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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Flight Control |
2 | Flight Control |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | 4 | ||
5 | #ifndef _FC_H |
5 | #ifndef _FC_H |
6 | #define _FC_H |
6 | #define _FC_H |
7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
7 | //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
8 | //#define GIER_GRAD_FAKTOR 1160L |
8 | //#define GIER_GRAD_FAKTOR 1160L |
9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
9 | extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
10 | #define STICK_GAIN 4 |
10 | #define STICK_GAIN 4 |
11 | 11 | ||
12 | #define FCFLAG_MOTOR_RUN 0x01 |
12 | #define FCFLAG_MOTOR_RUN 0x01 |
13 | #define FCFLAG_FLY 0x02 |
13 | #define FCFLAG_FLY 0x02 |
14 | #define FCFLAG_CALIBRATE 0x04 |
14 | #define FCFLAG_CALIBRATE 0x04 |
15 | #define FCFLAG_START 0x08 |
15 | #define FCFLAG_START 0x08 |
16 | #define FCFLAG_NOTLANDUNG 0x10 |
16 | #define FCFLAG_NOTLANDUNG 0x10 |
17 | #define FCFLAG_LOWBAT 0x20 |
17 | #define FCFLAG_LOWBAT 0x20 |
18 | #define FCFLAG_SPI_RX_ERR 0x40 |
18 | #define FCFLAG_SPI_RX_ERR 0x40 |
19 | #define FCFLAG_I2CERR 0x80 |
19 | #define FCFLAG_I2CERR 0x80 |
20 | 20 | ||
21 | #define Poti1 Poti[0] |
21 | #define Poti1 Poti[0] |
22 | #define Poti2 Poti[1] |
22 | #define Poti2 Poti[1] |
23 | #define Poti3 Poti[2] |
23 | #define Poti3 Poti[2] |
24 | #define Poti4 Poti[3] |
24 | #define Poti4 Poti[3] |
25 | #define Poti5 Poti[4] |
25 | #define Poti5 Poti[4] |
26 | #define Poti6 Poti[5] |
26 | #define Poti6 Poti[5] |
27 | #define Poti7 Poti[6] |
27 | #define Poti7 Poti[6] |
28 | #define Poti8 Poti[7] |
28 | #define Poti8 Poti[7] |
29 | 29 | ||
30 | 30 | ||
31 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
31 | #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
32 | 32 | ||
33 | extern volatile unsigned char FCFlags; |
33 | extern volatile unsigned char FCFlags; |
34 | extern volatile unsigned int I2CTimeout; |
34 | extern volatile unsigned int I2CTimeout; |
35 | extern unsigned char Sekunde,Minute; |
35 | extern unsigned char Sekunde,Minute; |
36 | extern unsigned int BaroExpandActive; |
36 | extern unsigned int BaroExpandActive; |
37 | extern long IntegralNick,IntegralNick2; |
37 | extern long IntegralNick,IntegralNick2; |
38 | extern long IntegralRoll,IntegralRoll2; |
38 | extern long IntegralRoll,IntegralRoll2; |
39 | //extern int IntegralNick,IntegralNick2; |
39 | //extern int IntegralNick,IntegralNick2; |
40 | //extern int IntegralRoll,IntegralRoll2; |
40 | //extern int IntegralRoll,IntegralRoll2; |
41 | extern unsigned char Poti[9]; |
41 | extern unsigned char Poti[9]; |
42 | 42 | ||
43 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
43 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
44 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
44 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
45 | extern long IntegralAccNick,IntegralAccRoll; |
45 | extern long IntegralAccNick,IntegralAccRoll; |
46 | extern volatile long Mess_Integral_Hoch; |
46 | extern volatile long Mess_Integral_Hoch; |
47 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
47 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
48 | extern int KompassValue; |
48 | extern int KompassValue; |
49 | extern int KompassStartwert; |
49 | extern int KompassStartwert; |
50 | extern int KompassRichtung; |
50 | extern int KompassRichtung; |
51 | extern int TrimNick, TrimRoll; |
51 | extern int TrimNick, TrimRoll; |
52 | extern long ErsatzKompass; |
52 | extern long ErsatzKompass; |
53 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
53 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
54 | extern long HoehenWert; |
54 | extern long HoehenWert; |
55 | extern long SollHoehe; |
55 | extern long SollHoehe; |
56 | extern int MesswertNick,MesswertRoll,MesswertGier; |
56 | extern int MesswertNick,MesswertRoll,MesswertGier; |
57 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
57 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
58 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
58 | extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
59 | extern unsigned char HoehenReglerAktiv; |
59 | extern unsigned char HoehenReglerAktiv; |
60 | extern volatile float NeutralAccZ; |
60 | //extern volatile float NeutralAccZ;// MartinR : so war es |
- | 61 | extern volatile int NeutralAccZ; // MartinR : geändert |
|
- | 62 | ||
61 | extern long Umschlag180Nick, Umschlag180Roll; |
63 | extern long Umschlag180Nick, Umschlag180Roll; |
62 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
64 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
63 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
