WebSVN - FlightCtrl - Diff - Rev 903 and 916 - /branches/V0.69k CRK HexaLotte/fc.h


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
 
#include <inttypes.h>
 
#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg
#define STICK_GAIN 4
 
typedef struct
{
        uint8_t Height_D;
        uint8_t MaxHeight;
        uint8_t Height_P;
        uint8_t Height_ACC_Effect;
        uint8_t CompassYawEffect;
        uint8_t Gyro_P;
        uint8_t Gyro_I;
        uint8_t Gier_P;
        uint8_t I_Factor;
        uint8_t UserParam1;
        uint8_t UserParam2;
        uint8_t UserParam3;
        uint8_t UserParam4;
        uint8_t UserParam5;
        uint8_t UserParam6;
        uint8_t UserParam7;
        uint8_t UserParam8;
        uint8_t ServoNickControl;
        uint8_t LoopGasLimit;
        uint8_t Yaw_PosFeedback;
        uint8_t Yaw_NegFeedback;
        uint8_t DynamicStability;
} fc_param_t;
 
extern fc_param_t FCParam;
 
extern volatile uint16_t I2CTimeout;
 
// attitude
extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw;
extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
 
// offsets
extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
extern volatile int16_t NeutralAccX, NeutralAccY;
extern volatile float NeutralAccZ;
 
 
extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
 
// compass navigation
extern volatile int16_t CompassHeading;
extern volatile int16_t CompassCourse;
extern volatile int16_t CompassOffCourse;
extern volatile uint8_t CompassCalState;
extern int32_t YawGyroHeading;
extern int16_t YawGyroHeadingInDeg;
 
// hight control
extern int ReadingHeight;
extern int SetPointHeight;
 
// mean accelerations
extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
 
// acceleration send to navi board
extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
 
 
// looping params
extern long TurnOver180Nick, TurnOver180Roll;
 
// external control
extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
 
 
void MotorControl(void);
void SendMotorData(void);
void CalibMean(void);
void Mean(void);
void SetNeutral(void);
void Beep(uint8_t numbeeps);
 
 
extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
 
// setpoints for motors
#ifdef HEXAKOPTER
extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
#else
extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
#endif
 
// current stick values
extern int16_t StickNick;
extern int16_t StickRoll;
extern int16_t StickYaw;
extern int16_t GPS_Nick;
extern int16_t GPS_Roll;
 
// current stick elongations
extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
extern uint8_t MotorsOn;
extern uint8_t EmergencyLanding;
extern uint16_t Model_Is_Flying;
 
 
#endif //_FC_H
 
 

