WebSVN - FlightCtrl - Diff - Rev 1739 and 1742 - /branches/MartinW


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#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 FCFLAG_MOTOR_RUN        0x01
#define FCFLAG_FLY              0x02
#define FCFLAG_CALIBRATE        0x04
#define FCFLAG_START            0x08
#define FCFLAG_NOTLANDUNG       0x10
#define FCFLAG_LOWBAT           0x20
#define FCFLAG_SPI_RX_ERR       0x40
#define FCFLAG_I2CERR           0x80
 
#define DEFEKT_G_NICK           0x01
#define DEFEKT_G_ROLL           0x02
#define DEFEKT_G_GIER           0x04
#define DEFEKT_A_NICK           0x08
#define DEFEKT_A_ROLL           0x10
#define DEFEKT_A_Z              0x20
#define DEFEKT_PRESSURE         0x40
#define DEFEKT_CAREFREE_ERR 0x80
 
#define DEFEKT_I2C              0x01
#define DEFEKT_BL_MISSING       0x02
#define DEFEKT_SPI_RX_ERR       0x04
#define DEFEKT_PPM_ERR          0x08
#define DEFEKT_MIXER_ERR    0x10
 
#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]
 
extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
extern volatile unsigned char FCFlags;
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];
 
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  KompassStartwert;
extern int  KompassRichtung;
extern unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern unsigned int NeutralAccX, NeutralAccY;
extern unsigned char HoehenReglerAktiv;
extern int NeutralAccZ;
extern long Umschlag180Nick, Umschlag180Roll;
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
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 void SetNeutral(unsigned char AccAdjustment);
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
 
extern unsigned char h,m,s;
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 Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern int HoverGas;
extern int StickGas;
 
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_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 signed char MixerTable[MAX_MOTORS][4];
#endif //_FC_H
 
 

