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| Rev | Author | Line No. | Line |
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| 966 | MikeW | 1 | /* |
| 2 | Copyright 2008, by Michael Walter |
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| 3 | |||
| 4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
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| 5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
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| 6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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| 7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
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| 8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 9 | |||
| 10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
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| 11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
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| 12 | unless it is stated otherwise. |
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| 13 | */ |
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| 14 | |||
| 15 | /***************************************************************************** |
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| 16 | Additional Defines |
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| 17 | **************************************************************************** */ |
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| 18 | //#define USE_COMPASS |
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| 19 | //#define INTERNAL_REFERENCE |
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| 20 | //#define MELEXIS_GYRO |
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| 21 | //#define USE_OSD |
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| 22 | //#define USE_GPS |
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| 972 | MikeW | 23 | //#define X_FORMATION |
| 966 | MikeW | 24 | |
| 25 | extern int MesswertNick,MesswertRoll,MesswertGier; |
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| 26 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier; |
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| 27 | extern int NeutralAccX, NeutralAccY, NeutralAccZ; |
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| 28 | extern int GierMischanteil,GasMischanteil; |
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| 29 | |||
| 30 | extern int AverageRoll_X, AverageRoll_Y, AverageRoll_Z; |
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| 31 | extern int AveragerACC_X, AveragerACC_Y, AveragerACC_Z; |
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| 32 | |||
| 33 | extern int DiffNick,DiffRoll; |
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| 34 | extern unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
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| 35 | extern unsigned char MotorWert[5]; |
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| 36 | extern unsigned char SenderOkay; |
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| 37 | extern int StickNick,StickRoll,StickGier; |
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| 38 | |||
| 39 | void GetMeasurements(void); |
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| 40 | void GetRadioValues(void); |
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| 41 | void SendMotorData(void); |
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| 42 | void PID_Regler(void); |
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| 43 | void SetNeutral(void); |
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| 44 | |||
| 45 |