65 | extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
64 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
66 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
65 | extern unsigned int modell_fliegt; |
67 | extern unsigned int modell_fliegt; |
66 | void MotorRegler(void); |
68 | void MotorRegler(void); |
67 | void SendMotorData(void); |
69 | void SendMotorData(void); |
68 | void CalibrierMittelwert(void); |
70 | void CalibrierMittelwert(void); |
69 | void Mittelwert(void); |
71 | void Mittelwert(void); |
70 | void SetNeutral(void); |
72 | void SetNeutral(void); |
71 | void Piep(unsigned char Anzahl, unsigned int dauer); |
73 | void Piep(unsigned char Anzahl, unsigned int dauer); |
72 | 74 | ||
73 | extern unsigned char h,m,s; |
75 | extern unsigned char h,m,s; |
74 | extern volatile unsigned char Timeout ; |
76 | extern volatile unsigned char Timeout ; |
75 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
77 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
76 | extern int DiffNick,DiffRoll; |
78 | extern int DiffNick,DiffRoll; |
77 | //extern int Poti1, Poti2, Poti3, Poti4; |
79 | //extern int Poti1, Poti2, Poti3, Poti4; |
78 | extern volatile unsigned char SenderOkay; |
80 | extern volatile unsigned char SenderOkay; |
79 | extern volatile unsigned char SenderRSSI; |
81 | extern volatile unsigned char SenderRSSI; |
80 | extern int StickNick,StickRoll,StickGier; |
82 | extern int StickNick,StickRoll,StickGier; |
81 | extern char MotorenEin; |
83 | extern char MotorenEin; |
82 | extern void DefaultKonstanten1(void); |
84 | extern void DefaultKonstanten1(void); |
83 | extern void DefaultKonstanten2(void); |
85 | extern void DefaultKonstanten2(void); |
84 | extern void DefaultKonstanten3(void); |
86 | extern void DefaultKonstanten3(void); |
85 | extern void DefaultStickMapping(void); |
87 | extern void DefaultStickMapping(void); |
86 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
88 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
87 | extern char VarioCharacter; |
89 | extern char VarioCharacter; |
88 | 90 | ||
89 | 91 | ||
90 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
92 | #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
91 | struct mk_param_struct |
93 | struct mk_param_struct |
92 | { |
94 | { |
93 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
95 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
94 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
96 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
95 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
97 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
96 | unsigned char Luftdruck_D; // Wert : 0-250 |
98 | unsigned char Luftdruck_D; // Wert : 0-250 |
97 | unsigned char MaxHoehe; // Wert : 0-32 |
99 | unsigned char MaxHoehe; // Wert : 0-32 |
98 | unsigned char Hoehe_P; // Wert : 0-32 |
100 | unsigned char Hoehe_P; // Wert : 0-32 |
99 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
101 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
100 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
102 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
101 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
103 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
102 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
104 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
103 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
105 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
104 | unsigned char Stick_P; // Wert : 1-6 |
106 | unsigned char Stick_P; // Wert : 1-6 |
105 | unsigned char Stick_D; // Wert : 0-64 |
107 | unsigned char Stick_D; // Wert : 0-64 |
106 | unsigned char Gier_P; // Wert : 1-20 |
108 | unsigned char Gier_P; // Wert : 1-20 |
107 | unsigned char Gas_Min; // Wert : 0-32 |
109 | unsigned char Gas_Min; // Wert : 0-32 |
108 | unsigned char Gas_Max; // Wert : 33-250 |
110 | unsigned char Gas_Max; // Wert : 33-250 |
109 | unsigned char GyroAccFaktor; // Wert : 1-64 |
111 | unsigned char GyroAccFaktor; // Wert : 1-64 |
110 | unsigned char KompassWirkung; // Wert : 0-32 |
112 | unsigned char KompassWirkung; // Wert : 0-32 |
111 | unsigned char Gyro_P; // Wert : 10-250 |
113 | unsigned char Gyro_P; // Wert : 10-250 |
112 | unsigned char Gyro_I; // Wert : 0-250 |
114 | unsigned char Gyro_I; // Wert : 0-250 |
113 | unsigned char Gyro_D; // Wert : 0-250 |
115 | unsigned char Gyro_D; // Wert : 0-250 |
114 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
116 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
115 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
117 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
116 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
118 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
