Mess_IntegralRoll2; |
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693 | hbuss | 88 | extern long IntegralAccNick,IntegralAccRoll; |
1685 | holgerb | 89 | extern long SummeNick,SummeRoll; |
1 | ingob | 90 | extern volatile long Mess_Integral_Hoch; |
693 | hbuss | 91 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
1153 | hbuss | 92 | extern int KompassValue; |
2497 | holgerb | 93 | extern int KompassSollWert,NC_CompassSetpoint; |
1153 | hbuss | 94 | extern int KompassRichtung; |
1839 | holgerb | 95 | extern char CalculateCompassTimer; |
96 | extern unsigned char KompassFusion; |
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1664 | holgerb | 97 | extern unsigned char ControlHeading; |
1166 | hbuss | 98 | extern int TrimNick, TrimRoll; |
717 | hbuss | 99 | extern long ErsatzKompass; |
2437 | holgerb | 100 | extern int ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad |
1246 | killagreg | 101 | extern long HoehenWert; |
102 | extern long SollHoehe; |
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1855 | holgerb | 103 | extern long FromNC_AltitudeSetpoint; |
104 | extern unsigned char FromNC_AltitudeSpeed; |
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1921 | holgerb | 105 | extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
1690 | holgerb | 106 | extern unsigned char CareFree; |
1153 | hbuss | 107 | extern int MesswertNick,MesswertRoll,MesswertGier; |
1703 | holgerb | 108 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
2499 | holgerb | 109 | extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier; |
1643 | holgerb | 110 | extern unsigned int NeutralAccX, NeutralAccY; |
1215 | hbuss | 111 | extern unsigned char HoehenReglerAktiv; |
1639 | holgerb | 112 | extern int NeutralAccZ; |
2316 | holgerb | 113 | extern signed char NeutralAccZfine; |
396 | hbuss | 114 | extern long Umschlag180Nick, Umschlag180Roll; |
513 | hbuss | 115 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
805 | hbuss | 116 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
871 | hbuss | 117 | extern unsigned int modell_fliegt; |
1639 | holgerb | 118 | extern void MotorRegler(void); |
119 | extern void SendMotorData(void); |
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1622 | killagreg | 120 | //void CalibrierMittelwert(void); |
121 | //void Mittelwert(void); |
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2316 | holgerb | 122 | extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess" |
1639 | holgerb | 123 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
124 | extern void CopyDebugValues(void); |
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2309 | holgerb | 125 | extern unsigned char ACC_AltitudeControl; |
126 | extern signed int CosAttitude; // for projection of hoover gas |
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1 | ingob | 127 | |
304 | ingob | 128 | extern unsigned char h,m,s; |
1943 | holgerb | 129 | extern int StickNick,StickRoll,StickGier,StickGas; |
304 | ingob | 130 | extern volatile unsigned char Timeout ; |
131 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
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1153 | hbuss | 132 | extern int DiffNick,DiffRoll; |
1377 | hbuss | 133 | //extern int Poti1, Poti2, Poti3, Poti4; |
304 | ingob | 134 | extern volatile unsigned char SenderOkay; |
2601 | holgerb | 135 | unsigned char ReceiverOkay; |
304 | ingob | 136 | extern int StickNick,StickRoll,StickGier; |
137 | extern char MotorenEin; |
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2009 | holgerb | 138 | extern unsigned char CalibrationDone; |
1403 | hbuss | 139 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
1591 | holgerb | 140 | extern char VarioCharacter; |
1942 | holgerb | 141 | extern signed int AltitudeSetpointTrimming; |
142 | extern signed char WaypointTrimming; |
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1692 | holgerb | 143 | extern int HoverGas; |
1 | ingob | 144 | extern unsigned char Parameter_Luftdruck_D; |
2342 | holgerb | 145 | //extern unsigned char Parameter_MaxHoehe; |
1 | ingob | 146 | extern unsigned char Parameter_Hoehe_P; |
147 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
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148 | extern unsigned char Parameter_KompassWirkung; |
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149 | extern unsigned char Parameter_Gyro_P; |
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150 | extern unsigned char Parameter_Gyro_I; |
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151 | extern unsigned char Parameter_Gier_P; |
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152 | extern unsigned char Parameter_ServoNickControl; |
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1232 | hbuss | 153 | extern unsigned char Parameter_ServoRollControl; |
2296 | holgerb | 154 | extern unsigned char Parameter_ServoNickComp; |
155 | extern unsigned char Parameter_ServoRollComp; |
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396 | hbuss | 156 | extern unsigned char Parameter_AchsKopplung1; |
1120 | hbuss | 157 | extern unsigned char Parameter_AchsKopplung2; |
2601 | holgerb | 158 | extern unsigned char Parameter_ExternalControl; |
1120 | hbuss | 159 | //extern unsigned char Parameter_AchsGegenKopplung1; |
921 | hbuss | 160 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
161 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
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162 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
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163 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
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1916 | holgerb | 164 | extern unsigned char Parameter_GlobalConfig; |
165 | extern unsigned char Parameter_ExtraConfig; |
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1243 | killagreg | 166 | extern signed char MixerTable[MAX_MOTORS][4]; |
1760 | holgerb | 167 | extern const signed char sintab[31]; |
2390 | holgerb | 168 | extern unsigned char LowVoltageLandingActive; |
2408 | holgerb | 169 | extern unsigned char LowVoltageHomeActive; |
2447 | holgerb | 170 | extern unsigned char Parameter_MaximumAltitude; |
2497 | holgerb | 171 | extern char NeueKompassRichtungMerken; |
2541 | holgerb | 172 | extern unsigned char ServoFailsafeActive; |
2601 | holgerb | 173 | extern unsigned char Parameter_HoehenSchalter; |
174 | extern unsigned char Parameter_GPS_Switch; |
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175 | extern unsigned char Parameter_CareFree_Switch; |
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176 | extern unsigned char Parameter_Autoland_Switch; |
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2657 | holgerb | 177 | extern signed char BaroExpandCnt; |
2499 | holgerb | 178 | |
1 | ingob | 179 | #endif //_FC_H |
180 |