Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

#ifndef _FC_H

#define _FC_H

//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel

//#define GIER_GRAD_FAKTOR 1160L

extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel

#define STICK_GAIN 4

#define ACC_AMPLIFY    6

#define HEIGHT_CONTROL_STICKTHRESHOLD 15

#define SERVO_FS_TIME 10                        // in Seconds

#define EXTRN_CTRL_TIMEOUT  15      // in Seconds

// FC_StatusFlags

#define FC_STATUS_MOTOR_RUN                             0x01

#define FC_STATUS_FLY                                   0x02

#define FC_STATUS_CALIBRATE                             0x04

#define FC_STATUS_START                                 0x08

#define FC_STATUS_EMERGENCY_LANDING             0x10

#define FC_STATUS_LOWBAT                                0x20

#define FC_STATUS_VARIO_TRIM_UP                 0x40

#define FC_STATUS_VARIO_TRIM_DOWN               0x80

// FC_StatusFlags2 

#define FC_STATUS2_CAREFREE                 0x01

#define FC_STATUS2_ALTITUDE_CONTROL         0x02

#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04

#define FC_STATUS2_OUT1_ACTIVE                  0x08

#define FC_STATUS2_OUT2_ACTIVE                  0x10

#define FC_STATUS2_WAIT_FOR_TAKEOFF             0x20   // Motor Running, but still on the ground

#define FC_STATUS2_AUTO_STARTING                0x40

#define FC_STATUS2_AUTO_LANDING                 0x80

// FC_StatusFlags3 

#define FC_STATUS3_REDUNDANCE_AKTIVE        0x01

#define FC_STATUS3_BOAT                         0x02

#define FC_STATUS3_REDUNDANCE_ERROR         0x04

#define FC_STATUS3_REDUNDANCE_TEST                      0x08

#define FC_STATUS3_NOT_CALIBRATED                       0x10

#define FC_STATUS3_MOTORS_STOPPED_BY_RC         0x20

//NC_To_FC_Flags

#define NC_TO_FC_FLYING_RANGE                           0x01

#define NC_TO_FC_EMERGENCY_LANDING                      0x02 // Forces a landing

#define NC_TO_FC_AUTOSTART                                      0x04

#define NC_TO_FC_FAILSAFE_LANDING                       0x08 // moves Servos into FS-Position

#define NC_TO_FC_SIMULATION_ACTIVE                      0x10 // don't start motors

#define NC_TO_FC_SWITCHOFF_IF_LANDED            0x20 // switch off if MK is on the ground and doesn't further sink

#define NC_TO_FC_OUTSIDE_FLYZONE                        0x40 // for the Beep-Signal

extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;

extern unsigned char FC_StatusFlags3;

extern unsigned char Partner_StatusFlags, Partner_StatusFlags2,Partner_StatusFlags3;

extern void ParameterZuordnung(void);

extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel

extern void ChannelAssingment(void);

extern void StoreNeutralToEeprom(void);

#define Poti1 Poti[0]

#define Poti2 Poti[1]

#define Poti3 Poti[2]

#define Poti4 Poti[3]

#define Poti5 Poti[4]

#define Poti6 Poti[5]

#define Poti7 Poti[6]

#define Poti8 Poti[7]

#define LIMIT_MIN(value, min) {if(value <= min) value = min;}

#define LIMIT_MAX(value, max) {if(value >= max) value = max;}

#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}

#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}

#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}

#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}

#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}

extern unsigned char Sekunde,Minute;

extern unsigned int BaroExpandActive;

extern long IntegralNick;//,IntegralNick2;

extern long IntegralRoll;//,IntegralRoll2;

//extern int IntegralNick,IntegralNick2;