117 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
119 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
118 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
120 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
119 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
121 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
120 | unsigned char I_Faktor; // Wert : 0-250 |
122 | unsigned char I_Faktor; // Wert : 0-250 |
121 | unsigned char UserParam1; // Wert : 0-250 |
123 | unsigned char UserParam1; // Wert : 0-250 |
122 | unsigned char UserParam2; // Wert : 0-250 |
124 | unsigned char UserParam2; // Wert : 0-250 |
123 | unsigned char UserParam3; // Wert : 0-250 |
125 | unsigned char UserParam3; // Wert : 0-250 |
124 | unsigned char UserParam4; // Wert : 0-250 |
126 | unsigned char UserParam4; // Wert : 0-250 |
125 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
127 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
126 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
128 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
127 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
129 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
128 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
130 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
129 | //--- Seit V0.75 |
131 | //--- Seit V0.75 |
130 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
132 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
131 | unsigned char ServoRollComp; // Wert : 0-250 |
133 | unsigned char ServoRollComp; // Wert : 0-250 |
132 | unsigned char ServoRollMin; // Wert : 0-250 |
134 | unsigned char ServoRollMin; // Wert : 0-250 |
133 | unsigned char ServoRollMax; // Wert : 0-250 |
135 | unsigned char ServoRollMax; // Wert : 0-250 |
134 | //--- |
136 | //--- |
135 | unsigned char ServoNickRefresh; // Speed of the Servo |
137 | unsigned char ServoNickRefresh; // Speed of the Servo |
136 | unsigned char Servo3; // Value or mapping of the Servo Output |
138 | unsigned char Servo3; // Value or mapping of the Servo Output |
137 | unsigned char Servo4; // Value or mapping of the Servo Output |
139 | unsigned char Servo4; // Value or mapping of the Servo Output |
138 | unsigned char Servo5; // Value or mapping of the Servo Output |
140 | unsigned char Servo5; // Value or mapping of the Servo Output |
139 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
141 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
140 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
142 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
141 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
143 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
142 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
144 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
143 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
145 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
144 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
146 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
145 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
147 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
146 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
148 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
147 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
149 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
148 | unsigned char Driftkomp; |
150 | unsigned char Driftkomp; |
149 | unsigned char DynamicStability; |
151 | unsigned char DynamicStability; |
150 | unsigned char UserParam5; // Wert : 0-250 |
152 | unsigned char UserParam5; // Wert : 0-250 |
151 | unsigned char UserParam6; // Wert : 0-250 |
153 | unsigned char UserParam6; // Wert : 0-250 |
152 | unsigned char UserParam7; // Wert : 0-250 |
154 | unsigned char UserParam7; // Wert : 0-250 |
153 | unsigned char UserParam8; // Wert : 0-250 |
155 | unsigned char UserParam8; // Wert : 0-250 |
154 | //---Output --------------------------------------------- |
156 | //---Output --------------------------------------------- |
155 | unsigned char J16Bitmask; // for the J16 Output |
157 | unsigned char J16Bitmask; // for the J16 Output |
156 | unsigned char J16Timing; // for the J16 Output |
158 | unsigned char J16Timing; // for the J16 Output |
157 | unsigned char J17Bitmask; // for the J17 Output |
159 | unsigned char J17Bitmask; // for the J17 Output |
158 | unsigned char J17Timing; // for the J17 Output |
160 | unsigned char J17Timing; // for the J17 Output |
159 | // seit version V0.75c |
161 | // seit version V0.75c |
160 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
162 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
161 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