Rev 903	Rev 916
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		7
8	#include <inttypes.h>	8	#include <inttypes.h>
9		9
10	#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg	10	#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg
11	#define STICK_GAIN 4	11	#define STICK_GAIN 4
12		12
13	typedef struct	13	typedef struct
14	{	14	{
15	uint8_t Height_D;	15	uint8_t Height_D;
16	uint8_t MaxHeight;	16	uint8_t MaxHeight;
17	uint8_t Height_P;	17	uint8_t Height_P;
18	uint8_t Height_ACC_Effect;	18	uint8_t Height_ACC_Effect;
19	uint8_t CompassYawEffect;	19	uint8_t CompassYawEffect;
20	uint8_t Gyro_P;	20	uint8_t Gyro_P;
21	uint8_t Gyro_I;	21	uint8_t Gyro_I;
22	uint8_t Gier_P;	22	uint8_t Gier_P;
23	uint8_t I_Factor;	23	uint8_t I_Factor;
24	uint8_t UserParam1;	24	uint8_t UserParam1;
25	uint8_t UserParam2;	25	uint8_t UserParam2;
26	uint8_t UserParam3;	26	uint8_t UserParam3;
27	uint8_t UserParam4;	27	uint8_t UserParam4;
28	uint8_t UserParam5;	28	uint8_t UserParam5;
29	uint8_t UserParam6;	29	uint8_t UserParam6;
30	uint8_t UserParam7;	30	uint8_t UserParam7;
31	uint8_t UserParam8;	31	uint8_t UserParam8;
32	uint8_t ServoPitchControl;	32	uint8_t ServoNickControl;
33	uint8_t LoopThrustLimit;	33	uint8_t LoopGasLimit;
34	uint8_t Yaw_PosFeedback;	34	uint8_t Yaw_PosFeedback;
35	uint8_t Yaw_NegFeedback;	35	uint8_t Yaw_NegFeedback;
36	uint8_t DynamicStability;	36	uint8_t DynamicStability;
37	} fc_param_t;	37	} fc_param_t;
38		38
39	extern fc_param_t FCParam;	39	extern fc_param_t FCParam;
40		40
41	extern volatile uint16_t I2CTimeout;	41	extern volatile uint16_t I2CTimeout;
42		42
43	// attitude	43	// attitude
44	extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw;	44	extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw;
45	extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;	45	extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
46		46
47	// offsets	47	// offsets
48	extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw;	48	extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
49	extern volatile int16_t NeutralAccX, NeutralAccY;	49	extern volatile int16_t NeutralAccX, NeutralAccY;
50	extern volatile float NeutralAccZ;	50	extern volatile float NeutralAccZ;
51		51
52		52
53	extern volatile int32_t Reading_Integral_Top; // calculated in analog.c	53	extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
54		54
55	// compass navigation	55	// compass navigation
56	extern volatile int16_t CompassHeading;	56	extern volatile int16_t CompassHeading;
57	extern volatile int16_t CompassCourse;	57	extern volatile int16_t CompassCourse;
58	extern volatile int16_t CompassOffCourse;	58	extern volatile int16_t CompassOffCourse;
59	extern volatile uint8_t CompassCalState;	59	extern volatile uint8_t CompassCalState;
60	extern int32_t YawGyroHeading;	60	extern int32_t YawGyroHeading;
61	extern int16_t YawGyroHeadingInDeg;	61	extern int16_t YawGyroHeadingInDeg;
62		62
63	// hight control	63	// hight control
64	extern int ReadingHeight;	64	extern int ReadingHeight;
65	extern int SetPointHeight;	65	extern int SetPointHeight;
66		66
67	// mean accelerations	67	// mean accelerations
68	extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;	68	extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
69		69
70	// acceleration send to navi board	70	// acceleration send to navi board
71	extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc;	71	extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
72		72
73		73
74	// looping params	74	// looping params
75	extern long TurnOver180Pitch, TurnOver180Roll;	75	extern long TurnOver180Nick, TurnOver180Roll;
76		76
77	// external control	77	// external control
78	extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw;	78	extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
79		79
80		80
81	void MotorControl(void);	81	void MotorControl(void);
82	void SendMotorData(void);	82	void SendMotorData(void);
83	void CalibMean(void);	83	void CalibMean(void);
84	void Mean(void);	84	void Mean(void);
85	void SetNeutral(void);	85	void SetNeutral(void);
86	void Beep(uint8_t numbeeps);	86	void Beep(uint8_t numbeeps);
87		87
88		88
89	extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;	89	extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
90		90
91	// setpoints for motors	91	// setpoints for motors
92	#ifdef HEXAKOPTER	92	#ifdef HEXAKOPTER
93	extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;	93	extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left;
94	#else	94	#else
95	extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr	95	extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
96	#endif	96	#endif
97		97
98	// current stick values	98	// current stick values
99	extern int16_t StickPitch;	99	extern int16_t StickNick;
100	extern int16_t StickRoll;	100	extern int16_t StickRoll;
101	extern int16_t StickYaw;	101	extern int16_t StickYaw;
102	extern int16_t GPS_Pitch;	102	extern int16_t GPS_Nick;
103	extern int16_t GPS_Roll;	103	extern int16_t GPS_Roll;
104		104
105	// current stick elongations	105	// current stick elongations
106	extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw;	106	extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
107	extern uint8_t MotorsOn;	107	extern uint8_t MotorsOn;
108	extern uint8_t EmergencyLanding;	108	extern uint8_t EmergencyLanding;
109	extern uint16_t Model_Is_Flying;	109	extern uint16_t Model_Is_Flying;
110		110
111		111
112	#endif //_FC_H	112	#endif //_FC_H
113		113
114		114

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(root)/branches/V0.69k CRK HexaLotte/fc.h @ 997 - Rev 903 → 916