| 7,22 → 7,22 |
|---|
| |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| extern long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern long IntegralAccNick,IntegralAccRoll; |
| volatile long Mess_Integral_Hoch; |
| extern volatile long Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| int AdNeutralNick,AdNeutralRoll,AdNeutralGier; |
| int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| |
| void MotorRegler(void); |
| 36,23 → 36,14 |
|---|
| void DefaultKonstanten2(void); |
| |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Gier; |
| extern volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Timeout; |
| extern int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| |
| #define STRUCT_PARAM_LAENGE 65 |
| struct mk_param_struct |
| 106,6 → 97,16 |
|---|
| }; |
| |
| |
| struct acc_neutral_struct |
| { |
| volatile int X; |
| volatile int Y; |
| volatile float Z; |
| }; |
| |
| extern struct acc_neutral_struct acc_neutral; |
| extern void calib_acc(void); |
| |
| /* |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |