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/*#######################################################################################
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/*#######################################################################################
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Flight Control
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Flight Control
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#######################################################################################*/
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#######################################################################################*/
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#ifndef _FC_H
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#ifndef _FC_H
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#define _FC_H
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#define _FC_H
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#include <inttypes.h>
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#include <inttypes.h>
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#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg
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#define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg
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#define STICK_GAIN 4
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#define STICK_GAIN 4
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typedef struct
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typedef struct
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{
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{
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        uint8_t Height_D;
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        uint8_t Height_D;
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        uint8_t MaxHeight;
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        uint8_t MaxHeight;
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        uint8_t Height_P;
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        uint8_t Height_P;
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        uint8_t Height_ACC_Effect;
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        uint8_t Height_ACC_Effect;
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        uint8_t CompassYawEffect;
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        uint8_t CompassYawEffect;
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        uint8_t Gyro_P;
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        uint8_t Gyro_P;
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        uint8_t Gyro_I;
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        uint8_t Gyro_I;
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        uint8_t Gier_P;
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        uint8_t Yaw_P;
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        uint8_t I_Factor;
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        uint8_t I_Factor;
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        uint8_t UserParam1;
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        uint8_t UserParam1;
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        uint8_t UserParam2;
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        uint8_t UserParam2;
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        uint8_t UserParam3;
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        uint8_t UserParam3;
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        uint8_t UserParam4;
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        uint8_t UserParam4;
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        uint8_t UserParam5;
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        uint8_t UserParam5;
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        uint8_t UserParam6;
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        uint8_t UserParam6;
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        uint8_t UserParam7;
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        uint8_t UserParam7;
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        uint8_t UserParam8;
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        uint8_t UserParam8;
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        uint8_t ServoNickControl;
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        uint8_t ServoNickControl;
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        uint8_t LoopGasLimit;
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        uint8_t LoopGasLimit;
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        uint8_t Yaw_PosFeedback;
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        uint8_t Yaw_PosFeedback;
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        uint8_t Yaw_NegFeedback;
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        uint8_t Yaw_NegFeedback;
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        uint8_t DynamicStability;
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        uint8_t DynamicStability;
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        uint8_t ExternalControl;
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        uint8_t J16Timing;
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        uint8_t J17Timing;
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        uint8_t NaviGpsModeControl;
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        uint8_t NaviGpsGain;
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        uint8_t NaviGpsP;
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        uint8_t NaviGpsI;
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        uint8_t NaviGpsD;
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        uint8_t NaviGpsACC;
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} fc_param_t;
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} fc_param_t;
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extern fc_param_t FCParam;
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extern fc_param_t FCParam;
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extern volatile uint16_t I2CTimeout;
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// attitude
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// attitude
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extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw;
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extern  int32_t IntegralNick, IntegralRoll, IntegralYaw;
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extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
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extern  int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
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// offsets
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// offsets
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extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
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extern  int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
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extern volatile int16_t NeutralAccX, NeutralAccY;
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extern volatile int16_t NeutralAccX, NeutralAccY;
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extern volatile float NeutralAccZ;
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extern volatile float NeutralAccZ;
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extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
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extern volatile int32_t Reading_Integral_Top; // calculated in analog.c
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// compass navigation
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// compass navigation
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extern volatile int16_t CompassHeading;
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extern volatile int16_t CompassHeading;
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extern volatile int16_t CompassCourse;
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extern volatile int16_t CompassCourse;
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extern volatile int16_t CompassOffCourse;
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extern volatile int16_t CompassOffCourse;
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extern volatile uint8_t CompassCalState;
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extern volatile uint8_t CompassCalState;
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extern int32_t YawGyroHeading;
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extern int32_t YawGyroHeading;
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extern int16_t YawGyroHeadingInDeg;
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extern int16_t YawGyroHeadingInDeg;
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// hight control
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// hight control
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extern int ReadingHeight;
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extern int ReadingHeight;
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extern int SetPointHeight;
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extern int SetPointHeight;
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// mean accelerations
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// mean accelerations
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extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
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extern  int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
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// acceleration send to navi board
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// acceleration send to navi board
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extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
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extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc;
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// looping params
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// looping params
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extern long TurnOver180Nick, TurnOver180Roll;
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extern long TurnOver180Nick, TurnOver180Roll;
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// external control
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// external control
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extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
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extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw;
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void MotorControl(void);
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void MotorControl(void);
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void SendMotorData(void);
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void SendMotorData(void);
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void CalibMean(void);
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void CalibMean(void);
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void Mean(void);
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void Mean(void);
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void SetNeutral(void);
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void SetNeutral(void);
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void Beep(uint8_t numbeeps);
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void Beep(uint8_t numbeeps);
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extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
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extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
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// setpoints for motors
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// setpoints for motors
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extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
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extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr
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// current stick values
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// current stick values
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extern int16_t StickNick;
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extern int16_t StickNick;
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extern int16_t StickRoll;
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extern int16_t StickRoll;
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extern int16_t StickYaw;
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extern int16_t StickYaw;
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extern int16_t GPS_Nick;
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extern int16_t GPS_Nick;
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extern int16_t GPS_Roll;
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extern int16_t GPS_Roll;
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// current stick elongations
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// current stick elongations
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extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
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extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
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extern uint8_t MotorsOn;
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extern uint8_t EmergencyLanding;
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extern uint16_t Model_Is_Flying;
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extern uint16_t Model_Is_Flying;
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// MKFlags
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#define MKFLAG_MOTOR_RUN                                0x01
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#define MKFLAG_FLY                                      0x02
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#define MKFLAG_CALIBRATE                                0x04
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#define MKFLAG_START                                    0x08
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#define MKFLAG_EMERGENCY_LANDING        0x10
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#define MKFLAG_RESERVE1                         0x20
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#define MKFLAG_RESERVE2                         0x40
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#define MKFLAG_RESERVE3                         0x80
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volatile extern uint8_t MKFlags;
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#endif //_FC_H
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#endif //_FC_H
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