0,0 → 1,135 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
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#ifndef _FC_H |
#define _FC_H |
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#include <inttypes.h> |
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//#define YAW_GYRO_DEG_FACTOR 1450L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
//#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
#define YAW_GYRO_DEG_FACTOR 1291L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
#define STICK_GAIN 4 |
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typedef struct |
{ |
uint8_t Height_D; |
uint8_t MaxHeight; |
uint8_t Height_P; |
uint8_t Height_ACC_Effect; |
uint8_t CompassYawEffect; |
uint8_t Gyro_P; |
uint8_t Gyro_I; |
uint8_t Yaw_P; |
uint8_t I_Factor; |
uint8_t UserParam1; |
uint8_t UserParam2; |
uint8_t UserParam3; |
uint8_t UserParam4; |
uint8_t UserParam5; |
uint8_t UserParam6; |
uint8_t UserParam7; |
uint8_t UserParam8; |
uint8_t ServoNickControl; |
uint8_t LoopGasLimit; |
uint8_t Yaw_PosFeedback; |
uint8_t Yaw_NegFeedback; |
uint8_t DynamicStability; |
uint8_t ExternalControl; |
uint8_t J16Timing; |
uint8_t J17Timing; |
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
uint8_t NaviGpsModeControl; |
uint8_t NaviGpsGain; |
uint8_t NaviGpsP; |
uint8_t NaviGpsI; |
uint8_t NaviGpsD; |
uint8_t NaviGpsACC; |
uint8_t NaviOperationgRadius; |
uint8_t NaviWindCorrection; |
uint8_t NaviSpeedCompensation; |
#endif |
} fc_param_t; |
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extern fc_param_t FCParam; |
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// attitude |
extern int32_t IntegralNick, IntegralRoll, IntegralYaw; |
extern int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw; |
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// offsets |
extern int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw; |
extern volatile int16_t NeutralAccX, NeutralAccY; |
extern volatile float NeutralAccZ; |
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extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
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// compass navigation |
extern volatile int16_t CompassHeading; |
extern volatile int16_t CompassCourse; |
extern volatile int16_t CompassOffCourse; |
extern volatile uint8_t CompassCalState; |
extern int32_t YawGyroHeading; |
extern int16_t YawGyroHeadingInDeg; |
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// hight control |
extern int ReadingHeight; |
extern int SetPointHeight; |
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// mean accelerations |
extern int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop; |
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// acceleration send to navi board |
extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
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// looping params |
extern long TurnOver180Nick, TurnOver180Roll; |
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// external control |
extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
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void MotorControl(void); |
void SendMotorData(void); |
void CalibMean(void); |
void Mean(void); |
void SetNeutral(void); |
void Beep(uint8_t numbeeps); |
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extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
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// setpoints for motors |
extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
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// current stick values |
extern int16_t StickNick; |
extern int16_t StickRoll; |
extern int16_t StickYaw; |
extern int16_t GPS_Nick; |
extern int16_t GPS_Roll; |
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// current stick elongations |
extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
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extern uint16_t Model_Is_Flying; |
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// MKFlags |
#define MKFLAG_MOTOR_RUN 0x01 |
#define MKFLAG_FLY 0x02 |
#define MKFLAG_CALIBRATE 0x04 |
#define MKFLAG_START 0x08 |
#define MKFLAG_EMERGENCY_LANDING 0x10 |
#define MKFLAG_RESERVE1 0x20 |
#define MKFLAG_RESERVE2 0x40 |
#define MKFLAG_RESERVE3 0x80 |
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volatile extern uint8_t MKFlags; |
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#endif //_FC_H |
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