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