WebSVN - FlightCtrl - Diff - Rev 1749 and 1756 - /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 unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;
unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;
unsigned short MotorsTmax;
 
extern unsigned char updatemotors;
extern unsigned char loop1, loop2, loop3;
extern unsigned char settingdest;
extern unsigned char pos1, pos2, pos3, pos4;
extern int keynumber;
 
extern unsigned short CurrentOffset;///
 
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 1749	Rev 1756
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 unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;	46	extern unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;
-		47	unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;
-		48	unsigned short MotorsTmax;
-		49
47	extern unsigned char updatemotors;	50	extern unsigned char updatemotors;
48	extern unsigned char loop1, loop2, loop3, loop4;	51	extern unsigned char loop1, loop2, loop3;
-		52	extern unsigned char settingdest;
49	extern unsigned char pos1, pos2, pos3, pos4;	53	extern unsigned char pos1, pos2, pos3, pos4;
50	extern int keynumber;	54	extern int keynumber;
-		55
51		56	extern unsigned short CurrentOffset;///
52		57
53	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;	58	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
54	extern volatile unsigned char FCFlags;	59	extern volatile unsigned char FCFlags;
55	extern unsigned char Sekunde,Minute;	60	extern unsigned char Sekunde,Minute;
56	extern unsigned int BaroExpandActive;	61	extern unsigned int BaroExpandActive;
57	extern long IntegralNick,IntegralNick2;	62	extern long IntegralNick,IntegralNick2;
58	extern long IntegralRoll,IntegralRoll2;	63	extern long IntegralRoll,IntegralRoll2;
59	//extern int IntegralNick,IntegralNick2;	64	//extern int IntegralNick,IntegralNick2;
60	//extern int IntegralRoll,IntegralRoll2;	65	//extern int IntegralRoll,IntegralRoll2;
61	extern unsigned char Poti[9];	66	extern unsigned char Poti[9];
62		67
63	extern long Mess_IntegralNick,Mess_IntegralNick2;	68	extern long Mess_IntegralNick,Mess_IntegralNick2;
64	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	69	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
65	extern long IntegralAccNick,IntegralAccRoll;	70	extern long IntegralAccNick,IntegralAccRoll;
66	extern long SummeNick,SummeRoll;	71	extern long SummeNick,SummeRoll;
67	extern volatile long Mess_Integral_Hoch;	72	extern volatile long Mess_Integral_Hoch;
68	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	73	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
69	extern int KompassValue;	74	extern int KompassValue;
70	extern int KompassStartwert;	75	extern int KompassStartwert;
71	extern int KompassRichtung;	76	extern int KompassRichtung;
72	extern unsigned char ControlHeading;	77	extern unsigned char ControlHeading;
73	extern int TrimNick, TrimRoll;	78	extern int TrimNick, TrimRoll;
74	extern long ErsatzKompass;	79	extern long ErsatzKompass;
75	extern int ErsatzKompassInGrad; // Kompasswert in Grad	80	extern int ErsatzKompassInGrad; // Kompasswert in Grad
76	extern long HoehenWert;	81	extern long HoehenWert;
77	extern long SollHoehe;	82	extern long SollHoehe;
78	extern unsigned char CareFree;	83	extern unsigned char CareFree;
79	extern int MesswertNick,MesswertRoll,MesswertGier;	84	extern int MesswertNick,MesswertRoll,MesswertGier;
80	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	85	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
81	extern unsigned int NeutralAccX, NeutralAccY;	86	extern unsigned int NeutralAccX, NeutralAccY;
82	extern unsigned char HoehenReglerAktiv;	87	extern unsigned char HoehenReglerAktiv;
83	extern int NeutralAccZ;	88	extern int NeutralAccZ;
84	extern long Umschlag180Nick, Umschlag180Roll;	89	extern long Umschlag180Nick, Umschlag180Roll;
85	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	90	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
86	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	91	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
87	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	92	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
88	extern unsigned int modell_fliegt;	93	extern unsigned int modell_fliegt;
89	extern void MotorRegler(void);	94	extern void MotorRegler(void);
90	extern void SendMotorData(void);	95	extern void SendMotorData(void);
91	//void CalibrierMittelwert(void);	96	//void CalibrierMittelwert(void);
92	//void Mittelwert(void);	97	//void Mittelwert(void);
93	extern void SetNeutral(unsigned char AccAdjustment);	98	extern void SetNeutral(unsigned char AccAdjustment);
94	extern void Piep(unsigned char Anzahl, unsigned int dauer);	99	extern void Piep(unsigned char Anzahl, unsigned int dauer);
95	extern void CopyDebugValues(void);	100	extern void CopyDebugValues(void);
96		101
97	extern unsigned char h,m,s;	102	extern unsigned char h,m,s;
98	extern volatile unsigned char Timeout ;	103	extern volatile unsigned char Timeout ;
99	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	104	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
100	extern int DiffNick,DiffRoll;	105	extern int DiffNick,DiffRoll;
101	//extern int Poti1, Poti2, Poti3, Poti4;	106	//extern int Poti1, Poti2, Poti3, Poti4;
102	extern volatile unsigned char SenderOkay;	107	extern volatile unsigned char SenderOkay;
103	extern int StickNick,StickRoll,StickGier;	108	extern int StickNick,StickRoll,StickGier;
104	extern char MotorenEin;	109	extern char MotorenEin;
105	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	110	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
106	extern char VarioCharacter;	111	extern char VarioCharacter;
107	extern int HoverGas;	112	extern int HoverGas;
108	extern int StickGas;	113	extern int StickGas;
109	extern unsigned char Parameter_Luftdruck_D;	114	extern unsigned char Parameter_Luftdruck_D;
110	extern unsigned char Parameter_MaxHoehe;	115	extern unsigned char Parameter_MaxHoehe;
111	extern unsigned char Parameter_Hoehe_P;	116	extern unsigned char Parameter_Hoehe_P;
112	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	117	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
113	extern unsigned char Parameter_KompassWirkung;	118	extern unsigned char Parameter_KompassWirkung;
114	extern unsigned char Parameter_Gyro_P;	119	extern unsigned char Parameter_Gyro_P;
115	extern unsigned char Parameter_Gyro_I;	120	extern unsigned char Parameter_Gyro_I;
116	extern unsigned char Parameter_Gier_P;	121	extern unsigned char Parameter_Gier_P;
117	extern unsigned char Parameter_ServoNickControl;	122	extern unsigned char Parameter_ServoNickControl;
118	extern unsigned char Parameter_ServoRollControl;	123	extern unsigned char Parameter_ServoRollControl;
119	extern unsigned char Parameter_AchsKopplung1;	124	extern unsigned char Parameter_AchsKopplung1;
120	extern unsigned char Parameter_AchsKopplung2;	125	extern unsigned char Parameter_AchsKopplung2;
121	//extern unsigned char Parameter_AchsGegenKopplung1;	126	//extern unsigned char Parameter_AchsGegenKopplung1;
122	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	127	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
123	extern unsigned char Parameter_J16Timing; // for the J16 Output	128	extern unsigned char Parameter_J16Timing; // for the J16 Output
124	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	129	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
125	extern unsigned char Parameter_J17Timing; // for the J17 Output	130	extern unsigned char Parameter_J17Timing; // for the J17 Output
126	extern signed char MixerTable[MAX_MOTORS][4];	131	extern signed char MixerTable[MAX_MOTORS][4];
127	#endif //_FC_H	132	#endif //_FC_H
128		133
129		134

Subversion Repositories FlightCtrl

(root)/branches/MartinW_Jeti+/fc.h @ 2219 - Rev 1749 → 1756