//extern int IntegralRoll,IntegralRoll2;

extern unsigned char Poti[9];

extern long Mess_IntegralNick;//,Mess_IntegralNick2;

extern long Mess_IntegralRoll;//,Mess_IntegralRoll2;

extern long IntegralAccNick,IntegralAccRoll;

extern long SummeNick,SummeRoll;

extern volatile long Mess_Integral_Hoch;

extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;

extern int  KompassValue;

extern int  KompassSollWert,NC_CompassSetpoint;

extern int  KompassRichtung;

extern char CalculateCompassTimer;

extern unsigned char KompassFusion;

extern unsigned char ControlHeading;

extern int  TrimNick, TrimRoll;

extern long  ErsatzKompass;

extern int   ErsatzKompassInGrad,CompassCorrected; // Kompasswert in Grad

extern long HoehenWert;

extern long SollHoehe;

extern long FromNC_AltitudeSetpoint;

extern unsigned char FromNC_AltitudeSpeed;

extern unsigned char Parameter_HoehenSchalter;      // Wert : 0-250

extern unsigned char CareFree;

extern int MesswertNick,MesswertRoll,MesswertGier;

extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;

extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier;

extern unsigned int NeutralAccX, NeutralAccY;

extern unsigned char HoehenReglerAktiv;

extern int NeutralAccZ;

extern signed char NeutralAccZfine;

extern long Umschlag180Nick, Umschlag180Roll;

extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;

extern int NaviAccNick,NaviAccRoll,NaviCntAcc;

extern unsigned int modell_fliegt;

extern void MotorRegler(void);

extern void SendMotorData(void);

//void CalibrierMittelwert(void);

//void Mittelwert(void);

extern unsigned char SetNeutral(unsigned char AccAdjustment);  // retuns: "sucess"

extern void Piep(unsigned char Anzahl, unsigned int dauer);

extern void CopyDebugValues(void);

extern unsigned char ACC_AltitudeControl;

extern signed int CosAttitude;  // for projection of hoover gas

extern unsigned char h,m,s;

extern int StickNick,StickRoll,StickGier,StickGas;

extern volatile unsigned char Timeout ;

extern unsigned char CosinusNickWinkel, CosinusRollWinkel;

extern int  DiffNick,DiffRoll;

//extern int  Poti1, Poti2, Poti3, Poti4;

extern volatile unsigned char SenderOkay;

unsigned char ReceiverOkay;

extern int StickNick,StickRoll,StickGier;

extern char MotorenEin;

extern unsigned char CalibrationDone;

extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;

extern char VarioCharacter;

extern signed int AltitudeSetpointTrimming;

extern signed char WaypointTrimming;

extern int HoverGas;

extern unsigned char Parameter_Luftdruck_D;

//extern unsigned char Parameter_MaxHoehe;

extern unsigned char Parameter_Hoehe_P;

extern unsigned char Parameter_Hoehe_ACC_Wirkung;

extern unsigned char Parameter_KompassWirkung;

extern unsigned char Parameter_Gyro_P;

extern unsigned char Parameter_Gyro_I;

extern unsigned char Parameter_Gier_P;

extern unsigned char Parameter_ServoNickControl;

extern unsigned char Parameter_ServoRollControl;

extern unsigned char Parameter_ServoNickComp;

extern unsigned char Parameter_ServoRollComp;

extern unsigned char Parameter_AchsKopplung1;

extern unsigned char Parameter_AchsKopplung2;

extern unsigned char Parameter_ExternalControl;

//extern unsigned char Parameter_AchsGegenKopplung1;

extern unsigned char Parameter_J16Bitmask;             // for the J16 Output

extern unsigned char Parameter_J16Timing;              // for the J16 Output

extern unsigned char Parameter_J17Bitmask;             // for the J17 Output

extern unsigned char Parameter_J17Timing;              // for the J17 Output

extern unsigned char Parameter_GlobalConfig;

extern unsigned char Parameter_ExtraConfig;

extern signed char MixerTable[MAX_MOTORS][4];

extern const signed char sintab[31];

extern unsigned char LowVoltageLandingActive;

extern unsigned char LowVoltageHomeActive;

extern unsigned char Parameter_MaximumAltitude;

extern char NeueKompassRichtungMerken;

extern unsigned char ServoFailsafeActive;

extern unsigned char Parameter_HoehenSchalter;

extern unsigned char Parameter_GPS_Switch;    

extern unsigned char Parameter_CareFree_Switch;

extern unsigned char Parameter_Autoland_Switch;

extern signed char BaroExpandCnt;

#endif //_FC_H