Rev 1739	Rev 1742
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	#define ACC_AMPLIFY 6	11	#define ACC_AMPLIFY 6
12		12
13	#define FCFLAG_MOTOR_RUN 0x01	13	#define FCFLAG_MOTOR_RUN 0x01
14	#define FCFLAG_FLY 0x02	14	#define FCFLAG_FLY 0x02
15	#define FCFLAG_CALIBRATE 0x04	15	#define FCFLAG_CALIBRATE 0x04
16	#define FCFLAG_START 0x08	16	#define FCFLAG_START 0x08
17	#define FCFLAG_NOTLANDUNG 0x10	17	#define FCFLAG_NOTLANDUNG 0x10
18	#define FCFLAG_LOWBAT 0x20	18	#define FCFLAG_LOWBAT 0x20
19	#define FCFLAG_SPI_RX_ERR 0x40	19	#define FCFLAG_SPI_RX_ERR 0x40
20	#define FCFLAG_I2CERR 0x80	20	#define FCFLAG_I2CERR 0x80
21		21
22	#define DEFEKT_G_NICK 0x01	22	#define DEFEKT_G_NICK 0x01
23	#define DEFEKT_G_ROLL 0x02	23	#define DEFEKT_G_ROLL 0x02
24	#define DEFEKT_G_GIER 0x04	24	#define DEFEKT_G_GIER 0x04
25	#define DEFEKT_A_NICK 0x08	25	#define DEFEKT_A_NICK 0x08
26	#define DEFEKT_A_ROLL 0x10	26	#define DEFEKT_A_ROLL 0x10
27	#define DEFEKT_A_Z 0x20	27	#define DEFEKT_A_Z 0x20
28	#define DEFEKT_PRESSURE 0x40	28	#define DEFEKT_PRESSURE 0x40
29	#define DEFEKT_CAREFREE_ERR 0x80	29	#define DEFEKT_CAREFREE_ERR 0x80
30		30
31	#define DEFEKT_I2C 0x01	31	#define DEFEKT_I2C 0x01
32	#define DEFEKT_BL_MISSING 0x02	32	#define DEFEKT_BL_MISSING 0x02
33	#define DEFEKT_SPI_RX_ERR 0x04	33	#define DEFEKT_SPI_RX_ERR 0x04
34	#define DEFEKT_PPM_ERR 0x08	34	#define DEFEKT_PPM_ERR 0x08
35	#define DEFEKT_MIXER_ERR 0x10	35	#define DEFEKT_MIXER_ERR 0x10
36		36
37	#define Poti1 Poti[0]	37	#define Poti1 Poti[0]
38	#define Poti2 Poti[1]	38	#define Poti2 Poti[1]
39	#define Poti3 Poti[2]	39	#define Poti3 Poti[2]
40	#define Poti4 Poti[3]	40	#define Poti4 Poti[3]
41	#define Poti5 Poti[4]	41	#define Poti5 Poti[4]
42	#define Poti6 Poti[5]	42	#define Poti6 Poti[5]
43	#define Poti7 Poti[6]	43	#define Poti7 Poti[6]
44	#define Poti8 Poti[7]	44	#define Poti8 Poti[7]
45		45
46	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;	46	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
47	extern volatile unsigned char FCFlags;	47	extern volatile unsigned char FCFlags;
48	extern unsigned char Sekunde,Minute;	48	extern unsigned char Sekunde,Minute;
49	extern unsigned int BaroExpandActive;	49	extern unsigned int BaroExpandActive;
50	extern long IntegralNick,IntegralNick2;	50	extern long IntegralNick,IntegralNick2;
51	extern long IntegralRoll,IntegralRoll2;	51	extern long IntegralRoll,IntegralRoll2;
52	//extern int IntegralNick,IntegralNick2;	52	//extern int IntegralNick,IntegralNick2;
53	//extern int IntegralRoll,IntegralRoll2;	53	//extern int IntegralRoll,IntegralRoll2;
54	extern unsigned char Poti[9];	54	extern unsigned char Poti[9];
55		55
56	extern long Mess_IntegralNick,Mess_IntegralNick2;	56	extern long Mess_IntegralNick,Mess_IntegralNick2;
57	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	57	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
58	extern long IntegralAccNick,IntegralAccRoll;	58	extern long IntegralAccNick,IntegralAccRoll;
59	extern long SummeNick,SummeRoll;	59	extern long SummeNick,SummeRoll;
60	extern volatile long Mess_Integral_Hoch;	60	extern volatile long Mess_Integral_Hoch;
61	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	61	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
62	extern int KompassValue;	62	extern int KompassValue;
63	extern int KompassStartwert;	63	extern int KompassStartwert;
64	extern int KompassRichtung;	64	extern int KompassRichtung;
65	extern unsigned char ControlHeading;	65	extern unsigned char ControlHeading;
66	extern int TrimNick, TrimRoll;	66	extern int TrimNick, TrimRoll;
67	extern long ErsatzKompass;	67	extern long ErsatzKompass;
68	extern int ErsatzKompassInGrad; // Kompasswert in Grad	68	extern int ErsatzKompassInGrad; // Kompasswert in Grad
69	extern long HoehenWert;	69	extern long HoehenWert;
70	extern long SollHoehe;	70	extern long SollHoehe;
71	extern unsigned char CareFree;	71	extern unsigned char CareFree;
72	extern int MesswertNick,MesswertRoll,MesswertGier;	72	extern int MesswertNick,MesswertRoll,MesswertGier;
73	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	73	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
74	extern unsigned int NeutralAccX, NeutralAccY;	74	extern unsigned int NeutralAccX, NeutralAccY;