163 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
162 | //---NaviCtrl--------------------------------------------- |
164 | //---NaviCtrl--------------------------------------------- |
163 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
165 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
164 | unsigned char NaviGpsGain; |
166 | unsigned char NaviGpsGain; |
165 | unsigned char NaviGpsP; |
167 | unsigned char NaviGpsP; |
166 | unsigned char NaviGpsI; |
168 | unsigned char NaviGpsI; |
167 | unsigned char NaviGpsD; |
169 | unsigned char NaviGpsD; |
168 | unsigned char NaviGpsPLimit; |
170 | unsigned char NaviGpsPLimit; |
169 | unsigned char NaviGpsILimit; |
171 | unsigned char NaviGpsILimit; |
170 | unsigned char NaviGpsDLimit; |
172 | unsigned char NaviGpsDLimit; |
171 | unsigned char NaviGpsACC; |
173 | unsigned char NaviGpsACC; |
172 | unsigned char NaviGpsMinSat; |
174 | unsigned char NaviGpsMinSat; |
173 | unsigned char NaviStickThreshold; |
175 | unsigned char NaviStickThreshold; |
174 | unsigned char NaviWindCorrection; |
176 | unsigned char NaviWindCorrection; |
175 | unsigned char NaviSpeedCompensation; |
177 | unsigned char NaviSpeedCompensation; |
176 | unsigned char NaviOperatingRadius; |
178 | unsigned char NaviOperatingRadius; |
177 | unsigned char NaviAngleLimitation; |
179 | unsigned char NaviAngleLimitation; |
178 | unsigned char NaviPH_LoginTime; |
180 | unsigned char NaviPH_LoginTime; |
179 | //---Ext.Ctrl--------------------------------------------- |
181 | //---Ext.Ctrl--------------------------------------------- |
180 | unsigned char ExternalControl; // for serial Control |
182 | unsigned char ExternalControl; // for serial Control |
181 | //------------------------------------------------ |
183 | //------------------------------------------------ |
182 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
184 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
183 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
185 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
184 | unsigned char ExtraConfig; // bitcodiert |
186 | unsigned char ExtraConfig; // bitcodiert |
185 | char Name[12]; |
187 | char Name[12]; |
186 | }; |
188 | }; |
187 | 189 | ||
188 | struct |
190 | struct |
189 | { |
191 | { |
190 | char Revision; |
192 | char Revision; |
191 | char Name[12]; |
193 | char Name[12]; |
192 | signed char Motor[16][4]; |
194 | signed char Motor[16][4]; |
193 | } Mixer; |
195 | } Mixer; |
194 | 196 | ||
195 | extern struct mk_param_struct EE_Parameter; |
197 | extern struct mk_param_struct EE_Parameter; |
196 | extern unsigned char Parameter_Luftdruck_D; |
198 | extern unsigned char Parameter_Luftdruck_D; |
197 | extern unsigned char Parameter_MaxHoehe; |
199 | extern unsigned char Parameter_MaxHoehe; |
198 | extern unsigned char Parameter_Hoehe_P; |
200 | extern unsigned char Parameter_Hoehe_P; |
199 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
201 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
200 | extern unsigned char Parameter_KompassWirkung; |
202 | extern unsigned char Parameter_KompassWirkung; |
201 | extern unsigned char Parameter_Gyro_P; |
203 | extern unsigned char Parameter_Gyro_P; |
202 | extern unsigned char Parameter_Gyro_I; |
204 | extern unsigned char Parameter_Gyro_I; |
203 | extern unsigned char Parameter_Gier_P; |
205 | extern unsigned char Parameter_Gier_P; |
204 | extern unsigned char Parameter_ServoNickControl; |
206 | extern unsigned char Parameter_ServoNickControl; |
205 | extern unsigned char Parameter_ServoRollControl; |
207 | extern unsigned char Parameter_ServoRollControl; |
206 | extern unsigned char Parameter_AchsKopplung1; |
208 | extern unsigned char Parameter_AchsKopplung1; |
207 | extern unsigned char Parameter_AchsKopplung2; |
209 | extern unsigned char Parameter_AchsKopplung2; |
208 | //extern unsigned char Parameter_AchsGegenKopplung1; |
210 | //extern unsigned char Parameter_AchsGegenKopplung1; |
209 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
211 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
210 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
212 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
211 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
213 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
212 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
214 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
- | 215 | ||
- | 216 | extern unsigned char Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH |
|
- | 217 | ||
213 | extern signed char MixerTable[MAX_MOTORS][4]; |
218 | extern signed char MixerTable[MAX_MOTORS][4]; |
214 | #endif //_FC_H |
219 | #endif //_FC_H |
215 | 220 | ||
216 | 221 |