0,0 → 1,168 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
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#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 |
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// 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 |
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// 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 |
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// 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 |
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//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 |
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extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
extern unsigned char FC_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); |
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#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] |
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#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;} |
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#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);} |
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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]; |
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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 |
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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; |
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_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; |
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#endif //_FC_H |
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