75	extern unsigned char HoehenReglerAktiv;	75	extern unsigned char HoehenReglerAktiv;
76	extern int NeutralAccZ;	76	extern int NeutralAccZ;
77	extern long Umschlag180Nick, Umschlag180Roll;	77	extern long Umschlag180Nick, Umschlag180Roll;
78	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	78	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
79	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	79	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
80	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	80	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
81	extern unsigned int modell_fliegt;	81	extern unsigned int modell_fliegt;
82	extern void MotorRegler(void);	82	extern void MotorRegler(void);
83	extern void SendMotorData(void);	83	extern void SendMotorData(void);
84	//void CalibrierMittelwert(void);	84	//void CalibrierMittelwert(void);
85	//void Mittelwert(void);	85	//void Mittelwert(void);
86	extern void SetNeutral(unsigned char AccAdjustment);	86	extern void SetNeutral(unsigned char AccAdjustment);
87	extern void Piep(unsigned char Anzahl, unsigned int dauer);	87	extern void Piep(unsigned char Anzahl, unsigned int dauer);
88	extern void CopyDebugValues(void);	88	extern void CopyDebugValues(void);
89		89
90	extern unsigned char h,m,s;	90	extern unsigned char h,m,s;
91	extern volatile unsigned char Timeout ;	91	extern volatile unsigned char Timeout ;
92	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	92	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
93	extern int DiffNick,DiffRoll;	93	extern int DiffNick,DiffRoll;
94	//extern int Poti1, Poti2, Poti3, Poti4;	94	//extern int Poti1, Poti2, Poti3, Poti4;
95	extern volatile unsigned char SenderOkay;	95	extern volatile unsigned char SenderOkay;
96	extern int StickNick,StickRoll,StickGier;	96	extern int StickNick,StickRoll,StickGier;
97	extern char MotorenEin;	97	extern char MotorenEin;
98	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	98	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
99	extern char VarioCharacter;	99	extern char VarioCharacter;
100	extern int HoverGas;	100	extern int HoverGas;
101	extern int StickGas;	101	extern int StickGas;
102		-
103	extern unsigned char Parameter_Luftdruck_D;	102	extern unsigned char Parameter_Luftdruck_D;
104	extern unsigned char Parameter_MaxHoehe;	103	extern unsigned char Parameter_MaxHoehe;
105	extern unsigned char Parameter_Hoehe_P;	104	extern unsigned char Parameter_Hoehe_P;
106	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	105	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
107	extern unsigned char Parameter_KompassWirkung;	106	extern unsigned char Parameter_KompassWirkung;
108	extern unsigned char Parameter_Gyro_P;	107	extern unsigned char Parameter_Gyro_P;
109	extern unsigned char Parameter_Gyro_I;	108	extern unsigned char Parameter_Gyro_I;
110	extern unsigned char Parameter_Gier_P;	109	extern unsigned char Parameter_Gier_P;
111	extern unsigned char Parameter_ServoNickControl;	110	extern unsigned char Parameter_ServoNickControl;
112	extern unsigned char Parameter_ServoRollControl;	111	extern unsigned char Parameter_ServoRollControl;
113	extern unsigned char Parameter_AchsKopplung1;	112	extern unsigned char Parameter_AchsKopplung1;
114	extern unsigned char Parameter_AchsKopplung2;	113	extern unsigned char Parameter_AchsKopplung2;
115	//extern unsigned char Parameter_AchsGegenKopplung1;	114	//extern unsigned char Parameter_AchsGegenKopplung1;
116	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	115	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
117	extern unsigned char Parameter_J16Timing; // for the J16 Output	116	extern unsigned char Parameter_J16Timing; // for the J16 Output
118	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	117	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
119	extern unsigned char Parameter_J17Timing; // for the J17 Output	118	extern unsigned char Parameter_J17Timing; // for the J17 Output
120	extern signed char MixerTable[MAX_MOTORS][4];	119	extern signed char MixerTable[MAX_MOTORS][4];
121	#endif //_FC_H	120	#endif //_FC_H
122		121
123		122

Subversion Repositories FlightCtrl

(root)/branches/MartinW_Jeti+/fc.h @ 2153 - Rev 1739 → 1742