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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 | #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 | ||
- | 46 | extern unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
|
- | 47 | extern unsigned char updatemotors; |
|
- | 48 | extern unsigned char loop1, loop2, loop3, loop4; |
|
- | 49 | extern unsigned char pos1, pos2, pos3, pos4; |
|
- | 50 | extern int keynumber; |
|
- | 51 | ||
45 | 52 | ||
46 | extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4; |
53 | extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4; |
47 | extern volatile unsigned char FCFlags; |
54 | extern volatile unsigned char FCFlags; |
48 | extern unsigned char Sekunde,Minute; |
55 | extern unsigned char Sekunde,Minute; |
49 | extern unsigned int BaroExpandActive; |
56 | extern unsigned int BaroExpandActive; |
50 | extern long IntegralNick,IntegralNick2; |
57 | extern long IntegralNick,IntegralNick2; |
51 | extern long IntegralRoll,IntegralRoll2; |
58 | extern long IntegralRoll,IntegralRoll2; |
52 | //extern int IntegralNick,IntegralNick2; |
59 | //extern int IntegralNick,IntegralNick2; |
53 | //extern int IntegralRoll,IntegralRoll2; |
60 | //extern int IntegralRoll,IntegralRoll2; |
54 | extern unsigned char Poti[9]; |
61 | extern unsigned char Poti[9]; |
55 | 62 | ||
56 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
63 | extern long Mess_IntegralNick,Mess_IntegralNick2; |
57 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
64 | extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
58 | extern long IntegralAccNick,IntegralAccRoll; |
65 | extern long IntegralAccNick,IntegralAccRoll; |
59 | extern long SummeNick,SummeRoll; |
66 | extern long SummeNick,SummeRoll; |
60 | extern volatile long Mess_Integral_Hoch; |
67 | extern volatile long Mess_Integral_Hoch; |
61 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
68 | extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
62 | extern int KompassValue; |
69 | extern int KompassValue; |
63 | extern int KompassStartwert; |
70 | extern int KompassStartwert; |
64 | extern int KompassRichtung; |
71 | extern int KompassRichtung; |
65 | extern unsigned char ControlHeading; |
72 | extern unsigned char ControlHeading; |
66 | extern int TrimNick, TrimRoll; |
73 | extern int TrimNick, TrimRoll; |
67 | extern long ErsatzKompass; |
74 | extern long ErsatzKompass; |
68 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
75 | extern int ErsatzKompassInGrad; // Kompasswert in Grad |
69 | extern long HoehenWert; |
76 | extern long HoehenWert; |
70 | extern long SollHoehe; |
77 | extern long SollHoehe; |
71 | extern unsigned char CareFree; |
78 | extern unsigned char CareFree; |
72 | extern int MesswertNick,MesswertRoll,MesswertGier; |
79 | extern int MesswertNick,MesswertRoll,MesswertGier; |
73 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
80 | extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
74 | extern unsigned int NeutralAccX, NeutralAccY; |
81 | extern unsigned int NeutralAccX, NeutralAccY; |
75 | extern unsigned char HoehenReglerAktiv; |
82 | extern unsigned char HoehenReglerAktiv; |
76 | extern int NeutralAccZ; |
83 | extern int NeutralAccZ; |
77 | extern long Umschlag180Nick, Umschlag180Roll; |
84 | extern long Umschlag180Nick, Umschlag180Roll; |
78 | extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
85 | 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; |
86 | 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; |
87 | extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
81 | extern unsigned int modell_fliegt; |
88 | extern unsigned int modell_fliegt; |
82 | extern void MotorRegler(void); |
89 | extern void MotorRegler(void); |
83 | extern void SendMotorData(void); |
90 | extern void SendMotorData(void); |
84 | //void CalibrierMittelwert(void); |
91 | //void CalibrierMittelwert(void); |
85 | //void Mittelwert(void); |
92 | //void Mittelwert(void); |
86 | extern void SetNeutral(unsigned char AccAdjustment); |
93 | extern void SetNeutral(unsigned char AccAdjustment); |
87 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
94 | extern void Piep(unsigned char Anzahl, unsigned int dauer); |
88 | extern void CopyDebugValues(void); |
95 | extern void CopyDebugValues(void); |
89 | 96 | ||
90 | extern unsigned char h,m,s; |
97 | extern unsigned char h,m,s; |
91 | extern volatile unsigned char Timeout ; |
98 | extern volatile unsigned char Timeout ; |
92 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
99 | extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
93 | extern int DiffNick,DiffRoll; |
100 | extern int DiffNick,DiffRoll; |
94 | //extern int Poti1, Poti2, Poti3, Poti4; |
101 | //extern int Poti1, Poti2, Poti3, Poti4; |
95 | extern volatile unsigned char SenderOkay; |
102 | extern volatile unsigned char SenderOkay; |
96 | extern int StickNick,StickRoll,StickGier; |
103 | extern int StickNick,StickRoll,StickGier; |
97 | extern char MotorenEin; |
104 | extern char MotorenEin; |
98 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
105 | extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
99 | extern char VarioCharacter; |
106 | extern char VarioCharacter; |
100 | extern int HoverGas; |
107 | extern int HoverGas; |
101 | extern int StickGas; |
108 | extern int StickGas; |
102 | extern unsigned char Parameter_Luftdruck_D; |
109 | extern unsigned char Parameter_Luftdruck_D; |
103 | extern unsigned char Parameter_MaxHoehe; |
110 | extern unsigned char Parameter_MaxHoehe; |
104 | extern unsigned char Parameter_Hoehe_P; |
111 | extern unsigned char Parameter_Hoehe_P; |
105 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
112 | extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
106 | extern unsigned char Parameter_KompassWirkung; |
113 | extern unsigned char Parameter_KompassWirkung; |
107 | extern unsigned char Parameter_Gyro_P; |
114 | extern unsigned char Parameter_Gyro_P; |
108 | extern unsigned char Parameter_Gyro_I; |
115 | extern unsigned char Parameter_Gyro_I; |
109 | extern unsigned char Parameter_Gier_P; |
116 | extern unsigned char Parameter_Gier_P; |
110 | extern unsigned char Parameter_ServoNickControl; |
117 | extern unsigned char Parameter_ServoNickControl; |
111 | extern unsigned char Parameter_ServoRollControl; |
118 | extern unsigned char Parameter_ServoRollControl; |
112 | extern unsigned char Parameter_AchsKopplung1; |
119 | extern unsigned char Parameter_AchsKopplung1; |
113 | extern unsigned char Parameter_AchsKopplung2; |
120 | extern unsigned char Parameter_AchsKopplung2; |
114 | //extern unsigned char Parameter_AchsGegenKopplung1; |
121 | //extern unsigned char Parameter_AchsGegenKopplung1; |
115 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
122 | extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
116 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
123 | extern unsigned char Parameter_J16Timing; // for the J16 Output |
117 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
124 | extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
118 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
125 | extern unsigned char Parameter_J17Timing; // for the J17 Output |
119 | extern signed char MixerTable[MAX_MOTORS][4]; |
126 | extern signed char MixerTable[MAX_MOTORS][4]; |
120 | #endif //_FC_H |
127 | #endif //_FC_H |
121 | 128 | ||
122 | 129 |